Data acquisition device and robot

Abstract

According to the data acquisition device, each handle comprises a hinged end and a connecting end which are oppositely arranged, the hinged ends of the two handles are hinged, the connecting ends of the two handles are respectively in transmission connection with a clamping jaw through a transmission structure, and therefore the two clamping jaws are in transmission connection with each other through a transmission structure. Even if the connecting ends of the two handles are far away from each other to the maximum interval, the closer to the hinged ends of the handles, the smaller the interval between the two handles is, a user can drive the parts, close to the hinged ends, of the two handles to be close to each other with one hand, and then the connecting ends of the two handles can be driven to be close to each other with one hand; no matter how large the interval between the connecting ends of the two handles is, a user can drive the connecting ends of the two handles to get close to each other with one hand, and the convenience of the data acquisition device in the data acquisition process is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot control technical field, especially a kind of 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 humans to complete some simple, tedious and repetitive tasks. Before using the robot, the robot needs to be programmed to enable the robot to complete the action set by the user. Compared with traditional text code programming, the teach pendant teaching programming has obvious advantages in ease of use and speed.

[0003] In related technologies, when teaching programming is performed on the data acquisition device of the robot execution end, the user needs to manually drive the two handles to approach or move away from each other to drive the two clamps to approach or move away from each other through the handles.

[0004] However, in some data acquisition devices, the moving path of the handle is relatively long. When the two handles move away from each other to the maximum interval between the two handles, at this time, the user can hardly drive the two handles to approach each other smoothly with only one hand, so that the data acquisition device has poor convenience in the data acquisition process. 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 better convenience in the data acquisition process. The utility model also provides a robot.

[0006] According to the data acquisition device provided by the first aspect of the utility model, the two clamps are slidably arranged on the frame body along the preset direction. The transmission assembly includes two transmission structures. The handle includes a hinge end and a connection end arranged oppositely. The hinge ends of the two handles are hinged. The connection ends of the two handles are respectively connected with the two clamps through the transmission structure.

[0007] Under the action of external force, the two connection ends can approach or move away from each other to drive the two clamps to approach or move away from each other through the transmission assembly.

[0008] The data acquisition device has at least the following beneficial effects: in the data acquisition device, the handle includes the hinge end and the connecting end arranged oppositely, the hinge ends of the two handles are hinged, the connecting ends of the two handles are respectively connected with the clamping jaw through a transmission structure, so that even if the connecting ends of the two handles are far away from each other to the maximum interval, the closer to the hinge end of the handle, the smaller the interval between the two handles, the user can drive the connecting ends of the two handles to be close to each other by single hand, and then no matter how far apart the connecting ends of the two handles are, the user can drive the connecting ends of the two handles to be close to each other by single hand, and the convenience of the data acquisition device in the data acquisition process is improved.

[0009] According to the data acquisition device, the transmission structure includes a rotating piece, a connecting block, a first connecting rod and a second connecting rod, the rotating piece is rotatably arranged on the frame body, the connecting block is slidably arranged on the frame body along a preset direction and is hinged with the connecting end, the first connecting rod has opposite first and second ends, the first end is hinged with the clamping jaw, and the second end is hinged with the rotating piece, the second connecting rod has opposite third and fourth ends, the third end is hinged with the connecting block, and the fourth end is hinged 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.

[0010] According to the data acquisition device, 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.

[0011] According to the data acquisition device, the rotating pieces of the two transmission structures are integrally arranged.

[0012] According to the data acquisition device, 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.

[0013] According to the data acquisition device, the frame body is provided with a sliding rail extending along a preset direction, two first sliding blocks and two second sliding blocks are slidably arranged on the sliding rail, the two clamping jaws are respectively mounted on the two first sliding blocks, and the two connecting blocks are respectively mounted on the two second sliding blocks.

[0014] According to the data acquisition device, the data acquisition device 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 connecting ends of the two handles away from each other.

[0015] According to the data acquisition device provided by the first aspect of the utility model, the elastic connection structure comprises a torsion spring, the torsion spring comprises a deformation part and two connecting parts, the deformation part is connected with two handles through the two connecting parts respectively; a limiting groove is arranged on the handle, and the connecting part is accommodated in the limiting groove.

[0016] According to the data acquisition device provided by the first aspect of the utility model, the elastic connection structure comprises a torsion spring, the torsion spring comprises a deformation part and two connecting parts, the deformation part is connected with two handles through the two connecting parts respectively; a limiting groove is arranged on the handle, and the connecting part is accommodated in the limiting groove.

[0017] According to the data acquisition device provided by the first aspect of the utility model, the elastic connection structure comprises a torsion spring, the torsion spring comprises a deformation part and two connecting parts, the deformation part is connected with two handles through the two connecting parts respectively; a limiting groove is arranged on the handle, and the connecting part is accommodated in the limiting groove.

[0018] Additional aspects and advantages of the utility model will be partially given in the following description, some will become obvious from the following description, or be understood through 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 structural schematic diagram of data acquisition device of one embodiment of the utility model;

[0021] Figure 2 It is Figure 1 It is the structural schematic diagram of data acquisition device after hiding claw;

[0022] Figure 3 It is Figure 1 It is the structural schematic diagram of handle of data acquisition device;

[0023] Figure 4 It is Figure 1 It is the structural schematic diagram of elastic connection structure of data acquisition device;

[0024] Figure 5 It is Figure 1 It is the structural schematic diagram of transmission assembly of data acquisition device;

[0025] Figure 6 It is Figure 1 It is the structural schematic diagram of frame of data acquisition device;

[0026] Figure 7 It is Figure 1 It is the structural schematic diagram of claw of data acquisition device.

[0027] REFERENCE NUMERALS:

[0028] Frame 100; slide rail 110; first sliding block 120; second sliding block 130; mounting protrusion 140; mounting area 141;

[0029] Clamping jaw 200; first clamping jaw 200A; second clamping jaw 200B; hollow groove 201; mounting portion 210; transition portion 220; clamping portion 230;

[0030] Transmission assembly 300; transmission structure 310; rotating member 311; rotating shaft 311a; first connecting rod 312; first end 312a; second end 312b; second connecting rod 313; third end 313a; fourth end 313b; connecting block 314;

[0031] Handle 400; first handle 400A; second handle 400B; hinged end 401; connecting end 402; limiting groove 410; anti-skid convex grain 420;

[0032] Elastic connection structure 500; deformation portion 510; connecting portion 520;

[0033] Sensor 600. DETAILED DESCRIPTION

[0034] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application 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 present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0035] In the description of the present application, it should be 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, which is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as a limitation on the present application.

[0036] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than, etc. is not included in the number, above, below, etc. is included in the number. If there is a description of the first, second, it is only used for the purpose of distinguishing technical features, 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.

[0037] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installation, connection, etc. 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 present application according to the specific content of the technical scheme.

[0038] The following will be described with reference to Figures 1 to 7The data acquisition device of the first aspect of the utility model is described in detail.

[0039] Reference Figure 1 And Figure 2 The data acquisition device according to the first aspect of the utility model comprises a frame body 100, two clamping jaws 200, a transmission assembly 300 and two handles 400; the two clamping jaws 200 are slidably arranged on the frame body 100 along a preset direction; the transmission assembly 300 comprises two transmission structures 310; the handle 400 comprises a hinged end 401 and a connecting end 402 arranged oppositely, the hinged ends 401 of the two handles 400 are hinged, and the connecting ends 402 of the two handles 400 are respectively in transmission connection with a clamping jaw 200 through a transmission structure 310; under the action of external force, the two connecting ends 402 can approach or move away from each other, so as to drive the two clamping jaws 200 to approach or move away from each other through the transmission assembly 300.

[0040] For example, as shown in Figure 1 And Figure 2 The preset direction is the left-right direction, the two clamping jaws 200 are slidably arranged on the frame body 100 along the left-right direction, the clamping jaw 200 located on the left side is a first clamping jaw 200A, the clamping jaw 200 located on the right side is a second clamping jaw 200B, the two handles 400 are distributed along the left-right direction, the handle 400 located on the left side is a first handle 400A, the handle 400 located on the right side is a second handle 400B, one of the two transmission structures 310 of the transmission assembly 300 is a first transmission structure, and the other transmission structure 310 is a second transmission structure, the hinged ends 401 of the first handle 400A and the second handle 400B are hinged, the connecting end 402 of the first handle 400A is in transmission connection with the first clamping jaw 200A through the first transmission structure, and the connecting end 402 of the second handle 400B is in transmission connection with the second clamping jaw 200B through the second transmission structure.

[0041] During the data acquisition process of the data acquisition device of the utility model, the user drives the connecting end 402 of the first handle 400A and the connecting end 402 of the second handle 400B to approach or move away from each other, so that the transmission assembly 300 can drive the first clamping jaw 200A and the second clamping jaw 200B to approach or move away from each other.

[0042] It can be understood that, since the hinged ends 401 of the first handle 400A and the second handle 400B are hinged, the distance between the first handle 400A and the second handle 400B is smaller near the hinged end 401, and the distance between the connecting end 402 of the first handle 400A and the connecting end 402 of the second handle 400B is larger, so that when a user cannot hold the connecting end 402 of the first handle 400A and the connecting end 402 of the second handle 400B with one hand, the user can hold the position of the first handle 400A near the hinged end 401 and the position of the second handle 400B near the hinged end 401 with one hand, so as to smoothly drive the connecting end 402 of the first handle 400A and the connecting end 402 of the second handle 400B to approach each other; and then, no matter how far apart the connecting ends 402 of the two handles 400 are, the user can drive the connecting ends 402 of the two handles 400 to approach each other with one hand, thereby improving the convenience of the data acquisition device in the data acquisition process.

[0043] In some embodiments of the utility model, the transmission structure 310 includes a rotating piece 311, a connecting block 314, a first connecting rod 312 and a second connecting rod 313, the rotating piece 311 is rotatably arranged on the frame body 100, the connecting block 314 is slidably arranged on the frame body 100 along a preset direction and is hinged with the connecting end 402, the first connecting rod 312 has opposite first end 312a and second end 312b, the first end 312a is hinged with the clamping jaw 200, the second end 312b is hinged with the rotating piece 311, the second connecting rod 313 has opposite third end 313a and fourth end 313b, the third end 313a is hinged with the connecting block 314, the fourth end 313b is hinged with the rotating piece 311, and the second end 312b and the fourth end 313b are both located on one side of the rotating axis of the rotating piece 311.

[0044] For example, as Figure 5As shown, the rotating member 311 is provided with a rotating shaft 311a extending forward and backward, the rotating shaft 311a is rotatably connected with the frame body 100, so that the rotating member 311 is rotatably arranged on the frame body 100 around the rotating shaft extending forward and backward, the first connecting rod 312 is formed with a first end 312a and a second end 312b at two ends in the extending direction of the first connecting rod 312 respectively, the first end 312a is hingedly connected with the clamping jaw 200, and the second end 312b is hingedly connected with one end of the rotating member 311 away from the rotating shaft, at this time, the rotating member 311, the first connecting rod 312 and the clamping jaw 200 jointly constitute a crank slider structure, in the rotating process of the rotating member 311 around the rotating shaft, the first connecting rod 312 can drive the clamping jaw 200 to slide in the left-right direction; the second connecting rod 313 is formed with a third end 313a and a fourth end 313b at two ends in the extending direction of the second connecting rod 313 respectively, the third end 313a is hingedly connected with the connecting block 314, and the fourth end 313b is hingedly connected with one end of the rotating member 311 away from the rotating shaft, at this time, the rotating member 311, the second connecting rod 313 and the connecting block 314 jointly constitute a crank slider structure, in the rotating process of the rotating member 311 around the rotating shaft, the second connecting rod 313 can drive the connecting block 314 to slide in the left-right direction, and the connecting block 314 is hingedly connected with the connecting end 402 of the handle 400, in the sliding process of the connecting block 314 in the left-right direction, the connecting block 314 can drive the connecting end 402 of the handle 400 to slide in the left-right direction.

[0045] It can be understood that, in the data acquisition device of the application, the rotating member 311, the first connecting rod 312 and the clamping jaw 200 jointly constitute a crank slider structure, the rotating member 311, the second connecting rod 313 and the connecting block 314 jointly constitute another crank slider structure, when the user drives the two connecting ends 402 of the handles 400 to move close to or away from each other in the left-right direction, the two connecting ends 402 can drive the two connecting blocks 314 to move close to or away from each other in the left-right direction respectively, and simultaneously, the connecting block 314 can drive the rotating member 311 to rotate forward or reversely around the rotating shaft through the second connecting rod 313, in the rotating process of the rotating member 311 around the rotating shaft, the rotating member 311 can drive the two clamping jaws 200 to move close to or away from each other in the left-right direction through the first connecting rod 312, and thus, in the data acquisition device of the application, the synchronous movement between the handle 400 and the clamping jaw 200 in the left-right direction can be realized through the transmission structure 310.

[0046] In some embodiments of the application, the second end 312b is spaced apart from the rotating shaft of the rotating member 311 by a first distance, and the fourth end 313b is spaced apart from the rotating shaft of the rotating member 311 by a second distance, the first distance is greater than the second distance.

[0047] It can be understood that, since the second end 312b is spaced apart from the rotation axis of the rotating member 311 by a first distance, the fourth end 313b is spaced apart from the rotation axis of the rotating member 311 by a second distance, and the first distance is greater than the second distance, when the rotating member 311 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 connecting block 314 moves in the left-right direction, the distance that the connecting end 402 of the handle 400 moves in the left-right direction is consistent with the distance that the connecting block 314 moves in the left-right direction, so that the distance that the clamping jaw 200 moves in the left-right direction can be greater than the distance that the connecting end 402 moves in the left-right direction; correspondingly, in the teaching process of the data acquisition device, after the user drives the connecting end 402 of the handle 400 to move a distance in the left-right direction, the clamping jaw 200 can move a longer distance in the left-right direction.

[0048] It should be noted that, in the use process of the data acquisition device, there is a case that the distance between the two clamping jaws 200 is too far apart, at this time, the distance between the two connecting ends 402 is also far apart, when the user drives the two connecting ends 402 to move closer to each other with one hand, the user's hand needs to be closer to the hinged end 401 of the handle 400, and correspondingly, under the action of the lever principle, the user needs to exert greater force on the handle 400 during the process of driving the two connecting ends 402 to move closer to each other with one hand, and the user needs to exert greater force during the process of driving the two connecting ends 402 to move closer to each other.

[0049] It can be understood that, in the data acquisition device, after the user drives the connecting end 402 of the handle 400 to move a distance in the left-right direction, the clamping jaw 200 can move a longer distance in the left-right direction, and correspondingly, when the two clamping jaws 200 are spaced apart by a predetermined distance, the distance between the connecting ends 402 of the two handles 400 can be smaller, so that the user's hand can be farther away from the hinged end 401 of the handle 400 when the user drives the connecting ends 402 of the two handles 400 to move closer to each other, so that the user can exert smaller force on the handle 400, and the user can exert smaller force during the process of driving the two connecting ends 402 to move closer to each other.

[0050] In some embodiments of the utility model, the rotating members 311 of the two transmission structures 310 are integrally arranged.

[0051] It is understandable that by setting the rotating parts 311 of the two transmission structures 310 as a homogeneous integral unit, the two transmission structures 310 can share the same rotating part 311. On the one hand, this simplifies the overall structure of the transmission assembly 300, making the overall structure of the transmission assembly 300 more compact. On the other hand, since the two transmission structures 310 share the same rotating part 311, when the user drives one of the handles 400 to move left and right, the other handle 400 and the two grippers 200 can move left and right synchronously, thereby reducing the difficulty for the user to complete the teaching operation of the data acquisition device of this utility model with one hand.

[0052] In some embodiments of this utility model, the second ends 312b of the two transmission structures 310 are symmetrically arranged about the rotation axis of the rotating member 311, and the fourth ends 313b of the two transmission structures 310 are symmetrically arranged about the rotation axis of the rotating member 311.

[0053] It is understandable that, since the second ends 312b of the two transmission structures 310 are symmetrically arranged about the rotation axis of the rotating member 311, the two grippers 200 can move the same distance in the left and right directions; since the fourth ends 313b of the two transmission structures 310 are symmetrically arranged about the rotation axis of the rotating member 311, the two connecting blocks 314 can also move the same distance in the left and right directions.

[0054] In some embodiments of this utility model, the frame 100 is provided with a slide rail 110 extending in a preset direction, and two first sliders 120 and two second sliders 130 are slidably provided on the slide rail 110. Two grippers 200 are respectively installed on the two first sliders 120, and two connecting blocks 314 are respectively installed on the two second sliders 130.

[0055] For example, such as Figure 1 , Figure 2 and Figure 6 As shown, the frame 100 is provided with a slide rail 110 extending left and right. Two first sliders 120 and two second sliders 130 are slidably provided on the slide rail 110. The two second sliders 130 are located between the two first sliders 120. Two grippers 200 are respectively installed on the two first sliders 120. Two connecting blocks 314 are respectively installed on the two second sliders 130.

[0056] Furthermore, when the user performs a teaching operation on the data acquisition device of this application, the gripper 200 can slide accurately left and right along the slide rail 110 via the first slider 120, and the connecting block 314 can slide accurately left and right along the slide rail 110 via the second slider 130.

[0057] It can be understood that by slidably arranging the two clamping jaws 200 and the two connecting blocks 314 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 of the utility model is more simple and compact, and on the other hand, the two clamping jaws 200 and the two connecting blocks 314 can slide along the same straight line, so as to improve the demonstration accuracy of the data acquisition device in the demonstration operation process.

[0058] 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.

[0059] In further embodiments of the utility model, referring to Figure 7 The clamping jaw 200 is provided with a hollow groove 201.

[0060] 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.

[0061] In further embodiments of the utility model, referring to Figure 6 The frame body 100 is provided with two installation protrusions 140 distributed left and right, an installation area 141 is formed between the two installation protrusions 140, the rotating shaft 311a of the rotating piece 311 is rotatably arranged in the installation area 141, the slide rail 110 is installed on the installation protrusion 140 through a threaded connecting piece, and the slide rail 110 is located in front of the rotating piece 311.

[0062] It can be understood that by arranging the installation protrusion 140 on the frame body 100 and installing the slide rail 110 on the installation protrusion 140, the slide rail 110 and the rotating piece 311 can be staggered in the front-back direction, so as to reduce the probability of interference between the rotating piece 311 and the slide rail 110 during work.

[0063] In some embodiments of the utility model, referring to Figure 1 And Figure 2The data acquisition device further comprises elastic connecting structures 500, which are connected with the two handles 400 respectively and are used to provide elastic force for keeping the connecting ends 402 of the two handles 400 away from each other.

[0064] It should be noted that, in the use of the data acquisition device, the user needs to manually drive the two handles 400 to move closer to or away from each other in the left-right direction, but in the process of driving the two handles 400 to move away from each other, the user's hand is difficult to stretch into the area between the two handles 400 due to the small distance between the two handles 400 in the initial position, and accordingly, the user is difficult to find a suitable force point to drive the two handles 400 to move away from each other, thereby increasing the difficulty of data acquisition operation of the data acquisition device.

[0065] In the data acquisition device of the embodiment, the elastic connecting structures 500 are arranged and connected with the two handles 400 respectively, so that the elastic connecting structures 500 can provide elastic force for keeping the connecting ends 402 of the two handles 400 away from each other, and thus the connecting ends 402 of the two handles 400 in the data acquisition device of the embodiment can be kept in a state of moving away from each other without any external force applied by the user, and the user can drive the connecting ends 402 of the two handles 400 to move away from each other more simply and conveniently, thereby making the teaching difficulty of the data acquisition device of the embodiment lower.

[0066] It can be understood that, in order to make the user drive the connecting ends 402 of the two handles 400 to move closer to each other more labor-saving, the user has a first force arm between the force point of the handle 400 and the hinged end 401, and the elastic connecting structure 500 has a second force arm between the force point of the handle 400 and the hinged end 401, and the length of the first force arm is greater than that of the second force arm, in which case the user can exert smaller force on the handle 400 to make the two handles 400 overcome the elastic force of the elastic connecting structure 500 to move closer to each other, thereby achieving the effect of saving labor.

[0067] In some embodiments of the utility model, the elastic connecting structure 500 comprises a torsion spring, the torsion spring comprises a deformation part 510 and two connecting parts 520, the deformation part 510 is connected with the two handles 400 through the two connecting parts 520 respectively, and the handle 400 is provided with a limiting slot 410, and the connecting part 520 is accommodated in the limiting slot 410.

[0068] For example, as shown in FIG. 6, the two handles 400 are connected with each other through the elastic connecting structure 500, and the elastic connecting structure 500 is a torsion spring. Figure 3 and Figure 4As shown, the two handles 400 are provided with vertical extension limiting grooves 410 at one end close to each other, the torsion spring comprises a deformation part 510 and two connecting parts 520, the deformation part 510 is connected with the two handles 400 through the two connecting parts 520 respectively, the connecting part 520 is contained in the limiting groove 410 of the handle 400 connected with the connecting part 520, the upper end of the connecting part 520 is connected with the deformation part 510, and the lower end of the connecting part 520 is fixed in the limiting groove 410 of the handle 400 through a threaded connecting piece.

[0069] It can be understood that, by arranging the limiting groove 410 on the handle 400 and arranging the connecting part 520 of the torsion spring in the limiting groove 410, the groove wall of the limiting groove 410 can limit the connecting part 520 in the front-rear direction, so as to reduce the deformation of the torsion spring in the front-rear direction; correspondingly, in the process that the user drives the two handles 400 to be close to each other, the torsion spring will be deformed under the pushing of the handle 400, and since the groove wall of the limiting groove 410 can limit the connecting part 520 in the front-rear direction, the torsion spring can stably deform in the left-right direction, which can prolong the service life of the torsion spring and reduce the probability that the deformation part 510 of the torsion spring is separated from the region between the two handles 400.

[0070] In further embodiments of the present application, in order to facilitate the user to grasp the handle 400, with reference to Figure 3 , the handle 400 is provided with anti-skid convex patterns 420.

[0071] In some embodiments of the present application, with reference to Figure 6 , the data acquisition device further comprises a sensor 600, the sensor 600 is arranged on the frame 100 and is used for detecting the movement parameters of the clamping jaw 200.

[0072] It can be understood that, in the data acquisition process of the data acquisition device, the sensor 600 detects the movement parameters of the clamping jaw 200, and subsequently, the user can plan the movement path of the clamping jaw of the robot according to the movement parameters detected by the sensor 600.

[0073] In further embodiments of the present application, with reference to Figure 5 , the sensor 600 is an encoder, the detection end of the encoder is connected with the rotating shaft 311a of the rotating part 311 and is used for detecting the rotation angle of the rotating shaft 311a.

[0074] It can be understood that, while the clamping jaw 200 slides along the slide rail 110, the rotating shaft 311a will be synchronously rotated with the clamping jaw 200, the rotating angle of the rotating shaft 311a and the moving distance of the clamping jaw 200 are in a mapping relationship, the encoder detects the rotating angle parameter of the rotating shaft 311a, and transmits the detected rotating angle parameter to the processor, and the subsequent processor can calculate the moving distance parameter of the clamping jaw 200 from the rotating angle of the rotating shaft 311a through a certain conversion relationship.

[0075] According to the robot provided in the second aspect of the present application, the data acquisition device provided in the first aspect of the present application is included.

[0076] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A data acquisition device, characterized by, The utility model relates to a kind of two-way clamp, including: Frame (100); Two clamping jaws (200) are slidably arranged on the frame (100) along a predetermined direction; Transmission assembly (300) includes two transmission structures (310); Two handles (400) include opposite hinge end (401) and connecting end (402), the hinge end (401) of two handles (400) is hinged, and the connecting end (402) of two handles (400) is respectively connected with one clamping jaw (200) by one transmission structure (310), under the action of external force, two connecting ends (402) can be close to each other or away from each other, to drive two clamping jaws (200) to be close to each other or away from each other by transmission assembly (300).

2. A data acquisition device according to claim 1, wherein, The transmission structure (310) includes a rotating member (311), a connecting block (314), a first connecting rod (312) and a second connecting rod (313), the rotating member (311) is rotatably arranged on the frame (100), the connecting block (314) is slidably arranged on the frame (100) along a predetermined direction, and is hinged with the connecting end (402), the first connecting rod (312) has opposite first end (312a) and second end (312b), the first end (312a) is hinged with the clamping jaw (200), the second end (312b) is hinged with the rotating member (311), the second connecting rod (313) has opposite third end (313a) and fourth end (313b), the third end (313a) is hinged with the connecting block (314), and the fourth end (313b) is hinged with the rotating member (311), the second end (312b) and the fourth end (313b) are located on one side of the rotating axis of the rotating member (311).

3. A data acquisition device according to claim 2, wherein, The second end (312b) and the rotating axis of the rotating member (311) are spaced apart by a first distance, the fourth end (313b) and the rotating axis of the rotating member (311) are spaced apart by a second distance, and the first distance is greater than the second distance.

4. A data acquisition device according to claim 3, wherein, The second end (312b) of the two transmission structures (310) is symmetrically arranged about the rotating axis of the rotating member (311), and the fourth end (313b) of the two transmission structures (310) is symmetrically arranged about the rotating axis of the rotating member (311).

5. The data acquisition device of claim 2, wherein, The frame (100) is provided with a slide rail (110) extending along the predetermined direction, the slide rail (110) is slidably provided with two first sliding blocks (120) and two second sliding blocks (130), two clamping jaws (200) are respectively mounted on two first sliding blocks (120), and two connecting blocks (314) are respectively mounted on two second sliding blocks (130).

6. The data acquisition device of claim 1, wherein, Further comprising an elastic connecting structure (500), the elastic connecting structure (500) is connected with two handles (400) respectively, and is used for providing elastic force to keep the connecting end (402) of two handles (400) away from each other.

7. A data acquisition device according to claim 6, wherein, The elastic connecting structure (500) comprises a torsion spring, the torsion spring comprises a deformation part (510) and two connecting parts (520), the deformation part (510) is connected with two handles (400) through two connecting parts (520) respectively; the handle (400) is provided with a limiting groove (410), and the connecting part (520) is accommodated in the limiting groove (410).

8. The data acquisition device of claim 1, wherein, A sensor (600) is further included, which is arranged on the frame body (100) and used for detecting the movement parameter of the clamping jaw (200).

9. A robot, characterized in that The data acquisition device comprises the data acquisition device according to any one of claims 1 to 8.

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