Data acquisition device and robot

Abstract

The utility model discloses a data acquisition device and a robot. The data acquisition device comprises a main body, a holding assembly, a clamping assembly and a data acquisition module, the main body comprises a frame body and a rotating piece, and the rotating piece is rotatably connected with the frame body; the holding assembly is connected to the rotating piece and drives the rotating piece to rotate. The clamping assembly is connected to the rotating part, and when the rotating part rotates, the clamping assembly clamps or loosens a target object; the data acquisition module is arranged in the frame body, at least partially corresponds to the position of the rotating piece, and the data acquisition module is used for acquiring rotation data of the rotating piece. The data acquisition device provided by the utility model is relatively convenient in data acquisition.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot control technical field, especially relate to a data acquisition device and robot. BACKGROUND

[0002] With the rapid development of automation technology, robots appear more and more in people's vision. Robots are mainly used on industrial production lines to replace human beings to complete some simple, tedious and repetitive tasks. Before the robot is used, the robot needs to be programmed so that the robot can complete the action set by the user. Compared with traditional text code programming, teaching programming through the data acquisition device has obvious advantages in ease of use and speed.

[0003] In the related art, when teaching programming is performed on the data acquisition device of the robot execution end, the user needs to manually drive the two clamps to move close to or away from each other, and the data acquisition of the travel change of the two clamps in the moving process is performed through the visual detection device. However, the visual detection device needs to detect the motion parameters of the two clamps, and the data acquisition process is relatively cumbersome. UTILITY MODEL CONTENT

[0004] The utility model discloses a data acquisition device, and the data acquisition device is convenient to use.

[0005] The utility model discloses a robot.

[0006] According to the data acquisition device provided by the first aspect of the utility model, the data acquisition device comprises a main body, a holding assembly, a clamping assembly and a data acquisition module.

[0007] The data acquisition device provided by the first aspect of the utility model has at least the following beneficial effects:

[0008] In the data acquisition device of the application, the holding assembly and the clamping assembly are respectively connected with the rotating member, the rotating member is driven to rotate by the holding assembly, and the clamping assembly can clamp or release the target object in the process of rotation of the rotating member. Since the data acquisition module part corresponds to the position of the rotating member, the data acquisition module can acquire the rotation data of the rotating member in the process of rotation of the rotating member. It can be known from the use process of the data acquisition device that the rotation parameters of the rotating member are acquired by the data acquisition module, and then the rotation data of the rotating member is converted into the motion parameters of the clamping assembly through subsequent processing, so that the data acquisition of the data acquisition module is more convenient.

[0009] According to the data acquisition device of the first aspect of the application, the clamping assembly comprises a plurality of clamping jaws, at least one clamping jaw is movably arranged on the frame body along a preset direction, so that the plurality of clamping jaws are close to or away from each other, the rotating member is in transmission connection with the clamping jaws, and the rotating member rotates when the clamping jaws move relative to the frame body along the preset direction.

[0010] According to the data acquisition device of the first aspect of the application, the main body further comprises a transmission assembly, the transmission assembly comprises a rotating member and a plurality of first connecting rods, the first connecting rods are hingedly connected with the clamping jaws one by one, a plurality of first hinge parts are arranged on the rotating member, one end of each first connecting rod away from the clamping jaw is hingedly connected with a corresponding first hinge part, and the first hinge parts are distributed in a circumferential direction around the rotation axis of the rotating member.

[0011] According to the data acquisition device of the first aspect of the application, the holding assembly comprises at least one handle, the handle is in transmission connection with the rotating member, and the handle can drive the rotating member to rotate under the action of an external force.

[0012] According to the data acquisition device of the first aspect of the application, two handles are arranged, the transmission assembly further comprises two second connecting rods, the second connecting rods are hingedly connected with the handles one by one, two second hinge parts are arranged on the rotating member, one end of the second connecting rod away from the handle is hingedly connected with a corresponding second hinge part, and the two second hinge parts are arranged on the two sides of the rotation axis of the rotating member respectively; wherein, when the handles are close to or away from each other, the handles drive the rotating member to rotate through the second connecting rods.

[0013] According to the data acquisition device of the first aspect of the application, the handle comprises a connecting part and a hand holding part, the connecting part is movably arranged on the frame body along a preset direction, the hand holding part is hingedly connected with the connecting part, and one end of the hand holding part of the two handles away from the connecting part is hingedly connected.

[0014] According to the data acquisition device of the first aspect of the application, the straight line distance from each first hinge part to the rotation axis of the rotating member is consistent, and the straight line distance from the second hinge part to the rotation axis of the rotating member is consistent.

[0015] According to the data acquisition device provided by the first aspect of the utility model, the first distance is greater than the second distance in value.

[0016] The data acquisition device according to the first aspect of the utility model further comprises an elastic connection structure, the elastic connection structure is connected with the two handles respectively, and is used for providing elastic force for keeping the two handles apart.

[0017] The robot according to the second aspect of the utility model comprises the data acquisition device according to the first aspect of the utility model.

[0018] Additional aspects and advantages of the utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0019] The utility model will be further explained in combination with the drawings and embodiments;

[0020] Figure 1 It is the structure schematic diagram of data acquisition device of one embodiment of the utility model;

[0021] Figure 2 It is Figure 1 It is the sectional view of data acquisition device shown in the figure;

[0022] Figure 3 It is Figure 1 It is the structure schematic diagram of clamping assembly, drive assembly, transmission assembly and encoder of data acquisition device shown in the figure;

[0023] Figure 4 It is Figure 1 It is the structure schematic diagram of encoder and transmission assembly of data acquisition device shown in the figure;

[0024] Figure 5 It is Figure 1 It is the structure schematic diagram of data acquisition device shown in the figure and removes clamping assembly;

[0025] Figure 6 It is Figure 1 It is the structure schematic diagram of frame body and data acquisition module of data acquisition device shown in the figure;

[0026] Figure 7 It is Figure 1 It is the structure schematic diagram of clamping assembly of data acquisition device shown in the figure.

[0027] REFERENCE NUMERALS:

[0028] The main body 100, the rotating piece 101, the first hinge part 101a, the second hinge part 101b, the rotating part 101c, the frame body 110, the sliding rail 111, the first sliding block 112, the second sliding block 113, the mounting protrusion 114, the mounting area 114a, the transmission assembly 120, the first connecting rod 121, the second connecting rod 122;

[0029] The holding assembly 200, the handle 210, the connecting part 211, the hand holding part 212, the anti-skid convex grain 212a;

[0030] The clamping assembly 300, the avoiding area 300a, the clamping jaw 310, the mounting part 311, the transition part 312, the hollow groove 312a, the clamping part 313;

[0031] The data acquisition module 400, the encoder 410;

[0032] The elastic connection structure 500. DETAILED DESCRIPTION

[0033] This part will describe the specific embodiments of the utility model in detail, and the preferred embodiments of the utility model are shown in the drawings, and the drawings are used to supplement the description of the text part in the form of graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0034] In the description of the utility model, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model.

[0035] In the description of the utility model, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than and the like are not included in the number, above, below and the like are included in the number. If it is described to the first, the second is only used for distinguishing technical features for the purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0036] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection and the like should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model combined with the specific content of the technical scheme.

[0037] The following refers to Figures 1 to 7The utility model discloses a data acquisition device of first aspect embodiment is explained in detail.

[0038] Reference Figures 1 to 3 According to the data acquisition device of the utility model embodiment, including main part 100, hold subassembly 200, clamping assembly 300 and data acquisition module 400, main part 100 includes frame body 110 and rotating part 101, and rotating part 101 rotatablely connects frame body 110, hold subassembly 200 is connected in rotating part 101, and drive rotating part 101 rotation, clamping assembly 300 is connected in rotating part 101, and when rotating part 101 rotates, clamping assembly 300 is clamped or loosened to target object, data acquisition module 400 is located in frame body 110, and at least part corresponds rotating part 101 position, and data acquisition module 400 is used to gather rotating data of rotating part 101.

[0039] Need to explain is, in the use process of data acquisition device, need to use the drive clamping assembly 300 to be clamped or loosened to target object, in the movement process of clamping assembly 300, data acquisition module 400 will detect the rotation parameter of rotating part 101 connected with clamping assembly 300, and the rotation angle parameter detected is transmitted to the processor, and subsequent processor can be converted from the rotation angle of rotating part 101 to the movement parameter of clamping assembly 300 through certain conversion relationship, to facilitate the user to plan the movement path of the clamping assembly 300 of robot.

[0040] In the data acquisition device of the application, since the holding assembly 200 and the clamping assembly 300 are connected with the rotating part 101 respectively, the rotating part 101 is driven to rotate by the holding assembly 200, and the clamping assembly 300 synchronously clamps or loosens the target object during the rotation of the rotating part 101. Since the data acquisition module 400 corresponds to the position of the rotating part 101, the data acquisition module 400 can collect the rotation data of the rotating part 101 during the rotation of the rotating part 101. From the use process of the above data acquisition device, it can be known that since the rotation angle of the rotating part 101 and the movement parameter of the clamping assembly 300 are in a mapping relationship, the rotation parameter of the rotating part 101 is collected by the data acquisition module 400, and then the rotation data of the rotating part 101 is converted into the movement parameter of the clamping assembly 300 through subsequent processing. The data acquisition device of the application is convenient for collecting data.

[0041] Reference Figures 1 to 3In some embodiments of the utility model, clamping assembly 300 includes multiple clamping jaws 310, at least one clamping jaw 310 is movably arranged on frame body 110 along the preset direction, so that multiple clamping jaws 310 are close to or away from each other, rotating part 101 and clamping jaw 310 are in transmission connection, when clamping jaw 310 moves along the preset direction relative to frame body 110, rotating part 101 rotates.

[0042] It can be understood that since the rotation angle of rotating part 101 and the motion parameter of clamping jaw 310 are in mapping relationship, the rotation parameter of rotating part 101 is recorded by data acquisition module 400, and it is more accurate to convert it into the movement parameter of clamping jaw 310, which is beneficial to accurately planning the movement path of the clamping jaw 310 of the robot, and further improves the accuracy of the collected data of the data acquisition device.

[0043] Specifically, in the embodiment, the preset direction is the left-right direction, two clamping jaws 310 moving along the left-right direction are arranged on frame body 110, and clamping jaws 310 are close to or away from each other along the left-right direction, in other embodiments, clamping jaw 310 can also be provided with three or more than three.

[0044] Specifically, in the embodiment, data acquisition module 400 includes encoder 410, and the detection end of encoder 410 is connected with rotating part 101, in other embodiments, gyroscope, optical sensor and the like can also be used in data acquisition module 400.

[0045] Reference Figure 3 And Figure 4 In some embodiments of the utility model, main body 100 further includes transmission assembly 120, transmission assembly 120 includes rotating part 101 and multiple first connecting rods 121, first connecting rod 121 is hingedly connected with clamping jaw 310 one by one, rotating part 101 is provided with multiple first hinged parts 101a, rotating part 101 is provided with at least two first hinged parts 101a, and the end of each first connecting rod 121 away from clamping jaw 310 is hingedly connected with the corresponding first hinged part 101a, and the first hinged part 101a is distributed along the circumferential direction around the rotation axis of rotating part 101.

[0046] It can be understood that each first connecting rod 121, the corresponding hinged clamping jaw 310 and rotating part 101 jointly constitute a crank slider structure, when the user drives clamping jaw 310 to move along the preset direction, clamping jaw 310 can drive rotating part 101 to rotate around the rotation axis through the first connecting rod 121 hingedly connected with it, so as to realize the synchronous motion of clamping jaw 310 and rotating part 101.

[0047] Specifically, in the embodiment, the transmission assembly 120 comprises the rotating piece 101 and two first connecting rods 121. The rotating piece 101 is arranged on the frame body 110 and can rotate through a rotating part 101c, and the rotating part 101c is arranged corresponding to the rotating axis of the rotating piece 101, and the extending direction of the rotating axis of the rotating piece 101 is the front-back direction, wherein the rotating part 101c extends along the front-back direction so as to be connected with the detection end of the encoder 410 in the data acquisition module 400. In addition, the rotating piece 101 is in a strip shape, and two first hinged parts 101a are arranged on the rotating piece 101, and the two first hinged parts 101a are arranged at two ends of the rotating piece 101 respectively, one end of the two first connecting rods 121 is hinged with the two first hinged parts 101a respectively, and the other end of the two first connecting rods 121 is hinged with the two clamping jaws 310 respectively, so that the two first connecting rods 121 and the rotating piece 101 are approximately in a Z shape, thereby, when the clamping jaws 310 move away from or close to each other along the left-right direction, the first connecting rods 121 will move away from or close to each other along the left-right direction and the height direction, so as to drive the rotating piece 101 to rotate in the counterclockwise direction or the clockwise direction. In other embodiments, the rotating piece 101 can also be in a disc shape, and the clamping jaws 310, the first connecting rods 121 and the first hinged parts 101a are all arranged with three or more than three, and the first hinged parts 101a are distributed in a circumferential direction of the rotating center of the rotating piece 101, and the rotating piece 101 can rotate when the multiple clamping jaws 310 move close to or away from each other.

[0048] In some embodiments of the utility model, the holding assembly 200 comprises at least one handle 210, the handle 210 is in transmission connection with the rotating piece 101, and under the action of external force, the handle 210 can drive the clamping jaw 310 to move along the preset direction. It can be understood that the handle 210 can drive the clamping jaw 310 to move along the preset direction, so as to drive the clamping jaw 310 to move. For example, in the embodiment, as shown in the figure, Figures 1 to 4 Two handles 210 are arranged on the frame body 110, and the two handles 210 are arranged along the left-right direction, and the two handles 210 are in transmission connection with the two clamping jaws 310 through the transmission assembly 120, and under the action of external force, the handle 210 can drive the clamping jaw 310 to move along the left-right direction. In other embodiments, only one handle 210 can be arranged.

[0049] It can be understood that the user can drive the two clamping jaws 310 to move along the left-right direction by operating the two handles 210, which is more convenient for the user to hold, and in the application, the handle 210 is arranged, so that the user can be more comfortable and convenient during the process of driving the two clamping jaws 310 to move close to or away from each other.

[0050] In some other embodiments of the utility model, in addition to using the handle 210 to drive the clamping jaw 310 to move, a hand wheel or other structure can also be used to drive the clamping jaw 310 to move along the preset direction.

[0051] Reference Figures 1 to 4 In some embodiments, the handle 210 is connected with the transmission assembly 120, and under the action of external force, the handle 210 can drive the rotating piece 101 to rotate. It can be understood that the user moves the handle 210 to drive the rotating piece 101 on the transmission assembly 120 to rotate, and the rotating piece 101 drives the first connecting rod 121 to move at the same time, thereby driving the clamping jaw 310 to move along the left-right direction, so as to realize the synchronous movement of the handle 210, the rotating piece 101 and the clamping jaw 310.

[0052] As Figures 3 to 5 shown, in one embodiment, the handle 210 is provided with two, and the transmission assembly 120 further includes two second connecting rods 122, the second connecting rod 122 is hinged with the handle 210 one by one, the rotating piece 101 is provided with two second hinge parts 101b, the second connecting rod 122 is hinged with the corresponding second hinge part 101b at the end away from the handle 210, and the two second hinge parts 101b are respectively arranged on the two sides of the rotating axis of the rotating piece 101; wherein, when the handle 210 is close to or away from each other, the handle 210 drives the rotating piece 101 to rotate through the second connecting rod 122.

[0053] It can be understood that the rotating piece 101, the second connecting rod 122 and the handle 210 hinged with the second connecting rod 122 constitute a crank slider structure, when the two handles 210 are away from each other under the action of external force, the handle 210 can drive the rotating piece 101 to rotate forward around the rotating axis through the second connecting rod 122, at this time, the rotating piece 101 can drive the two clamping jaws 310 to be away from each other along the left-right direction through the two first connecting rods 121 respectively; when the user drives the two handles 210 to be close to each other, the handle 210 can drive the rotating piece 101 to rotate reversely around the rotating axis through the second connecting rod 122, and in the process of rotating, the rotating piece 101 can drive the two clamping jaws 310 to be close to each other along the left-right direction through the two first connecting rods 121 respectively.

[0054] In some embodiments of the utility model, the handle 210 includes a connecting part 211 and a hand holding part 212, the connecting part 211 is movably arranged on the frame body 110 along the preset direction, the hand holding part 212 is hinged with the connecting part 211, and the ends of the two hand holding parts 212 of the two handles 210 away from the connecting part 211 are hinged. For example, as Figure 5As shown, the handle 210 comprises a connecting portion 211 and a handgrip portion 212, the connecting portion 211 is movably arranged on the frame body 110 along the left-right direction, the connecting portion 211 is hingedly connected with the second connecting rod 122, the upper end of the handgrip portion 212 is hingedly connected with the connecting portion 211, and the lower end of the handgrip portion 212 of one of the two handles 210 is hingedly connected with the lower end of the handgrip portion 212 of the other handle 210.

[0055] In some embodiments of the present application, in order to facilitate the user to grab the handle 210, the handgrip portion 212 is provided with anti-skid convex patterns 212a.

[0056] Reference Figure 6 In some embodiments of the present application, the frame body 110 is provided with a slide rail 111 extending leftward and rightward, two first sliding blocks 112 and two second sliding blocks 113 are slidably arranged on the slide rail 111, the two second sliding blocks 113 are located between the two first sliding blocks 112, the two clamping jaws 310 are respectively installed on the two first sliding blocks 112, and the two handles 210 are respectively installed on the two second sliding blocks 113.

[0057] It can be understood that when the user demonstrates the operation of the data acquisition device, the clamping jaw 310 can accurately slide leftward and rightward along the slide rail 111 through the first sliding block 112, and the handle 210 can accurately slide leftward and rightward along the slide rail 111 through the second sliding block 113.

[0058] It can be understood that by slidably arranging the two clamping jaws 310 and the two handles 210 on the same slide rail 111, on the one hand, the number of slide rails 111 can be reduced, so that the overall structure of the data acquisition device is simpler and more compact, and on the other hand, the two clamping jaws 310 and the two handles 210 can slide along the same line, so as to improve the demonstration accuracy of the data acquisition device in the demonstration operation process.

[0059] In some other embodiments of the present application, in addition to the above-mentioned structure, the handle 210 and the clamping jaw 310 can also slide along the slide rail 111, and the slide groove is formed on the frame body 110, and the clamping jaw 310 and the handle 210 are slidably arranged in the slide groove; in some other embodiments, according to actual needs, the clamping jaw 310 and the handle 210 do not need to be slidably connected with the frame body 110.

[0060] In further embodiments of the present application, reference Figure 5 and Figure 7The two mounting protrusions 114 are arranged on the frame body 110, and the mounting area 114a is formed between the two mounting protrusions 114, and the rotating piece 101 is arranged in the mounting area 114a in a rotatable manner, and the slide rail 111 is arranged on the mounting protrusion 114 through a threaded connection, and the slide rail 111 is located in front of the rotating piece 101.

[0061] It can be understood that, by arranging the mounting protrusion 114 on the frame body 110 and mounting the slide rail 111 on the mounting protrusion 114, the slide rail 111 and the rotating piece 101 can be staggered in the front-rear direction, so as to reduce the probability of interference between the rotating piece 101 and the slide rail 111 during work.

[0062] As shown in Figure 6 and Figure 7 , in one embodiment of the utility model, the clamping jaw 310 comprises an installation part 311, a transition part 312 and a clamping part 313 connected in sequence, the installation part 311 is fixedly connected with the first sliding block 112, and the installation part 311 of the two clamping jaws 310 forms an avoiding area 300a for avoiding the handle 210. It can be understood that, in the process of teaching of the data acquisition device of the application, when the two clamping jaws 310 are close to each other and the clamping parts 313 of the two clamping jaws 310 abut, there will still be a certain avoiding space between the installation parts 311 of the two clamping jaws 310 to accommodate the two handles 210.

[0063] In a further embodiment of the utility model, referring to Figure 7 , the transition part 312 of the clamping jaw 310 is provided with a hollow groove 312a. It can be understood that, by arranging the hollow groove 312a on the transition part 312 of the clamping jaw 310, the overall strength of the clamping jaw 310 can be ensured, and the overall weight of the clamping jaw 310 and the material cost during manufacturing can be reduced.

[0064] In one embodiment, the straight line distance from each first hinge part 101a to the rotation axis of the rotating piece 101 is consistent, and the straight line distance from each second hinge part 101b to the rotation axis of the rotating piece 101 is consistent. For example, as shown in Figure 3 and Figure 4 , the two first hinge parts 101a are symmetrically arranged about the rotation axis of the rotating piece 101, and the two second hinge parts 101b are symmetrically arranged about the rotation axis of the rotating piece 101. It can be understood that, since the two first hinge parts 101a are symmetrically arranged about the rotation axis of the rotating piece 101, when the rotating piece 101 rotates, the two clamping jaws 310 can mirror move the same distance in the left-right direction; since the two second hinge parts 101b are symmetrically arranged about the rotation axis of the rotating piece 101, during the rotation of the rotating piece 101, the two handles 210 can also mirror move the same distance.

[0065] Reference Figures 3 to 5 In one of the embodiments of the present application, the first hinge part 101a is spaced apart from the rotation axis of the rotating part 101 by a first distance, and the second hinge part 101b is spaced apart from the rotation axis of the rotating part 101 by a second distance, and the first distance is greater than the second distance in value.

[0066] It can be understood that, due to the first distance between the first hinge part 101a and the rotation axis of the rotating part 101, and the second distance between the second hinge part 101b and the rotation axis of the rotating part 101, the first distance is greater than the second distance in value, so that when the rotating part 101 rotates around the rotation axis by a certain angle, the distance that the clamping jaw 310 moves in the left-right direction can be greater than the distance that the handle 210 moves in the left-right direction; accordingly, in the teaching process of the data acquisition device of the present application, after the user drives the handle 210 to move a distance in the left-right direction, the clamping jaw 310 can move a longer distance in the left-right direction.

[0067] It can be understood that, in the use process of the data acquisition device, there is a situation that the distance between the two clamping jaws 310 is too far apart, at this time, the user has difficulty in driving the two clamping jaws 310 to separate to a preset distance by himself; in the data acquisition device of the present application, since the clamping jaw 310 can move a longer distance in the left-right direction after the user drives the handle 210 to move a distance in the left-right direction, accordingly, when the two clamping jaws 310 need to be separated by a preset distance, the distance between the two handles 210 needs to be separated can be smaller, so that the user can complete the teaching operation of separating the two clamping jaws 310 to the preset distance by driving the two handles 210 away from each other, and thus in the data acquisition device of the present application, when the preset distance that the two clamping jaws 310 need to be separated is large, the user can still successfully complete the teaching operation of driving the two clamping jaws 310 to separate to the preset distance by himself.

[0068] It should be noted that, in the process of the user driving the two clamping jaws 310 to move away from each other in the left-right direction, since the distance between the two clamping jaws 310 at the initial position is small, the user's hand is difficult to stretch into the area between the two clamping jaws 310, accordingly, when the user drives the two clamping jaws 310 to move away from each other, the user has difficulty in finding a suitable force point to drive the two clamping jaws 310 to move away from each other, thereby increasing the teaching difficulty of the data acquisition device.

[0069] Therefore, in order to solve the problem that the distance between the clamping jaws 310 affects the user's operation, with reference to Figure 1 and Figure 5In some embodiments of the utility model, still include elastic connecting structure 500, elastic connecting structure 500 is connected with two handles 210 respectively, and is used to provide the elastic force that makes two handles 210 keep apart. It can be understood that by setting elastic connecting structure 500, and elastic connecting structure 500 is connected with two clamping jaws 310 transmission respectively, so that elastic connecting structure 500 can provide the elastic force that makes two clamping jaws 310 keep away from each other, so that, on the premise that user does not exert any external force to clamping jaw 310, two clamping jaws 310 in the data acquisition device of the embodiment of the utility model can keep in the state of away from each other, and user is more simple and convenient in the process of driving two clamping jaws 310 away from each other.

[0070] Specifically, elastic connecting structure 500 is a torsion spring, the torsion spring includes first abutting portion, second abutting portion and elastic portion, first abutting portion and second abutting portion are connected through elastic portion, and first abutting portion and second abutting portion are respectively in abutment with two handles 210.

[0071] In some other embodiments of the utility model, in addition to the form that elastic connecting structure 500 is directly connected with two handles 210, elastic connecting structure 500 can also be directly connected with two clamping jaws 310, at this time, elastic connecting structure 500 is used to provide the elastic force that makes two clamping jaws 310 keep apart.

[0072] In some other embodiments of the utility model, elastic connecting structure 500 can also be connected with rotating member 101 and frame body 110 respectively, at this time, elastic connecting structure 500 can provide the elastic force that makes rotating member 101 keep positive rotation, when rotating member 101 is positively rotated, rotating member 101 can drive two clamping jaws 310 away from each other, when rotating member 101 is reversely rotated, rotating member 101 can drive two clamping jaws 310 close to each other.

[0073] According to the robot provided by the second aspect of the utility model, the data acquisition device provided by the first aspect of the utility model is included.

[0074] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that: without departing from the principles and purposes of the utility model, a variety of changes, modifications, replacements and variations can be made to these embodiments, and the scope of the utility model is defined by the claims and its equivalents.

Claims

1. A data acquisition device, characterized in that, include: The main body (100) includes a frame (110) and a rotating component (101), wherein the rotating component (101) is rotatably connected to the frame (110); A gripping assembly (200) is connected to the rotating member (101) and drives the rotating member (101) to rotate; A clamping assembly (300) is connected to the rotating member (101). When the rotating member (101) rotates, the clamping assembly (300) clamps or releases the target object. A data acquisition module (400) is located inside the frame (110) and at least partially corresponds to the position of the rotating component (101). The data acquisition module (400) is used to acquire the rotation data of the rotating component (101).

2. The data acquisition device according to claim 1, characterized in that, The clamping assembly (300) includes a plurality of grippers (310), at least one of the grippers (310) is movably disposed on the frame (110) in a preset direction so that the plurality of grippers (310) move closer to or further away from each other. The rotating member and the grippers (310) are connected in a transmission manner. When the grippers (310) move relative to the frame (110) in the preset direction, the rotating member (101) rotates.

3. The data acquisition device according to claim 2, characterized in that, The main body also includes a transmission assembly (120), which includes the rotating member (101) and a plurality of first connecting rods (121). The first connecting rods (121) are hinged to the grippers (310) one by one. The rotating member (101) is provided with a plurality of first hinge parts (101a). Each first connecting rod (121) One end away from the gripper (310) is hinged to a first hinge portion (101a), which is distributed circumferentially around the rotation axis of the rotating member (101).

4. The data acquisition device according to claim 3, characterized in that, The grip assembly includes at least one handle (210), which is connected to the rotating member (101) in a transmission manner. Under the action of external force, the handle (210) can drive the rotating member (101) to rotate.

5. A data acquisition device according to claim 4, characterized in that, Two handles (210) are provided. The transmission assembly (120) also includes two second connecting rods (122). The second connecting rods (122) are hinged to the handles (210) one-to-one. The rotating member (101) is provided with two second hinge parts (101b). The end of the second connecting rod (122) away from the handle (210) is hinged to the corresponding second hinge part (101b). The two second hinge parts (101b) are respectively provided on both sides of the rotation axis of the rotating member (101). When the handles (210) move closer or further away from each other, the handles (210) push the rotating member (101) to rotate through the second connecting rods (122).

6. A data acquisition device according to claim 5, characterized in that, The handle (210) includes a connecting part (211) and a grip part (212). The connecting part (211) is movably disposed on the frame (110) along the preset direction. The grip part (212) is hinged to the connecting part (211). The ends of the grip parts (212) of the two handles (210) that are away from the connecting part (211) are hinged together.

7. A data acquisition device according to claim 5, characterized in that, The straight-line distance from each of the first hinge portion (101a) to the rotation axis of the rotating member (101) is consistent, and the straight-line distance from the second hinge portion (101b) to the rotation axis of the rotating member (101) is consistent.

8. A data acquisition device according to claim 5, characterized in that, The first hinge portion (101a) is spaced apart by a first distance from the axis of rotation of the rotating member (101), and the second hinge portion (101b) is spaced apart by a second distance from the axis of rotation of the rotating member (101). The first distance is numerically greater than the second distance.

9. A data acquisition device according to claim 6, characterized in that, It also includes a resilient connection structure (500) that is connected to the two handles (210) respectively and is used to provide a resilient force to keep the two handles (210) separated.

10. A robot, characterized in that, Includes the data acquisition device as described in any one of claims 1 to 9.

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