Clamping system

Abstract

The utility model provides a clamping system, relates to the technical field of data acquisition, and is used for solving the problem that data acquired by an existing data acquisition device cannot be well matched with a clamping jaw. The clamping system comprises a first clamping device and a second clamping device. The first clamping device comprises a first base, a first clamping mechanism and a first environment sensing module. The first clamping mechanism is movably connected with the first base, and the first environment sensing module is arranged on the first base. The second clamping device comprises a second base, a second clamping mechanism and a second environment sensing module. The second clamping mechanism is movably connected with the second base, and the second environment sensing module is arranged on the second base. Wherein the relative position of the first clamping mechanism and the first environment sensing module is a first relative position, the relative position of the second clamping mechanism and the second environment sensing module is a second relative position, and the first relative position is consistent with the second relative position. The clamping system can be used for data acquisition.

Description

Technical Field

[0001] This application relates to the field of data acquisition technology, and in particular to a clamping system. Background Technology

[0002] As the end effector of a robot, the acquisition and control of its motion data are key factors determining the accuracy and flexibility of its movements. A data acquisition device is a tool available to operators, allowing them to quickly collect data for use in gripper training and to remotely control the gripper.

[0003] However, the data collected by existing data acquisition devices cannot be well adapted to the grippers in subsequent applications, resulting in poor performance of the grippers in data utilization. Utility Model Content

[0004] This application provides a clamping system to solve the problem that the data collected by existing data acquisition devices cannot be well adapted to the grippers.

[0005] This application provides a clamping system, including a first clamping device and a second clamping device. The first clamping device includes a first base, a first clamping mechanism, and a first environmental sensing module. The first clamping mechanism is movably connected to the first base, and the first environmental sensing module is disposed on the first base. The first clamping device is used for operation by an operator. The second clamping device includes a second base, a second clamping mechanism, and a second environmental sensing module. The second clamping mechanism is movably connected to the second base, and the second environmental sensing module is disposed on the second base. The second clamping device is used as an end effector. The relative positions of the first clamping mechanism and the first environmental sensing module are defined as a first relative position, and the relative positions of the second clamping mechanism and the second environmental sensing module are defined as a second relative position, wherein the first relative position and the second relative position are identical.

[0006] The clamping system provided in this application allows operators to perform various operations by holding a first clamping device and collecting motion data from it. A second clamping device can act as an actuator to perform various operations. A first environmental sensing module collects data from the first clamping mechanism, which can then be applied to the training of the second clamping device and other end-effectors. When the second clamping device is operating, the second environmental sensing module can manipulate the data from the second clamping mechanism, facilitating adjustments to the second clamping device for more accurate operation. Because the first and second relative positions are consistent, when the data collected by the first environmental sensing module in the first clamping device is applied to the second clamping device, the relative position between the first environmental sensing module and the first clamping mechanism corresponds to the relative position between the second environmental sensing module and the second clamping mechanism. This ensures that the coordinate relationship after data application remains consistent with the original coordinate relationship, guaranteeing the effectiveness of data application and improving the training quality and efficiency of the second clamping device.

[0007] In some embodiments, the first relative position includes the angle between the centerline of the sensing direction of the first environmental sensing module and the plane where the first clamping mechanism is located. The second relative position includes the angle between the centerline of the sensing direction of the second environmental sensing module and the plane where the second clamping mechanism is located.

[0008] In some embodiments, the plane containing the first clamping mechanism includes the upper or lower surface of the end of the first clamping mechanism near the first base. The plane containing the second clamping mechanism includes the upper or lower surface of the end of the second clamping mechanism near the second base.

[0009] In some embodiments, the first relative position includes a first distance between the end of the first clamping mechanism near the first base and the first environmental sensing module. The second relative position includes a second distance between the end of the second clamping mechanism near the second base and the second environmental sensing module. Wherein, the first relative position and the second relative position being the same means that the first distance and the second distance are the same.

[0010] In some embodiments, the first environment perception module includes a first image acquisition module. The second environment perception module includes a second image acquisition module. The first image acquisition module and the second image acquisition module have the same field of view.

[0011] In some embodiments, the first clamping device further includes a first operating part and a second operating part. The first operating part and the second operating part are connected to the first clamping mechanism, and the second operating part and the first operating part are arranged at a distance from each other. The first operating part and the second operating part can be operated by an operator to drive the first clamping mechanism to rotate relative to the first base.

[0012] In some embodiments, the vertical length of the first operating part is greater than the vertical length of the second operating part.

[0013] In some embodiments, the first clamping device further includes a gripping portion. The gripping portion is connected to the first base and is used for gripping by an operator.

[0014] In some embodiments, the first clamping device further includes a first button. The first button is disposed on the grip portion and is used to clear the information collected by the first clamping device.

[0015] In some embodiments, the first clamping device further includes a second button. The second button is disposed on the grip portion and is used to control the operation and stop of the first environmental sensing module.

[0016] In some embodiments, the first clamping mechanism includes a first clamping seat and a first clamping member. The first clamping seat is movably connected to a first base. At least a portion of the first clamping member is detachably connected to the first clamping seat. The first clamping member is capable of contacting an article.

[0017] In some embodiments, the second clamping mechanism includes a second clamping seat and a second clamping member. The second clamping seat is movably connected to a second base. At least a portion of the second clamping member is detachably connected to the second clamping seat. The second clamping member is capable of contacting an article.

[0018] In some embodiments, the first clamping member includes a first connector, a first clamping portion, and a second connector. The first connector is detachably connected to the first clamping base. The first clamping portion is movably and detachably connected to the first connector. One end of the second connector is movably and detachably connected to the first base, and the other end is movably and detachably connected to the first clamping portion. The first and second connectors are used to cause the first clamping portion to translate relative to the first base during movement of the first clamping base relative to the first base.

[0019] In some embodiments, the second clamping member includes a third connector, a second clamping portion, and a fourth connector. The third connector is detachably connected to the second clamping base. The second clamping portion is movably and detachably connected to the third connector. One end of the fourth connector is movably and detachably connected to the second base, and the other end is movably and detachably connected to the second clamping portion. The third and fourth connectors are used to cause the second clamping portion to translate relative to the second base during movement of the second clamping base relative to the second base. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a first clamping device provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of a second clamping device provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of another first clamping device provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of another second clamping device provided in an embodiment of this application;

[0025] Figure 5 for Figure 1 A schematic diagram of the first clamping device shown from another angle;

[0026] Figure 6 for Figure 1 A partial structural schematic diagram of the first clamping device shown.

[0027] Figure 7 for Figure 2 A partial structural schematic diagram of the second clamping device is shown;

[0028] Figure 8 for Figure 7 A schematic diagram of the structure after removing one of the fourth transmission gears;

[0029] Figure 9 for Figure 1 The diagram shows the structure of the first clamping device at another angle.

[0030] Figure label:

[0031] 100-First clamping device; 110-First base; 111-First plug-in port; 112-First indicator light; 120-First clamping mechanism; 121-First clamping seat; 1211-First connecting part; 122-First clamping member; 1221-First connecting member; 1222-First clamping part; 1223-Second connecting member; 1224-Third clamping part; 130-First environmental sensing module; 140-First flexible member; 141-First sub-flexible member; 142-Second sub-flexible member; 151-First operating part; 152-Second operating part; 160-Grip part; 161-Grip body; 1611-Groove; 1612-Boss; 162-Grip base; 171-First button; 172-Second button; 180-Elastic member; 19 0-First transmission mechanism; 191-First transmission gear; 192-Second transmission gear; 193-First limiting pin; 194-Positioning device; 200-Second clamping device; 210-Second base; 211-Second limiting hole; 220-Second clamping mechanism; 221-Second clamping seat; 2211-Second connecting part; 222-Second clamping member; 2221-Third connecting member; 2222-Second clamping part; 2223-Fourth connecting member; 2224-Fifth clamping part; 230-Second environmental sensing module; 240-Second flexible member; 241-Third sub-flexible member; 242-Fourth sub-flexible member; 250-Second transmission mechanism; 251-Third transmission gear; 252-Fourth transmission gear; 253-Second limiting pin; 260-Drive device. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0034] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0035] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0036] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" may be defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0037] The terms "parallel," "perpendicular," and "identical" (e.g., identical length, identical width, etc.) mentioned in the embodiments of this application are all relative to the current technological level, and not absolute and strict mathematical definitions. There can be a predetermined angular deviation between two mutually parallel or perpendicular components. In one embodiment, the predetermined angle can be within the range of ±10°, for example, a predetermined angular deviation of ±5°.

[0038] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] In the field of embodied intelligence, the training of robot maneuvers plays a crucial role in practical applications. Among these, the gripper, as the robot's end effector, is critically affected by the accuracy of its maneuver training.

[0040] For rapid data acquisition, data acquisition devices are generally used instead of end effectors. End effectors can include, but are not limited to, robotic arms or robotic hands. Operators manually operate the data acquisition devices to quickly acquire large amounts of data, which can then be used to train the end effector. To collect motion features, both the data acquisition devices and the corresponding end effectors are typically equipped with environmental perception modules, such as cameras or LiDAR. The following explanation uses a camera as an example.

[0041] However, the relative positions of the clamping mechanism and the camera in the data acquisition device are inconsistent with those in the end effector. This results in the data acquisition device acquiring data being reproduced on the end effector in subsequent applications. The inconsistent camera coordinate system between the two devices is due to the inconsistent position of the camera relative to the clamping mechanism, ultimately leading to poor application results and ineffective utilization of the acquired data.

[0042] Based on this, embodiments of this application provide a clamping system, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a first clamping device 100 provided in an embodiment of this application. The clamping system may include the first clamping device 100. The first clamping device 100 can be operated by an operator. Thus, the operator can hold the first clamping device 100 to perform various operations and collect motion data of the first clamping device 100. The collected data can be used for training large-scale models of embodied intelligence and robot operation.

[0043] like Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a second clamping device 200 provided in an embodiment of this application. The clamping system may further include the second clamping device 200. The second clamping device 200 can be used as an end effector. Therefore, the second clamping device 200 can function as an actuator to perform various operations.

[0044] In some embodiments, this application provides a robot that may include the second gripping device 200 described above. The second gripping device 200 can serve as the robot's end effector, performing different operations.

[0045] It is understood that the robot can be of different types and can be used in industrial, commercial or household fields to perform different operations. The embodiments of this application do not specifically limit the specific type of robot.

[0046] For example, the robot provided in this application embodiment can be a embodied robot or a non-embodied robot. Depending on the walking method, the robot provided in this application embodiment can be a wheeled robot, a tracked robot, or a legged robot.

[0047] In order to train the second clamping device 200, the motion data collected by the first clamping device 100 can be used as training data for the second clamping device 200. The second clamping device 200 can quickly perform a large number of motion training using the data collected by the first clamping device 100, thereby improving the accuracy and effectiveness of the second clamping device 200 in subsequent operations.

[0048] The first clamping device 100 and the second clamping device 200 provided in the embodiments of this application will be further described below.

[0049] like Figure 1 As shown, the first clamping device 100 may include a first base 110, a first clamping mechanism 120, and a first environmental sensing module 130. The first clamping mechanism 120 is movably connected to the first base 110. The first clamping mechanism 120 can perform operations such as clamping objects by moving relative to the first base 110.

[0050] The first environmental perception module 130 is disposed on the first base 110. The first environmental perception module 130 can be used to collect data such as the motion posture of the first clamping mechanism 120. In this way, the first environmental perception module 130 can collect data from the first clamping mechanism 120, and the collected data can be subsequently applied to the training of end effectors such as the second clamping device 200.

[0051] like Figure 2 As shown, the second clamping device 200 may include a second base 210, a second clamping mechanism 220, and a second environmental sensing module 230. The second clamping mechanism 220 is movably connected to the second base 210. The second clamping mechanism 220 can perform operations such as clamping objects by moving relative to the second base 210.

[0052] The second environmental sensing module 230 is disposed on the second base 210. The second environmental sensing module 230 can be used to collect data such as the motion posture of the second clamping mechanism 220. In this way, when the second clamping device 200 is operating, the second environmental sensing module 230 can collect data of the second clamping mechanism 220, thereby facilitating the adjustment of the second clamping device 200 so that the second clamping mechanism 220 can operate more accurately.

[0053] The relative positions of the first clamping mechanism 120 and the first environmental sensing module 130 are the first relative positions, and the relative positions of the second clamping mechanism 220 and the second environmental sensing module 230 are the second relative positions. The first relative positions and the second relative positions are consistent.

[0054] Based on this, since the first relative position and the second relative position are consistent, when the data collected by the first environmental perception module 130 in the first clamping device 100 is applied to the second clamping device 200, the relative position between the first environmental perception module 130 and the first clamping mechanism 120 can correspond to the relative position between the second environmental perception module 230 and the second clamping mechanism 220. This ensures that the coordinate relationship after data application remains consistent with the original coordinate relationship, guarantees the application effect of the data, and improves the training quality and training efficiency of the second clamping device 200.

[0055] In some embodiments, the first relative position includes the angle between the centerline of the sensing direction of the first environmental sensing module 130 and the plane where the first clamping mechanism 120 is located. The second relative position includes the angle between the centerline of the sensing direction of the second environmental sensing module 230 and the plane where the second clamping mechanism 220 is located.

[0056] Based on this, the sensing angle of the first environmental perception module 130 relative to the first clamping mechanism 120 and the sensing angle of the second environmental perception module 230 relative to the second clamping mechanism 220 can be kept consistent. In this way, the relative orientation of the first environmental perception module 130 and the first clamping mechanism 120 in three-dimensional space can be kept consistent with the relative orientation of the second environmental perception module 230 and the second clamping mechanism 220 in three-dimensional space, maintaining consistency in the relative coordinate directions. This allows the data obtained by the first clamping device 100 to be better applied to the training of the second clamping device 200.

[0057] It is understood that the plane where the first clamping mechanism 120 is located and the plane where the second clamping mechanism 220 is located refer to the relatively flat surfaces formed by most of the structures in the first clamping mechanism 120 and the second clamping mechanism 220, respectively. If there are a few irregular surfaces formed by these irregular surfaces, they are not included in the above scope.

[0058] Furthermore, it can be understood that the center line of the sensing direction refers to the center line of the entire field of view of the environmental perception module. Taking the environmental perception module as a camera as an example, the center line of the sensing direction includes the center line of the entire field of view of the camera. Taking the environmental perception module as a LiDAR as an example, the center line of the sensing direction includes the center line of the entire field of view of the LiDAR.

[0059] In some embodiments, the plane containing the first clamping mechanism 120 includes the upper or lower surface of the end of the first clamping mechanism 120 near the first base 110. The plane containing the second clamping mechanism 220 includes the upper or lower surface of the end of the second clamping mechanism 220 near the second base 210. It is understood that the aforementioned upper or lower surface refers to a relatively flat surface formed by most of its structure; if there are a small portion forming an irregular surface, such irregular surface is not included in the above description.

[0060] Based on the above scheme, the angle between the center line of the sensing direction of the first environmental sensing module 130 and the plane where the first clamping mechanism 120 is located, and the angle between the center line of the sensing direction of the second environmental sensing module 230 and the plane where the second clamping mechanism 220 is located, refer to two corresponding surfaces.

[0061] For example, the plane containing the first clamping mechanism 120 includes the upper surface of the first clamping mechanism 120 near the end of the first base 110, and the plane containing the second clamping mechanism 220 includes the upper surface of the second clamping mechanism 220 near the end of the second base 210. Alternatively, the plane containing the first clamping mechanism 120 includes the lower surface of the first clamping mechanism 120 near the end of the first base 110, and the plane containing the second clamping mechanism 220 includes the lower surface of the second clamping mechanism 220 near the end of the second base 210.

[0062] Of course, the plane where the first clamping mechanism 120 is located and the plane where the second clamping mechanism 220 is located can also refer to the surfaces of the first clamping mechanism 120 and the second clamping mechanism 220 at other positions, as long as the overall positions of the two surfaces on the first clamping mechanism 120 and the second clamping mechanism 220 are consistent, that is, the two surfaces are the planes of the first clamping mechanism 120 and the second clamping mechanism 220 at the same or similar positions.

[0063] In some embodiments, the first relative position includes a first distance between the end of the first clamping mechanism 120 near the first base 110 and the first environmental sensing module 130. The second relative position includes a second distance between the end of the second clamping mechanism 220 near the second base 210 and the second environmental sensing module 230.

[0064] The first relative position and the second relative position being the same include having the same first distance and the same second distance. It is understood that the first distance and the second distance can include straight-line distance. In other embodiments, the distance may also include horizontal distance or vertical distance.

[0065] Therefore, the distance between the end of the first clamping mechanism 120 near the first base 110 and the first environmental sensing module 130 is the same as the distance between the end of the second clamping mechanism 220 near the second base 210 and the second environmental sensing module 230. This ensures that the distance relationship between the first clamping mechanism 120 and the first environmental sensing module 130 is the same as the distance relationship between the second clamping mechanism 220 and the second environmental sensing module 230, making the data collected by the first clamping device 100 more effective and accurate when applied.

[0066] Furthermore, it is understood that the aforementioned first distance and second distance being the same is not absolutely identical; within a certain preset error range, the first distance and second distance can be considered the same. Of course, in other embodiments, the first distance and second distance may also be different. In this case, when the data collected by the first environmental perception module 130 is applied to the second clamping device 200, the data can be effectively applied to the second clamping device 200 based on the proportional relationship between the first distance and the second distance, the corresponding preset coordinate system, and other parameters, ensuring effective data utilization.

[0067] In some embodiments, the first environment perception module 130 includes a first image acquisition module. The second environment perception module 230 includes a second image acquisition module. The first image acquisition module and the second image acquisition module have the same field of view. Therefore, when the first image acquisition module and the second image acquisition module acquire field-of-view images, they can acquire images of the same range.

[0068] Of course, in other embodiments, the field of view of the first image acquisition module and the second image acquisition module may also be different. For example, the field of view of the second image acquisition module may be larger than that of the first image acquisition module.

[0069] In this way, when operating using the second clamping device 200, the second image acquisition module can capture a wider field of view, facilitating operation. Simultaneously, when the second image acquisition module uses data from the first image acquisition module for training, it can also ensure coverage of the first image acquisition module's field of view, guaranteeing data application and training effectiveness.

[0070] It is understood that the specific types of the first image acquisition module and the second image acquisition module can be selected according to the actual situation. For example, both the first image acquisition module and the second image acquisition module may include a color camera.

[0071] Furthermore, it is understood that the first environmental sensing module 130 and the second environmental sensing module 230 may also include other components. For example, in some embodiments, the first environmental sensing module 130 may further include a first distance acquisition module, and the second environmental sensing module 230 may include a second distance acquisition module. In this case, the first environmental sensing module 130 and the second environmental sensing module 230 can respectively measure the relevant distances through the aforementioned first distance acquisition module and second distance acquisition module.

[0072] It is understandable that the specific types of the first and second distance acquisition modules can be selected according to the actual situation. For example, both the first and second distance acquisition modules can include a lidar. In this case, the distance can be calculated by measuring the reflection time of the laser pulse emitted by the lidar.

[0073] To better grip items and adapt to different gripping needs, in some embodiments, such as Figure 1 As shown, the first clamping mechanism 120 may include a first clamping seat 121 and a first clamping member 122. The first clamping seat 121 is movably connected to the first base 110. At least a portion of the first clamping member 122 is detachably connected to the first clamping seat 121. The first clamping member 122 is capable of contacting an article.

[0074] Therefore, the first clamping seat 121 can move relative to the first base 110, and the first clamping member 122 can move along with the movement of the first clamping seat 121 to complete operations such as clamping the item. Meanwhile, since at least a portion of the first clamping member 122 is detachably connected to the first clamping seat 121, the first clamping member 122 can be detached from the first clamping seat 121 under different environments and needs, and different first clamping members 122 can be used to clamp the item to meet different requirements and complete different operations. Of course, in some other embodiments, the first clamping member 122 can also be non-detachably connected to the first clamping seat 121.

[0075] It is understandable that the movement between the first clamping seat 121 and the first base 110 can be designed according to actual conditions. For example, as Figure 1 As shown, in some embodiments, the first clamping seat 121 can be rotatably connected to the first base 110. In this way, different operations can be performed on the article by the relative rotation of the first clamping seat 121 relative to the first base 110.

[0076] Alternatively, in some other embodiments, the first clamping seat 121 may also be slidably connected to the first base 110. In this way, different operations can be performed on the article by sliding the first clamping seat 121 relative to the first base 110.

[0077] Similarly, such as Figure 2 As shown, in some embodiments, the second clamping mechanism 220 may include a second clamping seat 221 and a second clamping member 222. The second clamping seat 221 is movably connected to the second base 210. At least a portion of the second clamping member 222 is detachably connected to the second clamping seat 221. The second clamping member 222 is capable of contacting an article.

[0078] Therefore, the second clamping seat 221 can move relative to the second base 210, and the second clamping member 222 can move along with the movement of the second clamping seat 221 to complete operations such as clamping the item. Meanwhile, since at least a portion of the second clamping member 222 is detachably connected to the second clamping seat 221, the second clamping member 222 can be detached from the second clamping seat 221 under different environments and needs, allowing for the use of different second clamping members 222 to clamp the item and perform other operations, thus meeting different requirements and completing different operations. Of course, in other embodiments, the second clamping member 222 may also be permanently connected to the second clamping seat 221.

[0079] Similarly, it is understood that the movement between the second clamping seat 221 and the second base 210 can be designed according to actual conditions. For example, as Figure 2 As shown, in some other embodiments, the second clamping seat 221 may be rotatably connected to the second base 210. In this way, different operations can be performed on the article by the relative rotation of the second clamping seat 221 relative to the second base 210.

[0080] Alternatively, in some embodiments, the second clamping seat 221 may also be slidably connected to the second base 210. In this way, different operations can be performed on the article by sliding the second clamping seat 221 relative to the second base 210.

[0081] In some embodiments, such as Figure 1 As shown, there can be two first clamping seats 121 and two first clamping members 122. The two first clamping seats 121 can be arranged at a relative interval. Therefore, during operation, the first clamping members 122 on the two first clamping seats 121 can be used for clamping and other operations.

[0082] Similarly, in some embodiments, such as Figure 2 As shown, there can be two second clamping seats 221 and two second clamping members 222. The two second clamping seats 221 can be arranged at a relative interval. Therefore, during operation, the second clamping members 222 on the two second clamping seats 221 can be used for clamping and other operations.

[0083] Of course, in some other embodiments, the number of the first clamping seat 121 and the first clamping member 122 may also be one. In this case, during operation, the operator can use the first clamping members 122 on both first clamping devices 100 to complete clamping and other operations. Alternatively, the operator can directly use the first clamping member 122 on one first clamping device 100 to complete the operation (e.g., picking up and putting down items).

[0084] Similarly, in other embodiments, the number of second clamping seats 221 and second clamping members 222 may also be one. During operation, the operator can use the second clamping members 222 on both second clamping devices 200 to perform clamping operations. Alternatively, the operator can directly use the second clamping member 222 on one second clamping device 200 to perform operations (such as picking up and putting down items).

[0085] In some embodiments, such as Figure 3 As shown, Figure 3 This is a schematic diagram of another first clamping device 100 provided in an embodiment of this application. The first clamping member 122 may include a first connector 1221, a first clamping part 1222, and a second connector 1223.

[0086] The first connector 1221 is detachably connected to the first clamping seat 121. The first clamping part 1222 is movably and detachably connected to the first connector 1221. One end of the second connector 1223 is movably and detachably connected to the first base 110, and the other end is movably and detachably connected to the first clamping part 1222. The first connector 1221 and the second connector 1223 are used to cause the first clamping part 1222 to translate relative to the first base 110 during the movement of the first clamping seat 121 relative to the first base 110.

[0087] Based on this, during the movement of the first clamping seat 121, the movement of the first connecting member 1221, the first clamping part 1222, and the second connecting member 1223 allows the first clamping part 1222 to move in a manner that translates relative to the first base 110 without rotating, i.e. Figure 3 As shown, the first clamping part 1222 always moves in a manner that translates in the left and right direction without rotating. In this way, when clamping using the gap between the two first clamping parts 1222, the two first clamping parts 1222 can clamp in a relatively parallel manner at each position, thereby ensuring the clamping effect on the item.

[0088] It is understood that the specific movement of the first connector 1221, the first clamping part 1222, and the second connector 1223 can also be designed according to actual conditions. For example, the first clamping part 1222 is rotatably and detachably connected to the first connector 1221. One end of the second connector 1223 is rotatably and detachably connected to the first base 110, and the other end is rotatably and detachably connected to the first clamping part 1222.

[0089] Therefore, by rotating the first connector 1221, the first clamping part 1222 and the second connector 1223 relative to each other, the angle of the first clamping part 1222 relative to the first base 110 will not change during the rotation of the first clamping seat 121.

[0090] Alternatively, for example, the first connector 1221, the first clamping part 1222, and the second connector 1223 can also be connected by sliding, so that the first clamping part 1222 can maintain a relatively translational motion during the movement. The specific implementation method will not be further described here, as long as the above effect can be achieved.

[0091] Similarly, in some embodiments, such as Figure 4 As shown, Figure 4 This is a schematic diagram of another second clamping device 200 provided in an embodiment of this application. The second clamping member 222 may include a third connector 2221, a second clamping part 2222, and a fourth connector 2223.

[0092] The third connector 2221 is movably and detachably connected to the second clamping seat 221. The second clamping part 2222 is movably and detachably connected to the third connector 2221. One end of the fourth connector 2223 is movably and detachably connected to the second base 210, and the other end is movably and detachably connected to the second clamping part 2222. The third connector 2221 and the fourth connector 2223 are used to cause the second clamping part 2222 to translate relative to the second base 210 during the movement of the second clamping seat 221 relative to the second base 210.

[0093] Based on this, during the movement of the second clamping seat 221, the movement of the third connecting member 2221, the second clamping part 2222, and the fourth connecting member 2223 allows the second clamping part 2222 to move in a manner that translates relative to the second base 210 without rotating, i.e. Figure 4 As shown, the first clamping part 1222 always moves in a horizontal translational manner without rotation. In this way, when using the gap between the two second clamping parts 2222 for clamping, the two first clamping parts 1222 can clamp in a relatively parallel manner at various positions, thereby ensuring the clamping effect on the item.

[0094] It is understood that the specific movement of the third connector 2221, the second clamping part 2222, and the fourth connector 2223 can also be designed according to actual conditions. For example, the second clamping part 2222 is rotatably and detachably connected to the third connector 2221. One end of the fourth connector 2223 is rotatably and detachably connected to the second base 210, and the other end is rotatably and detachably connected to the second clamping part 2222.

[0095] Therefore, by rotating the third connector 2221, the second clamping part 2222 and the fourth connector 2223 relative to each other, the second clamping part 2222 will not change its angle relative to the second base 210 during the rotation of the second clamping seat 221.

[0096] Alternatively, for example, the third connector 2221, the second clamping part 2222, and the fourth connector 2223 can also be connected by sliding, so that the second clamping part 2222 can maintain a relatively translational motion during the movement. The specific implementation method will not be further described here, as long as the above effect can be achieved.

[0097] In some embodiments, such as Figure 1 As shown, the first clamping member 122 may include a third clamping part 1224. The third clamping part 1224 is detachably connected to the first clamping base 121. In this case, the third clamping part 1224 can serve as the part that contacts the item, clamping the item.

[0098] It is understood that the specific shape and position of the third clamping part 1224 can be designed according to actual conditions. In some embodiments, such as Figure 1 As shown, a portion of the third clamping part 1224 can be located on the side where the two first clamping seats 121 are close to each other, and another portion can be located on the side of the first clamping seat 121 away from the first base 110. Thus, the third clamping part 1224 can have a relatively large clamping area.

[0099] Furthermore, in some embodiments, such as Figure 1 As shown, the portion of the third clamping part 1224 located on the side of the first clamping seat 121 away from the first base 110 can be tilted toward the direction between the two first clamping seats 121. In this way, the space occupied by the above-mentioned part is small, and it can be operated in narrow places.

[0100] Furthermore, in some embodiments, such as Figure 1 As shown, the distance between the portions of the two third clamping portions 1224 located on the side of the first clamping seat 121 away from the first base 110 can be smaller than the distance between the portions of the two third clamping portions 1224 located on the side of the two first clamping seats 121 close to each other. Therefore, different areas of the third clamping portions 1224 can conveniently clamp items of different sizes.

[0101] In some embodiments, the first clamping member 122 may further include a fourth clamping portion (not shown in the figure). The fourth clamping portion may be detachably connected to the third clamping portion 1224. In this case, the fourth clamping portion can contact the article for clamping.

[0102] Similarly, it is understood that the specific shape and position of the fourth clamping part can be designed according to actual conditions. For example, in some embodiments, the fourth clamping part can be located on the side where the third clamping parts 1224 are close to each other. In this case, the fourth clamping part can come into contact with the article.

[0103] In some embodiments, the surface of the fourth clamping portion away from the third clamping portion 1224 can be a corrugated rough surface. This increases the friction between the clamping portion and the object, improving the clamping effect.

[0104] Alternatively, in some embodiments, the surface of the fourth clamping portion away from the third clamping portion 1224 may also have a recessed structure. In this case, the recessed structure can also provide a good fixation for the article.

[0105] Alternatively, in some other embodiments, the fourth clamping part may be located on the side of the third clamping part 1224 away from the first base 110. In this case, the fourth clamping part may also come into contact with the article and clamp the article.

[0106] In some embodiments, the fourth clamping part can be an elongated structure. In this case, the fourth clamping part can be used to operate in narrow areas, providing good adaptability.

[0107] Furthermore, in some embodiments, when the fourth clamping part is an elongated structure, a portion of the fourth clamping part is inclined toward the space between the two first clamping seats 121 along its extension direction and away from the first base 110. Thus, the end of the fourth clamping part away from the first base 110 can form a clamping area with smaller intervals, facilitating the clamping of small items.

[0108] Similarly, in some embodiments, such as Figure 2 As shown, the second clamping member 222 may include a fifth clamping part 2224. The fifth clamping part 2224 is detachably connected to the second clamping base 221. In this case, the fifth clamping part 2224 can serve as the part that contacts the article, clamping the article.

[0109] It is understood that the specific shape and position of the fifth clamping part 2224 can be designed according to actual conditions. In some embodiments, such as Figure 2 As shown, a portion of the fifth clamping part 2224 can be located on the side where the two second clamping seats 221 are close to each other, and another portion can be located on the side of the second clamping seat 221 away from the second base 210. Thus, the fifth clamping part 2224 can have a relatively large clamping area.

[0110] Furthermore, in some embodiments, such as Figure 2As shown, the portion of the fifth clamping part 2224 located on the side of the second clamping seat 221 away from the second base 210 can be tilted toward the direction between the two second clamping seats 221. In this way, the space occupied by the above-mentioned part is small, and it can be operated in narrow places.

[0111] Furthermore, in some embodiments, such as Figure 2 As shown, the distance between the portions of the two fifth clamping portions 2224 located on the side of the second clamping seat 221 away from the second base 210 can be smaller than the distance between the portions of the two fifth clamping portions 2224 located on the side of the two second clamping seats 221 close to each other. Therefore, different areas of the fifth clamping portions 2224 can conveniently clamp items of different sizes.

[0112] In some embodiments, the second clamping member 222 may further include a sixth clamping portion (not shown in the figure). The sixth clamping portion may be detachably connected to the fifth clamping portion 2224. In this case, the sixth clamping portion can contact the article for clamping.

[0113] Similarly, it is understood that the specific shape and position of the sixth clamping part can be designed according to actual conditions. For example, in some embodiments, the sixth clamping part can be located on the side where the fifth clamping parts 2224 are close to each other. In this case, the sixth clamping part can come into contact with the article.

[0114] In some embodiments, the surface of the sixth clamping portion away from the fifth clamping portion 2224 can be a corrugated rough surface. This increases the friction between the clamping portion and the object, improving the clamping effect.

[0115] Alternatively, in some embodiments, the surface of the sixth clamping portion away from the fifth clamping portion 2224 may also have a recessed structure. In this case, the recessed structure can also provide a good fixation for the article.

[0116] Alternatively, in some other embodiments, the sixth clamping part may be located on the side of the fifth clamping part 2224 away from the second base 210. In this case, the sixth clamping part may also come into contact with the article and clamp the article.

[0117] In some embodiments, the sixth clamping part can be an elongated structure. In this case, the sixth clamping part can be used to operate in narrow areas, providing good adaptability.

[0118] Furthermore, in some embodiments, when the sixth clamping part is an elongated structure, a portion of the sixth clamping part is inclined toward the space between the two second clamping seats 221 along its extension direction and away from the second base 210. Thus, the end of the sixth clamping part away from the second base 210 can form a clamping area with smaller intervals, facilitating the clamping of small items.

[0119] In some embodiments, such as Figure 1 As shown, the first clamping device 100 may further include a first flexible member 140. The first flexible member 140 may be disposed on the first clamping member 122 for contacting the target item. Thus, by contacting the target item through the first flexible member 140, damage to the item can be avoided. In addition, the first flexible member 140 may also act as an anti-slip pad, increasing the friction with the contacting item and preventing the item from falling off.

[0120] For example, such as Figure 1 As shown, the first clamping member 122 includes a third clamping portion 1224. The first flexible member 140 may include a first sub-flexible member 141 and a second sub-flexible member 142. The first sub-flexible member 141 is located at the portion of the third clamping portion 1224 where the two first clamping seats 121 are close to each other, and the second sub-flexible member 142 may be located at the portion of the third clamping portion 1224 on the side of the first clamping seat 121 away from the first base 110.

[0121] Similarly, in some embodiments, such as Figure 2 As shown, the second clamping device 200 may further include a second flexible member 240. The second flexible member 240 may be disposed on the second clamping member 222 for contacting the target article. Thus, by contacting the target article through the second flexible member 240, damage to the article can be avoided. In addition, the second flexible member 240 can also act as an anti-slip pad, increasing the friction with the contacting article and preventing the article from falling off.

[0122] For example, such as Figure 1 As shown, the second clamping member 222 includes a fifth clamping portion 2224. The second flexible member 240 may include a third sub-flexible member 241 and a fourth sub-flexible member 242. The third sub-flexible member 241 is located at the portion of the fifth clamping portion 2224 where the two second clamping seats 221 are close to each other, and the fourth sub-flexible member 242 may be located at the portion of the fifth clamping portion 2224 on the side of the second clamping seat 221 away from the second base 210.

[0123] As can be seen from the above, the first clamping base 121 can be replaced with different first clamping members 122. Therefore, in some embodiments, such as Figure 1 As shown, the first clamping base 121 may have multiple first connecting portions 1211. The multiple first connecting portions 1211 can be used to connect different first clamping members 122. Thus, when changing different types of first clamping members 122, different first connecting portions 1211 can be used for installation, so that the first clamping base 121 can install different first clamping members 122.

[0124] For example, such as Figure 1As shown, the first connecting part 1211 can be a hole structure. Correspondingly, the first clamping member 122 can be designed with a corresponding hole structure for installation by fasteners. Of course, the first connecting part 1211 can also be other structures, which will not be further illustrated here.

[0125] Similarly, in some embodiments, such as Figure 1 As shown, the second clamping base 221 may have multiple second connecting portions 2211. These multiple second connecting portions 2211 can be used to connect different second clamping members 222. Therefore, when replacing second clamping members 222 with different forms, different second connecting portions 2211 can be used for installation, allowing the second clamping base 221 to accommodate different second clamping members 222.

[0126] For example, such as Figure 2 As shown, the second connecting part 2211 can also be a hole structure. Correspondingly, the second clamping member 222 can be designed with a corresponding hole structure for installation by fasteners. Of course, the second connecting part 2211 can also be other structures, which will not be further illustrated here.

[0127] Furthermore, in some embodiments, the shape of the part of the first clamping mechanism 120 that contacts the article and the shape of the part of the second clamping mechanism 220 that contacts the article can be the same.

[0128] Therefore, after the first clamping device 100 collects data from the first clamping mechanism 120, since the shape of the part of the second clamping mechanism 220 that contacts the object is consistent with the shape of the part of the first clamping mechanism 120 that contacts the object, the matching of motion features can be more accurate. The collected motion trajectory, motion angle and force characteristics are completely corresponding, making the data more effective and eliminating the deviation in motion mapping of the collected data.

[0129] It is understood that the above-mentioned identical form may include that the size, structure and motion degrees of freedom of the two are the same, so that the parameters of the parts in contact with the object in the first clamping mechanism 120 and the second clamping mechanism 220 can be matched, so that the clamping force, friction, speed and tactile feedback collected by the first clamping device 100 can be consistent with those of the second clamping device 200.

[0130] For example, such as Figure 3 and Figure 4 As shown, the structures of the first connector 1221, the first clamping part 1222, and the second connector 1223 can be the same as the structures of the third connector 2221, the second clamping part 2222, and the fourth connector 2223, respectively. Alternatively, as... Figure 1 and Figure 2As shown, the structure of the third clamping part 1224 can be the same as the structure of the fifth clamping part 2224.

[0131] Furthermore, in some embodiments, the driving methods of the first clamping mechanism 120 and the second clamping mechanism 220 can also be the same. This allows the first clamping mechanism 120 and the second clamping mechanism 220 to move in the same manner, thereby enabling better mapping of data parameters. For example, the first clamping seat 121 in the first clamping mechanism 120 is rotatably connected to the first base 110, and the second clamping seat 221 in the second clamping mechanism 220 is rotatably connected to the second base 210.

[0132] Of course, in other embodiments, the first clamping mechanism 120 and the second clamping mechanism 220 may also have the same structure and composition, that is, the first clamping mechanism 120 and the second clamping mechanism 220 may be composed of exactly the same components.

[0133] For example, based on the different embodiments described above, there are various types of first clamping member 122 and second clamping member 222. In practical applications, first clamping member 122 and second clamping member 222 with the same shape can be selected for use to ensure that the collected data can be matched.

[0134] As can be seen from the above, the first clamping device 100 can be operated by an operator. Therefore, in some embodiments, such as Figure 5 As shown, Figure 5 for Figure 1 The schematic diagram of the first clamping device 100 from another angle shows that the first clamping device 100 may further include a first operating part 151 and a second operating part 152. The first operating part 151 and the second operating part 152 are connected to the first clamping mechanism 120, and the second operating part 152 and the first operating part 151 are arranged at a distance from each other. The first operating part 151 and the second operating part 152 can be operated by an operator, thereby driving the first clamping mechanism 120 to rotate relative to the first base 110.

[0135] Therefore, during operation, the operator's fingers can rest against the first operating part 151 and the second operating part 152, and the first clamping mechanism 120 can rotate relative to the first base 110 through the first operating part 151 and the second operating part 152.

[0136] For example, such as Figure 5As shown, the first clamping mechanism 120 includes two first clamping seats 121. A first operating part 151 is connected to one of the first clamping seats 121, and a second operating part 152 is connected to the other first clamping seat 121. When the operator is operating, the operator's four fingers (excluding the thumb) can be positioned on the side of the first operating part 151 away from the second operating part 152, and at least one finger can abut against the first operating part 151, thereby pushing one of the first clamping seats 121 to rotate relative to the first base 110. At the same time, the operator's thumb can be positioned on the side of the second operating part 152 away from the first operating part 151, abutting against the second operating part 152, thereby pushing the other first clamping seat 121 to rotate relative to the first base 110.

[0137] In some embodiments, the vertical length of the first operating part 151 is greater than the vertical length of the second operating part 152. Therefore, as described above, when the operator's four fingers (excluding the thumb) are located on the side of the first operating part 151 away from the second operating part 152, the longer vertical length of the first operating part 151 allows multiple fingers to be positioned opposite each other on one side of the first operating part 151, abutting against it. In other embodiments, the longer vertical length of the first operating part 151 also allows the operator's index and middle fingers to be positioned opposite each other on one side of the first operating part 151, abutting against it.

[0138] In some embodiments, such as Figure 5 As shown, the first clamping device 100 may further include a gripping part 160. The gripping part 160 is connected to the first base 110 and is used for the operator to grip. Thus, when the operator performs operations, the palm can grip the gripping part 160 to operate the first clamping device 100.

[0139] For example, such as Figure 5 As shown, the grip portion 160 can be located below the first base 110 and extend in a direction away from the first base 110. In this way, the user's palm can wrap around the periphery of the grip portion 160 and hold it.

[0140] In some embodiments, such as Figure 5 As shown, the grip portion 160 may include a grip body 161 and a grip base 162. One end of the grip body 161 is connected to the first base 110, and the other end is connected to the grip base 162. The outer contour dimension of the grip base 162 is larger than the outer contour dimension of the grip body 161. Thus, as... Figure 5As shown, when the operator's hand grips the main body 161, the grip base 162 can act as a limit, improving the stability of the grip, preventing the operator's hand from slipping off the grip base 162, and also avoiding the problem of unstable grip and shaking due to fatigue during operation.

[0141] In some embodiments, such as Figure 5 As shown, the first clamping device 100 also includes a first button 171. The first button 171 is located on the grip portion 160 and is used to clear the information collected by the first clamping device 100. Thus, the operator can clear the information collected by the first clamping device 100 by pressing the first button 171. Simultaneously, since the first button 171 is located on the grip portion 160, the operator can directly operate the device using their fingers or palm while holding the grip portion 160, making operation simple and convenient.

[0142] In some embodiments, such as Figure 5 As shown, the first clamping device 100 also includes a second button 172. The second button 172 is located on the grip portion 160 and is used to control the operation and stop of the first environmental sensing module 130. Thus, the operator can control the operation and stop of the first environmental sensing module 130 by pressing the second button 172. Simultaneously, since the second button 172 is also located on the grip portion 160, the operator can also directly operate the device using their fingers or palm while holding the grip portion 160, making operation simple and convenient.

[0143] In some embodiments, the first button 171 may be located on the side of the grip 160 near the first clamping mechanism 120. In this way, during normal operation, when the operator's fingers operate the first clamping mechanism 120, the operator's palm is unlikely to come into contact with the first button 171, thus avoiding accidental activation during operation.

[0144] In some embodiments, such as Figure 5 As shown, along the circumference of the grip portion 160, the second button 172 can be located on the periphery of the grip portion 160 and on the adjacent side of the first button 171. Thus, as... Figure 5 As shown, during operation, the palm can contact the second button 172. When it is necessary to start or stop the operation of the first environmental sensing module 130, the second button 172 can be pressed directly. The operator's fingers can operate the second button 172 at any time while operating the first clamping mechanism 120, allowing for real-time data acquisition or shutdown.

[0145] In some embodiments, such as Figure 5As shown, the grip portion 160 may have a groove 1611, and the first button 171 is located within the groove 1611. In this way, since the first button 171 is located within the groove 1611, accidental touches during operation can be further avoided, preventing accidental clearing.

[0146] In some embodiments, such as Figure 5 As shown, the grip portion 160 may also have a boss 1612. A second button 172 may be provided on the boss 1612. In this way, the second button 172 can protrude relatively from the grip portion 160, making it more convenient for the operator to control the start or stop in real time.

[0147] In some embodiments, such as Figure 8 As shown, the first clamping device 100 may further include an elastic element 180. One end of the elastic element 180 may be connected to the first base 110, and the other end may be connected to the first clamping mechanism 120. The elastic element 180 can generate elasticity to reset the first clamping mechanism 120. Therefore, by providing the elastic element 180, the first clamping mechanism 120 can achieve the effect of automatic reset.

[0148] For example, such as Figure 5 As shown, there can be two first clamping seats 121. In this case, there are also two elastic elements 180. Each first clamping seat 121 is connected to one elastic element 180. The elastic element 180 can be used to generate a spring force that causes the two first clamping seats 121 to move away from each other.

[0149] Therefore, in the absence of external force, the elastic element 180 can separate the two first clamping seats 121 from each other. At this time, the operator can apply external force to bring the two first clamping seats 121 closer together, thereby clamping the item. When it is necessary to put the item down, the external force can be removed, and the two first clamping seats 121 can then separate from each other under the action of the elastic element 180.

[0150] It is understandable that the specific type of elastic element 180 can be selected according to the actual situation. For example, such as Figure 5 As shown, the elastic element 180 can be a spring. At this time, different magnitudes of elastic force can be generated by the stretching and contraction of the spring, thereby realizing the reset of the first clamping mechanism 120.

[0151] Of course, in some other embodiments, the first clamping device 100 may not include the elastic element 180. In this case, the first clamping mechanism 120 can also be reset manually.

[0152] To facilitate data acquisition, in some embodiments, the first clamping device 100 may further include a first motion detection mechanism (not shown in the figure). The first motion detection mechanism is disposed on the first base 110 and can be used to detect the motion displacement information of the first clamping mechanism 120. Thus, the motion displacement information of the first clamping mechanism 120 can be detected through the first motion detection mechanism, thereby facilitating the subsequent application of the data.

[0153] For example, such as Figure 1 As shown, the first clamping seat 121 is rotatably connected to the first base 110. The first motion detection mechanism can be used to detect the rotation angle of the first clamping seat 121. Thus, the first motion detection mechanism can detect the rotation angle of the first clamping seat 121 and apply it to the subsequent training of the second clamping device 200.

[0154] Alternatively, for example, the first clamping seat 121 can also be slidably connected to the first base 110. In this case, the first motion detection mechanism can be used to detect the sliding distance of the first clamping seat 121. Thus, the first motion detection mechanism can detect the sliding distance of the first clamping seat 121 and apply it to the subsequent training of the second clamping device 200.

[0155] Similarly, in some embodiments, the second clamping device 200 may further include a second motion detection mechanism (not shown in the figure). The second motion detection mechanism may be disposed on the second base 210 and may be used to detect the motion displacement information of the second clamping mechanism 220. Thus, the motion displacement information of the second clamping mechanism 220 can be detected by the second motion detection mechanism, thereby facilitating subsequent control of the motion of the second clamping mechanism 220.

[0156] For example, such as Figure 2 As shown, the second clamping seat 221 can also be rotatably connected to the second base 210, and the second motion detection mechanism can be used to detect the rotation angle of the second clamping seat 221. Thus, the second motion detection mechanism can detect the rotation angle of the second clamping seat 221, which facilitates the control of the rotation angle of the second clamping seat 221.

[0157] Alternatively, for example, the second clamping seat 221 can also be slidably connected to the second base 210. In this case, the second motion detection mechanism can be used to detect the sliding distance of the second clamping seat 221. Thus, the second motion detection mechanism can detect the sliding distance of the second clamping seat 221, which facilitates the control of the sliding distance of the second clamping seat 221.

[0158] It is understood that the specific types and compositions of the first and second motion detection mechanisms can be selected according to actual circumstances, and this application does not impose further limitations, but only provides examples for illustration. For instance, in some embodiments, both the first and second motion detection mechanisms may include a magnetic encoder and a magnet. The magnet may be connected to either the first or second motion mechanism, and the magnetic encoder may be disposed on either the first base 110 or the second base 210.

[0159] To facilitate the installation of the magnet, the first motion detection mechanism and the second motion detection mechanism may also include a mounting base. The mounting base can be installed on the first clamping mechanism 120 or the second clamping mechanism 220, and the magnet can be installed on the mounting base, thus being installed on the first clamping mechanism 120 or the second clamping mechanism 220.

[0160] Therefore, by measuring the positional changes between the magnet and the magnetic encoder, the motion displacement information of the first clamping mechanism 120 or the second clamping mechanism 220 can be detected, and the displacement information of the first clamping mechanism 120 or the second clamping mechanism 220 can be obtained.

[0161] Of course, the first motion detection mechanism and the second motion detection mechanism can also be of other types. For example, the first motion detection mechanism and the second motion detection mechanism can also include photoelectric sensors. In this case, the displacement information of the first clamping mechanism 120 and the second clamping mechanism 220 is detected by the change in the photoelectric signal of the photoelectric sensor.

[0162] like Figure 1 As shown, there are two first clamping seats 121. In some embodiments, such as... Figure 6 As shown, Figure 6 for Figure 1 The diagram shows a partial structural representation of the first clamping device 100. The first clamping device 100 may further include a first transmission mechanism 190. The first transmission mechanism 190 can be connected to two first clamping seats 121 to drive the two first clamping seats 121 to move synchronously. Thus, the two first clamping seats 121 can achieve synchronous movement through the first transmission mechanism 190.

[0163] In some embodiments, two first clamping seats 121 are rotatably connected to a first base 110. The first transmission mechanism 190 may include two first transmission gears 191 and two second transmission gears 192. The two first transmission gears 191 mesh with each other, and one second transmission gear 192 meshes with one first transmission gear 191 and is connected to one first clamping seat 121.

[0164] Therefore, as Figure 6As shown, when the two first transmission gears 191 rotate, they can drive the two second transmission gears 192 to rotate respectively. In turn, the two second transmission gears 192 can drive the two first clamping seats 121 to rotate respectively, so as to realize the synchronous rotation of the two first clamping seats 121.

[0165] In some embodiments, such as Figure 6 As shown, the first clamping device 100 may further include two first limiting pins 193. The aforementioned first limiting pins 193 are respectively mounted on the two second transmission gears 192. Correspondingly, a first limiting hole (not shown in the figure) may be provided on the first base 110. One first limiting pin 193 passes through one first limiting hole.

[0166] Therefore, the first limiting pin 193 can limit the rotation angle of the second transmission gear 192. When the first limiting pin 193 abuts against the wall of the first limiting hole along the rotation direction of the second transmission gear 192, the second transmission gear 192 cannot continue to rotate, thereby preventing the first clamping seat 121 from having an excessive rotation stroke. For example, as shown... Figure 6 As shown, the second transmission gear 192 can be a sector gear structure, which can reduce the space occupied by the second transmission gear 192 and avoid mutual interference with other components.

[0167] It is understood that the specific composition and type of the first transmission mechanism 190 can be designed according to actual conditions. This application is only used as an example and is not intended to further limit it. For example, in some other embodiments, the two first clamping seats 121 are slidably connected to the first base 110. Based on this, the first transmission mechanism 190 may include a gear and rack structure, with two racks meshing with a gear respectively, and one rack connected to one first clamping seat 121. In this way, the synchronous movement of the two first clamping seats 121 can be achieved through the meshing of the gear and rack.

[0168] In addition, for example, Figure 6 As shown, the first base 110 may have an installation cavity inside, and the first transmission mechanism 190 may be located inside the first base 110.

[0169] Similarly, such as Figure 2 As shown, there are two second clamping seats 221. In some embodiments, such as... Figure 7 As shown, Figure 7 for Figure 2The diagram shows a partial structural representation of the second clamping device 200. The second clamping device 200 may further include a second transmission mechanism 250. The second transmission mechanism 250 can be connected to the two second clamping seats 221 to drive the two second clamping seats 221 to move synchronously. Thus, the two second clamping seats 221 can achieve synchronous movement through the second transmission mechanism 250.

[0170] In some embodiments, the two second clamping seats 221 are rotatably connected to the second base 210. For example... Figure 7 As shown, the second transmission mechanism 250 may include two third transmission gears 251 and two fourth transmission gears 252. The two third transmission gears 251 mesh with each other, and one fourth transmission gear 252 meshes with one third transmission gear 251 and is connected to a second clamping seat 221.

[0171] Therefore, as Figure 7 As shown, when the two third transmission gears 251 rotate, they can drive the two fourth transmission gears 252 to rotate respectively, and then the two fourth transmission gears 252 can drive the two second clamping seats 221 respectively. Figure 2 The two second clamping seats 221 rotate synchronously.

[0172] In some embodiments, such as Figure 8 As shown, Figure 8 for Figure 7 The schematic diagram after removing one of the fourth transmission gears 252 shows that the first clamping device 100 may further include two second limiting pins 253. The two fourth transmission gears 252 are respectively provided with the aforementioned second limiting pins 253. Correspondingly, the second base 210 may have a second limiting hole 211. One second limiting pin 253 passes through one second limiting hole 211.

[0173] Therefore, the second limiting pin 253 can limit the rotation angle of the fourth transmission gear 252. When the second limiting pin 253 abuts against the wall of the second limiting hole 211 along the rotation direction of the fourth transmission gear 252, the fourth transmission gear 252 cannot continue to rotate, thereby preventing the second clamping seat 221 from having an excessive rotation stroke. For example, as shown... Figure 8 As shown, the fourth transmission gear 252 can be a sector gear structure, which can reduce the space occupied by the fourth transmission gear 252 and avoid mutual interference with other components.

[0174] It is understood that the specific composition and type of the second transmission mechanism 250 can be designed according to actual conditions. This application is only used as an example and is not intended to further limit the scope. For example, in some other embodiments, the two second clamping seats 221 are slidably connected to the second base 210. In this case, the second transmission mechanism 250 may include a gear and rack structure, with two racks meshing with a gear, and one rack connected to one second clamping seat 221. In this way, the synchronous movement of the two second clamping seats 221 can be achieved through the meshing of the gear and rack.

[0175] Furthermore, by way of example, the interior of the second base 210 may also have an installation cavity, and the second transmission mechanism 250 and the aforementioned second motion detection mechanism may be located inside the second base 210.

[0176] Furthermore, as described above, the second clamping device 200 can function as an end effector; therefore, such as Figure 8 As shown, the second clamping device 200 may further include a driving device 260. The driving device 260 can be used to drive the second clamping mechanism 220 (…). Figure 2 ) relative to the second base 210 ( Figure 2 Movement. For example, the drive device 260 may include a drive motor. The drive motor may be connected to the second transmission mechanism 250, which drives the second clamping mechanism 220 to move.

[0177] In some embodiments, such as Figure 9 As shown, Figure 9 for Figure 1 The diagram shows the structure of the first clamping device 100 at another angle. The first clamping device 100 may further include a positioning device 194. The positioning device 194 may be disposed on the first base 110. The positioning device 194 may be used in conjunction with a detection device other than the first clamping device 100 (such as a head-mounted device) to determine the position and / or attitude information of the first clamping device 100.

[0178] In addition, such as Figure 9 As shown, in some embodiments, the first base 110 may also be provided with a first plug-in port 111. The first plug-in port 111 can be used for electrical connection with external devices. For example, the first plug-in port 111 can be used to connect a charging cable.

[0179] Continue to refer to Figure 9 In some embodiments, the first base 110 is further provided with a first indicator light 112. The first indicator light 112 may be located on one side of the first plug-in port 111 and may be used for signal indication.

[0180] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A clamping system, characterized in that, include: A first clamping device includes a first base, a first clamping mechanism, and a first environmental sensing module; the first clamping mechanism is movably connected to the first base, and the first environmental sensing module is disposed on the first base; the first clamping device is used for operation by an operator; and... The second clamping device includes a second base, a second clamping mechanism, and a second environmental sensing module; the second clamping mechanism is movably connected to the second base, and the second environmental sensing module is disposed on the second base; the second clamping device is used as an end effector. The relative position between the first clamping mechanism and the first environmental sensing module is the first relative position, and the relative position between the second clamping mechanism and the second environmental sensing module is the second relative position; the first relative position and the second relative position are the same.

2. The clamping system according to claim 1, characterized in that, The first relative position includes the angle between the center line of the sensing direction of the first environmental sensing module and the plane where the first clamping mechanism is located; the second relative position includes the angle between the center line of the sensing direction of the second environmental sensing module and the plane where the second clamping mechanism is located.

3. The clamping system according to claim 2, characterized in that, The plane containing the first clamping mechanism includes the upper or lower surface of the end of the first clamping mechanism near the first base; the plane containing the second clamping mechanism includes the upper or lower surface of the end of the second clamping mechanism near the second base.

4. The clamping system according to claim 1, characterized in that, The first relative position includes a first distance between the end of the first clamping mechanism near the first base and the first environmental sensing module; the second relative position includes a second distance between the end of the second clamping mechanism near the second base and the second environmental sensing module; wherein, the first relative position and the second relative position being consistent means that the first distance and the second distance are the same.

5. The clamping system according to claim 1, characterized in that, The first environmental perception module includes a first image acquisition module; the second environmental perception module includes a second image acquisition module; the first image acquisition module and the second image acquisition module have the same field of view.

6. The clamping system according to claim 1, characterized in that, The first clamping device further includes: A first operating unit is connected to the first clamping mechanism; and The second operating part is disposed at a distance from the first operating part and is connected to the first clamping mechanism; The first operating part and the second operating part can be operated by the operator, thereby driving the first clamping mechanism to rotate relative to the first base.

7. The clamping system according to claim 6, characterized in that, The vertical length of the first operating part is greater than the vertical length of the second operating part.

8. The clamping system according to claim 1, characterized in that, The first clamping device further includes: A grip portion, connected to the first base, is provided for the operator to grip; A first button, located on the gripping part, is used to clear the information collected by the first clamping device; and / or, The second button, located on the grip, is used to control the operation and shutdown of the first environmental sensing module.

9. The clamping system according to claim 1, characterized in that, The first clamping mechanism includes: A first clamping seat is movably connected to the first base; and A first clamping member, at least a portion of which is detachably connected to the first clamping base; the first clamping member is capable of contacting an article; And / or, The second clamping mechanism includes: The second clamping seat is movably connected to the second base; and The second clamping member, at least a portion of which is detachably connected to the second clamping base, is capable of contacting an article.

10. The clamping system according to claim 1, characterized in that, The first clamping mechanism includes a first clamping seat and a first clamping member; the first clamping seat is movably connected to the first base; The first clamping member includes: The first connector is detachably connected to the first clamping seat; A first clamping part is movably and detachably connected to the first connecting member; and... The second connector has one end movably and detachably connected to the first base, and the other end movably and detachably connected to the first clamping part; Wherein, the first connector and the second connector are used to cause the first clamping part to translate relative to the first base during the movement of the first clamping seat relative to the first base; And / or, The second clamping mechanism includes a second clamping seat and a second clamping member; the second clamping seat is movably connected to the second base; The second clamping member includes: The third connector is detachably connected to the second clamping seat; The second clamping part is movably and detachably connected to the third connecting member; and... The fourth connector has one end movably and detachably connected to the second base, and the other end movably and detachably connected to the second clamping part; The third connector and the fourth connector are used to cause the second clamping part to translate relative to the second base during the movement of the second clamping seat relative to the second base.

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