Data acquisition device and robot

Abstract

The utility model discloses a data acquisition device and a robot. The data acquisition device comprises a frame body, two clamping jaws, two handles and an elastic connecting structure, the clamping jaw is arranged on the frame body in a sliding mode in the preset direction. The two handles are in transmission connection with the two clamping jaws correspondingly, and the handles are arranged on the frame body in a sliding mode in the preset direction; and the elastic connecting structure is in transmission connection with the two handles respectively. According to the data acquisition device, the elastic connecting structure is arranged and is in transmission connection with the two handles, so that the elastic connecting structure can provide elastic force for keeping the two handles away from each other, and therefore, on the premise that a user does not apply any external force to the handles, the data acquisition device can be used for acquiring the data of the two handles. According to the data acquisition device, the two handles can be kept away from each other, the process that a user drives the two handles to be away from each other is simpler and more convenient, and therefore the teaching difficulty of the data acquisition device is lower.

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, more and more robots appear in people's vision. Robots are mainly used in 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, the teaching programming of the data acquisition device has obvious advantages in ease of use and speed.

[0003] In the related art, the data acquisition device includes two clamps and two handles, and the two handles are in transmission connection with the two clamps. When the data acquisition device at the execution end of the robot is programmed by teaching, the user needs to manually drive the two handles to approach or move away from each other so that the two clamps can approach or move away from each other to facilitate the detection assembly to complete the data acquisition of the clamping action of the clamping device.

[0004] However, when the distance between the two handles is close, the gap between the two handles is small, and the user's fingers cannot easily enter the area between the two handles, making it difficult for the user to smoothly drive the two handles to move away from each other, thereby increasing the teaching difficulty of the data acquisition device. SUMMARY

[0005] The utility model aims at least to solve one of the technical problems existing in the prior art. The utility model provides a data acquisition device with lower teaching difficulty in the first aspect. The utility model provides a robot in the second aspect.

[0006] According to the data acquisition device provided by the first aspect of the utility model, the data acquisition device comprises a frame body, an elastic connection structure, two clamps and two handles. The clamp is movably arranged on the frame body along a preset direction. The two handles are in transmission connection with the two clamps, and the handle is movably arranged on the frame body along the preset direction. When the handle moves along the preset direction under the action of external force, the handle can drive the clamp to move along the preset direction through the transmission structure. The elastic connection structure is in transmission connection with the two handles, and is used to provide elastic force to keep the two handles away from each other.

[0007] The data acquisition device has at least the following beneficial effects: in the data acquisition device, the elastic connection structure is provided, and the elastic connection structure is connected with the two handles respectively, so that the elastic connection structure can provide elastic force to keep the two handles away from each other, and the two handles can be kept away from each other in the data acquisition device, and the process of keeping the two handles away from each other is more simple and convenient, and the teaching difficulty of the data acquisition device is lower.

[0008] The data acquisition device comprises an elastic connection structure, the elastic connection structure comprises a torsion spring, the torsion spring comprises a deformation part and two connecting parts, and the deformation part is connected with the two handles through the two connecting parts respectively.

[0009] The data acquisition device further comprises a transmission assembly, the transmission assembly comprises two transmission structures, and the two handles are connected with the two clamping jaws through the two transmission structures respectively.

[0010] The transmission structure comprises a rotating piece, a first connecting rod and a second connecting rod, the rotating piece is arranged on the frame body in a rotatable mode, the first connecting rod has opposite first and second ends, the first end is hingedly connected with the clamping jaw, the second end is hingedly connected with the rotating piece, the second connecting rod has opposite third and fourth ends, the third end is hingedly connected with the handle, and the fourth end is hingedly connected with the rotating piece, and the second end and the fourth end are located on one side of the rotating axis of the rotating piece.

[0011] The second end is spaced apart from the rotating axis of the rotating piece by a first distance, and the fourth end is spaced apart from the rotating axis of the rotating piece by a second distance, and the first distance is greater than the second distance.

[0012] The rotating pieces of the two transmission structures are integrally arranged in the same type.

[0013] The second ends of the two transmission structures are symmetrically arranged about the rotating axis of the rotating piece, and the fourth ends of the two transmission structures are symmetrically arranged about the rotating axis of the rotating piece.

[0014] The frame body is provided with a sliding rail extending along a preset direction, the sliding rail is slidably provided with two first sliding blocks and two second sliding blocks, the two clamping jaws are mounted on the two first sliding blocks respectively, and the two handles are mounted on the two second sliding blocks respectively.

[0015] The data acquisition device according to the first aspect of the utility model further comprises a sensor, the sensor is arranged on the frame body, and is used for detecting the movement parameter of the clamping jaw.

[0016] 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.

[0017] 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 through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0018] The utility model will be further explained in combination with the drawings and embodiments;

[0019] Figure 1 It is the structural schematic diagram of data acquisition device of one embodiment of the utility model;

[0020] Figure 2 It is Figure 1 It is the structural schematic diagram of handle of data acquisition device shown in the figure;

[0021] Figure 3 It is Figure 1 It is the structural schematic diagram of elastic connecting structure of data acquisition device shown in the figure;

[0022] Figure 4 It is the structural schematic diagram of frame body and transmission assembly of one embodiment of the utility model;

[0023] Figure 5 It is Figure 1 It is the structural schematic diagram of transmission assembly of data acquisition device shown in the figure;

[0024] Figure 6 It is Figure 1 It is the structural schematic diagram of frame body of data acquisition device shown in the figure;

[0025] Figure 7 It is Figure 1 It is the structural schematic diagram of first clamping jaw and second clamping jaw of data acquisition device shown in the figure.

[0026] REFERENCE SIGNS:

[0027] Frame body 100, sliding rail 110, first sliding block 120, second sliding block 130, mounting protrusion 140, mounting area 141;

[0028] Clamping jaw 200, first clamping jaw 200A, second clamping jaw 200B, hollow groove 201, mounting portion 210, transition portion 220, clamping portion 230;

[0029] Elastic connecting structure 300, deformation portion 310, connecting portion 320;

[0030] Sensor 400;

[0031] Transmission assembly 500; transmission structure 510; rotating member 511; rotating shaft 511a; first connecting rod 512; first end 512a; second end 512b; second connecting rod 513; third end 513a; fourth end 513b;

[0032] Handle 600; first handle 600A; second handle 600B; limiting groove 610; anti-skid convex grain 620. DETAILED DESCRIPTION

[0033] This part will describe the specific embodiments of the utility model in detail, the preferred embodiments of the utility model are shown in the drawings, the role of the drawings is to supplement the description of the text part with 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 is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as the limitation of 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, etc. are not included in the number, above, below, etc. are understood as including the number.If there is a description 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, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0037] The following refers to Figures 1 to 7 The data acquisition device of the first aspect of the utility model is described in detail.

[0038] Reference Figure 1 And Figure 6 According to the data acquisition device of the first aspect of the utility model, it comprises a frame body 100, two clamping jaws 200, two handles 600 and an elastic connection structure 300.

[0039] The preset direction is a left-right direction, the two clamping jaws 200 are movably arranged on the frame body 100 along the left-right direction, the two handles 600 are movably arranged on the frame body 100 along the left-right direction, and the two handles 600 are in transmission connection with the two clamping jaws 200 respectively; the elastic connection structure 300 is in transmission connection with the two handles 600 respectively, and is used for providing elastic force for keeping the two handles 600 away from each other.

[0040] It should be noted that, in the use process of the data acquisition device, the user needs to manually drive the two handles 600 to move closer to or away from each other along the left-right direction, but in the process of the user driving the two handles 600 to move away from each other along the left-right direction, since the distance between the two handles 600 is small at the initial position, the user's hand is difficult to stretch into the area between the two handles 600, and accordingly, the user is difficult to find a suitable force point to drive the two handles 600 to move away from each other when driving the two handles 600 to move away from each other, thereby increasing the teaching difficulty of the data acquisition device.

[0041] In the data acquisition device of the embodiment, the elastic connection structure 300 is arranged, and the elastic connection structure 300 is in transmission connection with the two handles 600 respectively, so that the elastic connection structure 300 can provide elastic force for keeping the two handles 600 away from each other, so that the two handles 600 can be kept in a state of moving away from each other in the data acquisition device of the embodiment without the user applying any external force to the handles 600, the user is more simple and convenient in the process of driving the two handles 600 to move away from each other, thereby making the teaching difficulty of the data acquisition device of the embodiment lower.

[0042] It can be understood that, due to the arrangement of the elastic connection structure 300, the two clamping jaws 200 can be kept in a state of moving away from each other in a normal state, and accordingly, the two handles 600 can also be kept in a state of moving away from each other in a normal state, and the elastic connection structure 300 can assist the user in separating the two handles 600 when the user drives the two handles 600 to move away from each other, thereby the arrangement of the elastic connection structure 300 makes the user more labor-saving in the process of driving the two handles 600 to move away from each other.

[0043] It can be understood that the user can select a suitable elastic connection structure 300 to make the elastic connection structure 300 provide elastic force for keeping the two handles 600 open to the farthest distance, so as to avoid that the two handles 600 cannot be opened to the farthest distance due to improper operation of the user.

[0044] In some embodiments of the utility model, data acquisition device still include transmission assembly 500, transmission assembly 500 include two transmission structure 510, two handle 600 respectively through two transmission structure 510 with two jaw 200 transmission connection.

[0045] For example, as shown in Figure 1 and Figure 5 Data acquisition device still include transmission assembly 500, transmission assembly 500 include two transmission structure 510, two jaw 200, the jaw 200 in left side is first jaw 200A, the jaw 200 in right side is second jaw 200B, handle 600 is slidably arranged on frame body 100 along left and right direction, two handle 600, the handle 600 in left side is first handle 600A, the handle 600 in right side is second handle 600B, two transmission structure 510 of transmission assembly 500, one is first transmission structure, and the other is second transmission structure, first handle 600A is connected with first jaw 200A through first transmission structure, and second handle 600B is connected with second jaw 200B through second transmission structure.

[0046] Further, when the user drives first handle 600A to slide along left and right direction, first handle 600A can drive first jaw 200A to slide along left and right direction synchronously through first transmission structure, when the user drives second handle 600B to slide along left and right direction, second handle 600B can drive second jaw 200B to slide along left and right direction synchronously through second transmission structure.

[0047] In some other embodiments of the utility model, two handle 600 can be directly connected with two jaw 200 respectively.

[0048] In further embodiments of the utility model, elastic connecting structure 300 includes torsion spring, and the torsion spring includes deformation part 310 and two connecting parts 320, and the deformation part 310 is connected with the two handle 600 through the two connecting parts 320 respectively.

[0049] For example, as shown in Figure 2 and Figure 3 Two handle 600 are provided with vertical extension limit slot 610 in close end, and the torsion spring includes deformation part 310 and two connecting parts 320, and the deformation part 310 is connected with the two handle 600 through the two connecting parts 320 respectively, and the connecting part 320 is accommodated in the limit slot 610 of handle 600 connected with it, and the upper end of connecting part 320 is connected with deformation part 310, and the lower end of connecting part 320 is fixed in the limit slot 610 of handle 600 through threaded connecting piece.

[0050] It can be understood that by arranging the limiting groove 610 on the handle 600 and arranging the connecting part 320 of the torsional spring in the limiting groove 610, the groove wall of the limiting groove 610 can limit the connecting part 320 in the front-rear direction, so as to reduce the deformation of the torsional spring in the front-rear direction; correspondingly, in the process that the user drives the two handles 600 to move close to each other, the torsional spring will be deformed under the pushing of the handle 600, and since the groove wall of the limiting groove 610 can limit the connecting part 320 in the front-rear direction, the torsional spring can stably deform in the left-right direction, which can on the one hand extend the service life of the torsional spring and on the other hand reduce the probability that the deformed part 310 of the torsional spring is separated from the region between the two handles 600 in the front-rear direction.

[0051] In some embodiments of the utility model, the transmission structure 510 includes a rotating piece 511, a first connecting rod 512 and a second connecting rod 513, the rotating piece 511 is rotatably arranged on the frame 100, the first connecting rod 512 has opposite first end 512a and second end 512b, first end 512a is hinged with the clamping jaw 200, second end 512b is hinged with the rotating piece 511, the second connecting rod 513 has opposite third end 513a and fourth end 513b, third end 513a is hinged with the handle 600, fourth end 513b is hinged with the rotating piece 511, and second end 512b and fourth end 513b are both located on one side of the rotating axis of the rotating piece 511.

[0052] For example, as shown in Figs. Figure 4 and Figure 5 The rotating piece 511 is provided with a rotating shaft 511a extending in front and back, and the rotating shaft 511a is rotatably connected with the frame 100, so that the rotating piece 511 is rotatably arranged on the frame 100 about the rotating axis extending in front and back, the two ends of the first connecting rod 512 in the extending direction thereof form the first end 512a and the second end 512b respectively, the first end 512a is hinged with the clamping jaw 200, and the second end 512b is hinged with one end of the rotating piece 511 away from the rotating axis, at this time, the rotating piece 511, the first connecting rod 512 and the clamping jaw 200 jointly constitute a crank slider structure, and in the process that the rotating piece 511 rotates about the rotating axis, the first connecting rod 512 can drive the clamping jaw 200 to slide in the left-right direction; the two ends of the second connecting rod 513 in the extending direction thereof form the third end 513a and the fourth end 513b respectively, the third end 513a is hinged with the handle 600, and the fourth end 513b is hinged with one end of the rotating piece 511 away from the rotating axis, at this time, the rotating piece 511, the second connecting rod 513 and the handle 600 jointly constitute a crank slider structure, and in the process that the rotating piece 511 rotates about the rotating axis, the second connecting rod 513 can drive the handle 600 to slide in the left-right direction.

[0053] It can be understood that, in the data acquisition device of the application, the rotating part 511, the first connecting rod 512 and the clamping jaw 200 jointly constitute a crank slider structure, the rotating part 511, the second connecting rod 513 and the handle 600 jointly constitute another crank slider structure, when the user drives the handle 600 to slide in the left-right direction, the handle 600 can drive the rotating part 511 to rotate around the rotation axis through the second connecting rod 513, and in the process of rotating around the rotation axis, the rotating part 511 can drive the clamping jaw 200 to slide in the left-right direction through the first connecting rod 512, and then, in the data acquisition device of the application, the synchronous movement in the left-right direction between the handle 600 and the clamping jaw 200 can be realized through the transmission structure 510.

[0054] In some embodiments of the present application, with reference to Figure 4 and Figure 5 In the same transmission structure 510, the second end 512b of the first connecting rod 512 and the fourth end 513b of the second connecting rod 513 are located on the same side of the rotation axis of the rotating part 511, at this time, the first handle 600A and the first clamping jaw 200A can move in the same direction, and the second handle 600B and the second clamping jaw 200B can also move in the same direction, that is, when the first handle 600A and the second handle 600B move away from each other, the first clamping jaw 200A and the second clamping jaw 200B will also move away from each other synchronously, and when the first handle 600A and the second handle 600B move close to each other, the first clamping jaw 200A and the second clamping jaw 200B will also move close to each other synchronously.

[0055] In some embodiments of the present application, the second end 512b and the rotation axis of the rotating part 511 are spaced apart by a first distance, and the fourth end 513b and the rotation axis of the rotating part 511 are spaced apart by a second distance, and the first distance is greater than the second distance.

[0056] In some embodiments of the present application, the second end 512b and the rotation axis of the rotating part 511 are spaced apart by a first distance, and the fourth end 513b and the rotation axis of the rotating part 511 are spaced apart by a second distance, and the first distance is greater than the second distance.

[0057] It can be understood that, since the second end 512b is spaced apart from the rotation axis of the rotating member 511 by a first distance, the fourth end 513b is spaced apart from the rotation axis of the rotating member 511 by a second distance, and the first distance is greater than the second distance, when the rotating member 511 rotates by a certain angle around the rotation axis, the distance that the clamping jaw 200 moves in the left-right direction can be greater than the distance that the handle 600 moves in the left-right direction; correspondingly, in the teaching process of the data acquisition device of the present application, after the user drives the handle 600 to move a distance in the left-right direction, the clamping jaw 200 can move a longer distance in the left-right direction.

[0058] It can be understood that, in the use process of the data acquisition device, there are cases where the distance between the two clamping jaws 200 is too far apart, at which time the user has difficulty in driving the two clamping jaws 200 to separate to a preset distance by himself; in the data acquisition device of the present application, since the clamping jaw 200 can move a longer distance in the left-right direction after the user drives the handle 600 to move a distance in the left-right direction, correspondingly, when the two clamping jaws 200 need to be separated by a preset distance, the distance between the two handles 600 that need to be separated can be smaller, so that the user can complete the teaching operation of separating the two clamping jaws 200 to a preset distance by driving the two handles 600 away from each other, and thus in the data acquisition device of the present application, when the preset distance that the two clamping jaws 200 need to be separated is large, the user can still successfully complete the teaching operation of driving the two clamping jaws 200 to separate to a preset distance by himself.

[0059] In some embodiments of the present application, Figure 4 and Figure 5 The rotating members 511 of the two transmission structures 510 are homogenous and integrally arranged.

[0060] It can be understood that, by arranging the rotating members 511 of the two transmission structures 510 to be homogenous and integrally arranged, the two transmission structures 510 can share the same rotating member 511, on the one hand, the overall structure of the driving assembly can be simplified to make the overall structure of the driving assembly more compact, on the other hand, since the two transmission structures 510 share the same rotating member 511, when the user drives one of the handles 600 to move left and right, the other handle 600 and the two clamping jaws 200 can be synchronized to move left and right, so that the user can complete the teaching operation of the data acquisition device of the present application with only one hand.

[0061] In some embodiments of the present application, the second end 512b of the two transmission structures 510 is symmetrically arranged about the rotation axis of the rotating member 511, and the fourth end 513b of the two transmission structures 510 is symmetrically arranged about the rotation axis of the rotating member 511.

[0062] It can be understood that, since the second ends 512b of the two transmission structures 510 are symmetrically arranged about the rotation axis of the rotating member 511, the two clamping jaws 200 can mirror-move the same distance in the left-right direction; since the fourth ends 513b of the two transmission structures 510 are symmetrically arranged about the rotation axis of the rotating member 511, the two handles 600 can also mirror-move the same distance in the left-right direction.

[0063] In some embodiments of the utility model, the frame body 100 is provided with a slide rail 110 extending along a preset direction, two first sliding blocks 120 and two second sliding blocks 130 are slidably arranged on the slide rail 110, the two clamping jaws 200 are respectively mounted on the two first sliding blocks 120, and the two handles 600 are respectively mounted on the two second sliding blocks 130.

[0064] For example, as shown in Figure 4 and Figure 6 , the frame body 100 is provided with a slide rail 110 extending left and right, two first sliding blocks 120 and two second sliding blocks 130 are slidably arranged on the slide rail 110, the two second sliding blocks 130 are both located between the two first sliding blocks 120, the two clamping jaws 200 are respectively mounted on the two first sliding blocks 120, and the two handles 600 are respectively mounted on the two second sliding blocks 130.

[0065] Further, when the user demonstrates the operation of the data acquisition device, the clamping jaw 200 can accurately slide left and right along the slide rail 110 through the first sliding block 120, and the handle 600 can accurately slide left and right along the slide rail 110 through the second sliding block 130.

[0066] It can be understood that, by slidably arranging the two clamping jaws 200 and the two handles 600 on the same slide rail 110, on the one hand, the number of slide rails 110 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 200 and the two handles 600 can slide along the same line, so as to improve the demonstration accuracy of the data acquisition device in the demonstration operation process.

[0067] In further embodiments of the utility model, referring to Figure 4 and Figure 6 , the frame body 100 is provided with two mounting protrusions 140 distributed left and right, an installation area 141 is formed between the two mounting protrusions 140, the rotating shaft 511a of the rotating member 511 is rotatably arranged in the installation area 141, the slide rail 110 is mounted on the mounting protrusion 140 through a threaded connecting piece, and the slide rail 110 is located in front of the rotating member 511.

[0068] It can be understood that, by arranging the mounting protrusion 140 on the frame 100 and mounting the slide rail 110 on the mounting protrusion 140, the slide rail 110 and the rotating piece 511 can be staggered in the front-rear direction, so as to reduce the probability of interference between the rotating piece 511 and the slide rail 110 during work.

[0069] It should be noted that, in the data acquisition device of the utility model, only the clamping jaw 200 needs to be movable in the preset direction, and the clamping jaw 200 does not necessarily need to be slidably arranged on the slide rail 110 extending in the preset direction. In other embodiments of the utility model, a slide groove extending in the preset direction can also be arranged on the frame 100 to assist the clamping jaw 200 to move in the preset direction.

[0070] It should be noted that, in the data acquisition device of the utility model, only the handle 600 needs to be movable in the preset direction, and the handle 600 does not necessarily need to be slidably arranged on the slide rail 110 extending in the preset direction. In other embodiments of the utility model, the handle 600 can be directly arranged on the clamping jaw 200 to directly drive the clamping jaw 200 to move in the preset direction.

[0071] In some embodiments of the utility model, referring to Figure 7 , the clamping jaw 200 comprises an installation portion 210, a transition portion 220 and a clamping portion 230 connected in sequence, the installation portion 210 is fixedly connected with the first sliding block 120, for the first clamping jaw 200A, the clamping portion 230 is located at the right front side of the installation portion 210, and for the second clamping jaw 200B, the clamping portion 230 is located at the left front side of the installation portion 210. Thus, in the process of teaching the data acquisition device of the application, when the clamping portion 230 of the first clamping jaw 200A abuts against the clamping portion 230 of the second clamping jaw 200B, there will still be a certain avoiding space between the installation portion 210 of the first clamping jaw 200A and the installation portion 210 of the second clamping jaw 200B to accommodate the two handles 600.

[0072] In further embodiments of the utility model, referring to Figure 7 , the clamping jaw 200 is provided with a hollow groove 201.

[0073] It can be understood that, by arranging the hollow groove 201 on the clamping jaw 200, the overall weight of the clamping jaw 200 and the material cost during manufacturing can be reduced while ensuring the overall strength of the clamping jaw 200.

[0074] In some embodiments of the utility model, referring to Figure 5 , the sensor 400 is an encoder, the detection end of the encoder is connected with the rotating shaft 511a of the rotating piece 511, and is used for detecting the rotation angle of the rotating shaft 511a.

[0075] It is understandable that while the gripper 200 slides left and right along the slide rail 110, the rotating shaft 511a will rotate synchronously with the gripper 200. The rotation angle of the rotating shaft 511a and the moving distance of the gripper 200 are mapped. The encoder detects the rotation angle parameter of the rotating shaft 511a and transmits the detected rotation angle parameter to the processor. The processor can then calculate the moving distance parameter of the gripper 200 from the rotation angle of the rotating shaft 511a through a certain conversion relationship.

[0076] In some embodiments of this utility model, to facilitate the user's gripping of the handle 600, refer to Figure 2 The handle 600 has anti-slip raised texture 620.

[0077] In some other embodiments of this utility model, in addition to being configured to be directly connected to the two handles 600, the elastic connection structure 300 can also be configured to be directly connected to the two grippers 200. In this case, the elastic connection structure 300 can drive the two handles 600 to separate through the two grippers 200.

[0078] In some other embodiments of this utility model, the elastic connection structure 300 can also be connected to the rotating member 511 and the frame 100 respectively. In this case, the elastic connection structure 300 can provide an elastic force to keep the rotating member 511 rotating in the forward direction. When the rotating member 511 rotates in the forward direction, the rotating member 511 can drive the two grippers 200 to separate from each other. When the rotating member 511 rotates in the reverse direction, the rotating member 511 can drive the two grippers 200 to move closer to each other.

[0079] The robot provided according to the second aspect of the present invention includes the data acquisition device provided in the first aspect of the present invention.

[0080] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A data acquisition device, characterized by, The utility model relates to a kind of clamp, including: Frame (100); Two clamping jaws (200), the clamping jaw (200) is movably provided on the frame (100) along preset direction; Two handles (600) are respectively connected with two clamping jaws (200) transmission, the handle (600) is movably provided on the frame (100) along the preset direction, when the handle (600) is moved along the preset direction under the action of external force, the handle (600) can drive the clamping jaw (200) along the preset direction by transmission structure (510). Resilient connecting structure (300) is respectively connected with two handles (600) transmission, and it is used to provide the resilient force that two handles (600) keep away from each other.

2. A data acquisition device according to claim 1, wherein, The resilient connecting structure (300) includes torsion spring, the torsion spring includes deformation part (310) and two connecting parts (320), the deformation part (310) is connected with two handles (600) by two connecting parts (320) respectively;Handle (600) is equipped with limiting slot (610), and connecting part (320) is contained in limiting slot (610).

3. The data acquisition device of claim 1, wherein, It further includes transmission assembly (500), and the transmission assembly (500) includes two transmission structures (510), and two handles (600) are respectively connected with two clamping jaws (200) by two transmission structures (510).

4. A data acquisition device according to claim 3, wherein, The transmission structure (510) includes rotating member (511), first connecting rod (512) and second connecting rod (513), the rotating member (511) is rotatably provided on the frame (100), the first connecting rod (512) has opposite first end (512a) and second end (512b), the first end (512a) is hinged with the clamping jaw (200), the second end (512b) is hinged with the rotating member (511), the second connecting rod (513) has opposite third end (513a) and fourth end (513b), the third end (513a) is hinged with the handle (600), and the fourth end (513b) is hinged with the rotating member (511), and the second end (512b) and the fourth end (513b) are located on one side of the rotating axis of the rotating member (511).

5. A data acquisition device according to claim 4, wherein, The second end (512b) and the rotating axis of the rotating member (511) are spaced apart by a first distance, the fourth end (513b) and the rotating axis of the rotating member (511) are spaced apart by a second distance, and the first distance is greater than the second distance.

6. A data acquisition device according to claim 4 or 5, wherein, The rotating member (511) of two transmission structures (510) is homogenous and integrally arranged.

7. A data acquisition device according to claim 6, wherein, The second end (512b) of two transmission structures (510) is symmetrically arranged about the rotating axis of the rotating member (511), and the fourth end (513b) of two transmission structures (510) is symmetrically arranged about the rotating axis of the rotating member (511).

8. The data acquisition device of claim 1, wherein, The frame body (100) is provided with a sliding rail (110) extending along the preset direction, two first sliding blocks (120) and two second sliding blocks (130) are slidably arranged on the sliding rail (110), two clamping jaws (200) are respectively arranged on the two first sliding blocks (120), and two handles (600) are respectively arranged on the two second sliding blocks (130).

9. The data acquisition device of claim 1, wherein, A sensor (400) is further included, which is arranged on the frame body (100) and used for detecting a movement parameter of the clamping jaw (200).

10. A robot, characterized in that The data acquisition device comprises the frame body (100) according to any one of claims 1 to 9.

Images