Dual-arm humanoid robot data acquisition system
By placing the industrial control computer inside the housing and the power adapter independently outside the housing, combined with the image acquisition device and height adjustment bracket, the problems of large size and weight of robot data acquisition systems are solved, achieving lightweight portability and efficient data acquisition in multiple scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- TSINGHUA UNIVERSITY
- Filing Date
- 2025-06-10
- Publication Date
- 2026-06-23
AI Technical Summary
Existing robot data acquisition systems are large and heavy, making them difficult to move and deploy quickly in multiple scenarios to obtain diverse, high-quality data.
Design a data acquisition system for a dual-arm humanoid robot. The industrial control computer is placed inside the shell, while the power adapter is independently placed outside the shell and connected by wires. The system adopts a lightweight design and combines an image acquisition device, a height adjustment bracket, and a gripper device to achieve flexible movement and synchronous acquisition of information from multiple sensors.
It achieves lightweight control devices that are easy to carry and move, adapting to rapid deployment in different environments, improving the flexibility and accuracy of data acquisition, and is suitable for industrial production lines, laboratories, and home environments.
Smart Images
Figure CN224391187U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a data acquisition system for a dual-arm humanoid robot. Background Technology
[0002] In robotics research and applications, the quantity and quality of data are crucial to the performance of machine learning models. Existing robot data acquisition platforms are bulky, heavy, and difficult to move, making it challenging to quickly deploy them across multiple scenarios and acquire diverse, high-quality data. Meanwhile, with the expanding application of humanoid robots in industrial, commercial, and home environments, there is a need for a system that combines flexible mobility, dual-arm collaboration, and simultaneous acquisition of information from multiple sensors. Utility Model Content
[0003] This invention provides a dual-arm humanoid robot data acquisition system to solve the problems of existing robot acquisition systems being large in size, heavy in weight, and difficult to move.
[0004] This utility model provides a data acquisition system for a dual-arm humanoid robot, the acquisition system comprising:
[0005] Gripper device;
[0006] A positioning device is disposed on the gripper device, and the positioning device is used to position the posture of the gripper device;
[0007] Control device, including:
[0008] case;
[0009] An industrial control computer is disposed inside the housing and is connected to the gripper device and the positioning device.
[0010] A power adapter is located outside the housing and is connected to the industrial computer via a wire.
[0011] According to the present invention, a data acquisition system for a dual-arm humanoid robot further includes:
[0012] An image acquisition device is disposed on the gripper device and connected to the industrial control computer. The image acquisition device is used to acquire image information and send the image information to the industrial control computer.
[0013] According to the present invention, a data acquisition system for a dual-arm humanoid robot includes a housing comprising:
[0014] The shell body has an opening, and the industrial control computer is located inside the shell body.
[0015] A cover that closes to the opening and is detachably connected to the shell body.
[0016] According to the present invention, a data acquisition system for a dual-arm humanoid robot is provided, wherein a wire outlet hole is provided on one side of the shell body, the wire passes through the wire outlet hole, a fixing frame is provided in the wire outlet hole, the fixing frame is connected to the shell body, and the wire is fixed to the fixing frame.
[0017] According to the present invention, a data acquisition system for a dual-arm humanoid robot further includes:
[0018] A height-adjustable bracket is provided on the gripper device, and the image acquisition device is provided on the height-adjustable bracket. The height-adjustable bracket is used to adjust the height of the image acquisition device.
[0019] According to the present invention, a dual-arm humanoid robot data acquisition system is provided, wherein the height adjustment bracket and the gripper device are connected by bolts.
[0020] According to the dual-arm humanoid robot data acquisition system provided by this utility model, the housing further includes:
[0021] A cross strap, the two ends of which are connected to the two ends of the shell body.
[0022] According to the present invention, a data acquisition system for a dual-arm humanoid robot includes a gripper device comprising:
[0023] Two clamping components;
[0024] The outer shell has an internal cavity, and mounting holes are provided on both sides of the outer shell;
[0025] A linkage component, the linkage component including two multi-link assemblies, the two multi-link assemblies being respectively hinged to the housing and the corresponding clamping member;
[0026] A drive component, connected to the housing and the two multi-link assemblies, is used to drive the two clamping members to move closer or further apart through the multi-link assemblies to clamp or release the clamped object.
[0027] According to the data acquisition system for a dual-arm humanoid robot provided by this utility model, the multi-link assembly includes:
[0028] A connecting mechanism, wherein the first end of the connecting mechanism is hinged to the corresponding clamping member, and the second end of the connecting mechanism is hinged to the outer shell via a first pin;
[0029] At least one linkage mechanism, with a connecting part provided on the opposite side of the two clamping members, the linkage mechanism being hinged to the connecting part, the housing, and the first pin;
[0030] The steering link has a first end that is hinged to the linkage mechanism via a second pin, and a second end that passes through the mounting hole and is hinged to the drive component via a connecting rod.
[0031] According to the present invention, a dual-arm humanoid robot data acquisition system includes a multi-link assembly comprising two link mechanisms symmetrically distributed on both sides of the connecting portion.
[0032] The dual-arm humanoid robot data acquisition system provided by this utility model places the industrial control computer inside the housing and the power adapter independently outside the housing, connecting it to the industrial control computer via wires. This design not only effectively reduces the size and weight of the control device, making it lighter, easier to carry and move. This lightweight design is particularly suitable for rapid deployment in multiple scenarios and can adapt to the needs of different environments, such as industrial production lines, laboratories, and home environments. Attached Figure Description
[0033] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0034] Figure 1 This is one of the three-dimensional structural schematic diagrams of the universal embodied robot data acquisition device provided by this utility model.
[0035] Figure 2 This is the second three-dimensional structural schematic diagram of the universal embodied robot data acquisition device provided by this utility model.
[0036] Figure 3 This is one of the exploded structural diagrams of the universal embodied robot data acquisition device provided by this utility model.
[0037] Figure 4 This is the second exploded structural diagram of the universal embodied robot data acquisition device provided by this utility model.
[0038] Figure 5 This is a side view structural diagram of the universal embodied robot data acquisition device provided by this utility model.
[0039] Figure 6 yes Figure 5 A schematic diagram of the cross-sectional structure along section line AA.
[0040] Figure 7 This is a schematic diagram of the control device provided by this utility model.
[0041] Figure 8 This is an exploded structural diagram of the control device provided by this utility model.
[0042] Figure 9 This is a schematic diagram showing the connection relationship between the height adjustment bracket and the outer shell provided by this utility model.
[0043] Figure label:
[0044] 100. Clamping component; 200. Housing; 210. Mounting hole; 220. Upper housing; 230. Lower housing; 240. Handle; 250. Angle sensor; 300. Linkage assembly; 310. Connecting mechanism; 311. First connecting member; 312. Second connecting member; 320. Linkage mechanism; 321. First pin; 322. First link; 323. Third pin; 324. Second link; 325. Third link; 330. Steering link; 33 1. Second pin; 400. Drive component; 410. Trigger; 420. First guide rail; 421. First slider; 422. First gear; 423. Second gear; 424. First rack; 425. Second guide rail; 426. Second slider; 427. Second rack; 428. Spring; 500. Control device; 510. Shell body; 520. Cover; 530. Industrial computer; 540. Height adjustment bracket; 550. Wire; 560. Fixing bracket. Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0046] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0047] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.
[0048] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0050] The following is combined Figures 1-9 This invention describes the specific structure of the dual-arm humanoid robot data acquisition system.
[0051] like Figure 7 and Figure 8 As shown, the dual-arm humanoid robot data acquisition system includes a gripper device, a positioning device (not shown), a control device 500, and a power adapter (not shown). The positioning device is located on the gripper device and is used to position the gripper device's posture. The control device 500 includes a housing and an industrial computer 530. The industrial computer 530 is located inside the housing and is connected to the gripper device and the positioning device. The power adapter is located outside the housing and is connected to the industrial computer 530 via a wire 550.
[0052] The dual-arm humanoid robot data acquisition system provided by this utility model has an industrial control computer 530 located inside the housing, and a power adapter located independently outside the housing and connected to the industrial control computer 530 via a wire 550. This design not only effectively reduces the size of the control device 500, but also reduces its weight, making the control device 500 lighter, easier to carry and move. This lightweight design is particularly suitable for rapid deployment in multiple scenarios and can adapt to the needs of different environments, such as industrial production lines, laboratories, and home environments.
[0053] In a preferred embodiment of this invention, the positioning device is an HTC VIVE laser positioning device. However, the specific type of positioning device is not limited to this; other types of positioning devices may also be used. The HTC VIVE laser positioning device includes Tracker 3.0 and Base Station 2.0, used for precise positioning of the gripper device's attitude within a small to medium range.
[0054] In one embodiment of this utility model, the acquisition system further includes an image acquisition device (not shown). The image acquisition device is an important component of the dual-arm humanoid robot's data acquisition system. Its main function is to acquire image information of the gripper device during operation and transmit this information to the industrial control computer 530 in real time for processing and analysis. Through the image acquisition device system, visual recognition of the target object, position perception, and recording of the operation process can be achieved, thereby providing high-quality visual data support for subsequent data analysis and machine learning.
[0055] An image acquisition device is installed on the gripper device, specifically at the front or side of the gripper to ensure clear capture of the process of the gripper holding the target object. The image acquisition device is connected to the industrial control computer 530, and is used to acquire image information and send it to the industrial control computer 530. Preferably, the image acquisition device is a monocular RGB camera lens, which can capture clear color images with a resolution of 1080p or higher, ensuring rich detail in the acquired images. The monocular RGB camera lens is compact, making it easy to install within the limited space of the gripper device without affecting the flexibility and operational performance of the gripper device.
[0056] In one embodiment of this utility model, the housing serves as the outer shell of the control device 500, not only protecting the industrial computer 530 and other internal components but also providing good heat dissipation and ease of operation. The housing includes a main body 510 and a cover 520. The main body 510 is rectangular, but its shape is not limited to this and can be other shapes. The main body 510 has an opening, and the industrial computer 530 is located inside the main body 510. Preferably, the sidewalls of the main body 510 have ventilation holes to enhance the heat dissipation capacity of the industrial computer 530. The shape of the cover 520 matches the shape of the opening, and the cover 520 closes to the opening and is detachably connected to the main body 510. Specifically, the cover 520 and the main body 510 are connected by bolts, a simple, reliable, and easy-to-disassemble and maintain connection. Of course, the connection method between the cover 520 and the main body 510 is not limited to this; other methods such as snap-fit connections and magnetic connections can also be used.
[0057] In one embodiment of this utility model, such as Figure 8 As shown, a wire outlet hole is provided on one side of the housing body 510. Preferably, the wire outlet hole is located on the side wall of the housing body 510. The wire 550 passes through the wire outlet hole. A fixing bracket 560 is provided in the wire outlet hole. The fixing bracket 560 is connected to the housing body 510, and the wire 550 is fixed to the fixing bracket 560. By using the fixing bracket 560 to firmly fix the wire 550 to the housing body 510, damage or loosening of the wire 550 due to external tension is avoided. In addition, the fixing bracket 560 can protect the surface of the wire 550 and prevent the wire 550 from directly contacting the edge of the housing, thereby reducing wear caused by friction or vibration.
[0058] In a preferred embodiment of this utility model, a control button is provided on the side wall of the shell body 510. The control button is electrically connected to the industrial control computer 530. The control button allows the operator to easily control the industrial control computer 530.
[0059] In one embodiment of this utility model, such as Figure 9As shown, the acquisition system also includes a height adjustment bracket 540, which is mounted on the gripper device. The image acquisition device is mounted on the height adjustment bracket 540. The height adjustment bracket 540 is used to adjust the height of the image acquisition device so that the image acquisition device is at a suitable angle and height, ensuring that the system can adapt to objects of different heights and shapes, optimizing the image acquisition effect, and thus improving the accuracy and reliability of data acquisition.
[0060] In one embodiment of this utility model, the height adjustment bracket 540 is bolted to the gripper device. Specifically, the height adjustment bracket 540 is bolted to the upper housing. When the height of the image acquisition device needs to be adjusted, the operator can rotate the bolt to change the distance between the image acquisition device and the upper housing. The direction of rotation of the bolt changes the raising or lowering of the height adjustment bracket 540. By rotating the bolt, the tilt angle of the bracket can be changed, allowing the image acquisition device to capture images of the target object from the optimal viewing angle. Alternatively, a waist-shaped hole extending vertically can be provided in the height adjustment bracket 540, with the bolt positioned within the waist-shaped hole. The height of the height adjustment bracket 540 can be adjusted by the engagement of the bolt with the waist-shaped hole. Furthermore, the bolted connection allows the operator to quickly adjust the height and angle without the need for complex tools. This flexibility is particularly suitable for use in variable environments, such as laboratories or industrial production lines.
[0061] In one embodiment of this utility model, such as Figure 7 and Figure 8 As shown, the housing also includes cross straps, with both ends connected to the ends of the housing body 510. This design allows the operator to carry the housing like a backpack, greatly improving portability. The width and length of the cross straps can be adjusted according to actual needs to accommodate operators of different body types. The cross straps should be made of wear-resistant and tensile-resistant materials to ensure reliability during long-term use.
[0062] In a preferred embodiment of this utility model, both ends of the shell body 510 are provided with connecting rings, and both ends of the cross strap are connected to the corresponding connecting rings by buckles.
[0063] In one embodiment of this utility model, the dual-arm humanoid robot data acquisition system includes two gripper devices, such as... Figure 1 and Figure 2As shown, the gripper device includes two gripping members 100, a housing 200, a connecting rod assembly 300, and a driving component 400. The housing 200 has an internal cavity to provide mounting space for the transmission assembly. Mounting holes 210 are provided on both sides of the housing 200; preferably, the two mounting holes 210 are symmetrically arranged. The connecting rod assembly 300 includes two multi-link assemblies, which are respectively hinged to the housing 200 and the corresponding gripping member 100. The driving component 400 is connected to the housing 200 and the two multi-link assemblies. The driving component 400 is used to drive the two gripping members 100 to move closer or further apart through the multi-link assemblies, so as to grip or release the gripped object.
[0064] The gripper device provided by this utility model effectively improves the motion accuracy, repeatability, and stability of the gripper by using a multi-link assembly to drive the gripper 100 to move. The multi-link assembly can automatically adjust the opening and closing angle and position of the gripper according to the shape and size of the object, so as to realize adaptive gripping of objects of different shapes, sizes and weights, and can be widely used in many fields.
[0065] In a preferred embodiment of this invention, the side of the two clamping members 100 facing each other is a clamping portion, which is provided with a flexible pad. The flexible pad is made of soft materials such as rubber, silicone, or sponge, which have good elasticity and coefficient of friction. During the gripping process, the clamping member 100 needs to apply a certain clamping force to the object to ensure that the object does not slip; however, excessive clamping force or uneven force distribution may cause indentations, scratches, or other forms of damage to the object surface. The flexible pad can form a buffer layer between the clamping member 100 and the object to disperse the clamping force, reduce local pressure, and thus effectively protect the object surface from damage. In addition, since flexible materials usually have a high coefficient of friction, this helps to enhance the gripping stability of the clamping member 100 and prevent the object from slipping or falling off during the gripping process.
[0066] In one embodiment of this utility model, such as Figure 1 As shown, the outer casing 200 includes an upper casing 220 and a lower casing 230, which together form a cavity. The upper casing 220 and the lower casing 230 are connected by bolts. When the device needs to be installed, debugged, or maintained, the outer casing 200 can be opened conveniently and quickly, thereby greatly improving the convenience and efficiency of operation. A mounting hole 210 is formed at the connection between the upper casing 220 and the lower casing 230. The mounting hole 210 is a rectangular through hole, and its width is greater than the width of the steering linkage 330 to ensure that the steering linkage 330 can pass freely through the mounting hole 210 during operation without any obstruction.
[0067] Furthermore, a handle 240 is provided at the lower part of the lower housing 230, making it ergonomic and easy for operators to grip and operate. When it is necessary to operate the device, the entire device can be easily held through the handle 240, making operation more stable and comfortable.
[0068] Preferably, the handle 240 has a receiving groove on the side facing the trigger 410, the shape of which is adapted to the shape of the trigger 410, and the receiving groove is used to accommodate the trigger 410. When the trigger 410 is pushed towards the handle 240 by hand, the trigger 410 will partially enter the receiving groove to increase the stroke of the trigger 410, thereby increasing the opening angle of the two clamping members. A larger opening angle means that the clamping members 100 can accommodate larger or differently shaped objects, thereby improving the applicability and flexibility of the device.
[0069] In a preferred embodiment of this utility model, such as Figure 1 As shown, the edges of the handle 240 are rounded to avoid unnecessary pressure on the hand from protruding corners, allowing the operator to maintain a comfortable hand posture and reduce fatigue during prolonged use. Furthermore, the curvature of the handle 240 and the curve of the grip area conform to the natural shape of the palm, increasing the contact area between the hand and the handle 240 and providing better grip stability.
[0070] Similarly, the trigger 410 has rounded edges, which are smooth and conform to the natural curvature of the finger. When the operator pulls the trigger 410 with their finger, the rounded design makes the contact between the trigger 410 and the finger softer, reducing friction and discomfort to the finger.
[0071] In a preferred embodiment of this utility model, such as Figure 1 and Figure 2As shown, the multi-link assembly includes a connecting mechanism 310, at least one linkage mechanism 320, and a steering link 330. The connecting mechanism 310 connects the clamping member 100 to the housing 200. The first end of the connecting mechanism 310 is hinged to the corresponding clamping member 100, and the second end of the connecting mechanism 310 is hinged to the housing 200 via a first pin 321. A connecting portion is provided on one side of the two clamping members 100 that are opposite to each other. The linkage mechanism 320 is hinged to the connecting portion, the housing 200, and the first pin 321. The steering link 330 is arc-shaped, allowing it to better adapt to the movement trajectory of the clamping member 100 during movement, reducing motion interference and friction. The first end of the steering link 330 is hinged to the linkage mechanism 320 via a second pin 331, enabling the steering link 330 to rotate or oscillate when driving the linkage mechanism 320. The second end of the steering linkage 330 passes through the mounting hole 210 and is hinged to the drive component 400 via the connecting rod, so that the power of the drive component 400 can be transmitted to the linkage mechanism 320 through the connecting rod and the steering linkage 330, thereby driving the opening and closing action of the clamping member 100.
[0072] In a preferred embodiment of this utility model, such as Figure 1 and Figure 2 As shown, the multi-link assembly includes two linkage mechanisms 320, which are symmetrically distributed on both sides of the connecting portion. The symmetrical arrangement of the linkage mechanisms 320 on both sides of the connecting portion has the following two effects: Firstly, the symmetrically distributed linkage mechanisms 320 ensure that the steering linkage 330 receives a balanced force during operation. When the drive component 400 transmits power through the steering linkage 330, the linkage mechanisms 320 on both sides can evenly distribute the force, avoiding excessive force on one side and resulting in motion deviation or component wear, effectively improving the motion accuracy and service life of the steering linkage 330. Secondly, the connecting portion, as the connection mechanism between the clamping member 100 and the linkage mechanism 320, directly affects the motion control of the clamping member 100. By adopting a symmetrical arrangement, the linkage mechanism 320 can maintain a more stable motion trajectory when transmitting force, reducing vibration or swaying caused by uneven force transmission. This not only helps improve the gripping accuracy of the clamping member 100 but also enhances the reliability and stability of the entire device during operation.
[0073] In a preferred embodiment of this utility model, such as Figure 1 and Figure 2As shown, the linkage mechanism 320 includes a first link 322 and a second link 324. The first link 322 transmits the thrust or pull of the steering link 330 to the connecting part, so that the two clamping members 100 move closer or further apart. The first end of the first link 322 is hinged to the connecting part via a third pin 323, and the second end of the first link 322 is hinged to the first end of the steering link 330 via a second pin 331. The hinged connection between the two ends of the first link 322 allows it to flexibly transmit force to the connecting part while allowing a certain degree of rotational freedom to adapt to different motion angles. It also ensures that the motion of the steering link 330 is accurately transmitted to the first link 322, thereby further influencing the motion of the clamping members 100.
[0074] The first end of the second link 324 is hinged to the second pin 331, and the second end of the second link 324 is hinged to the first pin 321. The second link 324 is used to make the second pin 331 move around the first pin 321, thereby limiting the movement trajectory of the steering link 330. This connection method limits the movement trajectory of the steering link 330, ensuring the stability of force transmission and avoiding unnecessary shaking or deviation during movement; because the movement trajectory of the steering link 330 is precisely controlled, the opening and closing action of the clamping member 100 is more stable and accurate.
[0075] In one embodiment of this utility model, such as Figure 1 As shown, the linkage mechanism 320 also includes a third link 325. The first end of the third link 325 is hinged to the third pin 323, and the second end of the third link 325 is hinged to the housing 200. The third link 325 is used to limit the motion trajectory of the first end of the first link 322.
[0076] When the first link 322 transmits force, the third link 325 restricts the range and path of movement of the first end of the first link 322, ensuring that the first end of the first link 322 can only move along a predetermined trajectory. This ensures that when the two grippers 100 are closed, their gripping parts can accurately fit together, avoiding problems such as unstable gripping or damage to the object due to misalignment of the grippers 100. This connection method not only improves the reliability and stability of the gripping operation, ensuring that the grippers 100 can firmly and accurately grasp the target object, but also allows for precise control of the fitting method of the grippers 100 to adapt to objects of different shapes and sizes, enhancing the versatility and adaptability of the device.
[0077] In a preferred embodiment of this utility model, such as Figure 2As shown, an angle sensor 250 is provided at the end of the first pin 321. The angle sensor 250 is connected to the lower housing 230. The angle sensor 250 is used to measure the rotation angle of the first pin 321, and then measure the opening and closing angle of the two clamping members 100. The angle sensor 250 is selected as a rotary encoder or a Hall angle sensor 250.
[0078] In a preferred embodiment of this utility model, such as Figure 2 As shown, the connecting mechanism 310 includes a first connecting member 311 and a second connecting member 312. The first end of the first connecting member 311 is hinged to the corresponding clamping member 100. The first end of the second connecting member 312 is hinged to the second end of the first connecting member 311, and the second end of the second connecting member 312 is hinged to the first pin 321. This hinged connection method not only ensures that the clamping member 100 can rotate or swing flexibly, but also adapts to objects of different shapes and sizes, thereby achieving a more stable grip.
[0079] It should be noted that the number of connectors in the connecting mechanism 310 is not limited to two; three or more can also be provided.
[0080] In one embodiment of the present invention, the drive component 400 includes a trigger 410 and a transmission assembly. The transmission assembly is disposed inside the housing 200 and is connected to the trigger 410 and two connecting rods.
[0081] In one embodiment of this utility model, such as Figure 3 and Figure 4 As shown, the transmission assembly includes a first guide rail 420, a first slider 421, a first gear 422, a second gear 423, a second guide rail 425, a second slider 426, and a second rack 427. The first guide rail 420 is arranged along the movement direction of the trigger 410 and is located on one side of the trigger 410. The first guide rail 420 is connected to the housing 200 by screws. The first slider 421 is located between the trigger 410 and the first guide rail 420. The side of the first slider 421 facing the first guide rail 420 is provided with a slot, and the first slider 421 is slidably locked onto the first guide rail 420. The first slider 421 is connected to the trigger 410 by screws. Of course, the connection method between the first slider 421 and the trigger 410 is not limited to this; they can also be integrally formed or connected by other methods.
[0082] The first gear 422 and the second gear 423 are both sleeved on the first rotating shaft. The first gear 422 and the second gear 423 are coaxially arranged. Preferably, the first gear 422 and the second gear 423 are integrally formed. The outer casing 200 has connecting holes on both sides. The two ends of the first rotating shaft are rotatably installed in the corresponding connecting holes. The trigger 410 is provided with a first rack 424. The first rack 424 is arranged along the length direction of the first guide rail 420. The first gear meshes with the first rack 424. The first rack 424 and the trigger 410 are integrally formed. Of course, the connection method between the first rack 424 and the trigger 410 is not limited to this. It can also be connected by screws or by welding.
[0083] The second guide rail 425 is arranged along the length of the first guide rail 420, and is connected to the housing 200 by screws. A slot is provided on the side of the second slider 426 facing the second guide rail 425, allowing the second slider 426 to be slidably engaged with the second guide rail 425. A second rack 427 is located on the side of the second slider 426 away from the second guide rail 425 and on the side of the second gear 423 away from the first rack 424. The second rack 427 is connected to the second slider 426 by screws and meshes with the second gear 423. The two sides of the second rack 427 near the connecting rod mechanism 320 are hinged to two connecting rods respectively.
[0084] In one embodiment of this utility model, the outer diameter of the first gear 422 is larger than the outer diameter of the second gear 423, so the number of teeth of the first gear 422 is greater than the number of teeth of the second gear 423. When the trigger 410 drives the first gear 422 to rotate via the first rack 424, the first gear 422 drives the second gear 423 to rotate. Since the number of teeth of the first gear 422 is greater than the number of teeth of the second gear 423, a speed reduction transmission can be achieved, that is, the movement of the second rack 427 will be reduced, while the torque will increase, so that the two clamping members 100 receive a greater clamping force.
[0085] In one embodiment of this utility model, such as Figure 5 and Figure 6 As shown, the transmission assembly also includes at least one spring 428. The first end of the spring 428 is connected to the second rack 427, and the second end of the spring 428 is connected to the housing 200. The spring 428 is used to return the trigger 410 to its initial position. Specifically, the transmission assembly also includes two springs 428, which are respectively disposed on both sides of the second rack 427. The second rack 427 has a first engagement portion on each side, and the inner wall of the upper housing 220 has two second engagement portions. The first ends of the two springs 428 are engaged with the two first engagement portions, and the second ends of the two springs 428 are engaged with the two second engagement portions.
[0086] Working principle of the gripper device:
[0087] When the trigger 410 is pulled by hand, the trigger 410 moves from its initial position toward the handle 240. The trigger 410 drives the first rack 424 toward the handle 240, and the first rack 424 drives the first gear 422 to rotate. The rotating first gear 422 drives the second gear 423 to rotate. Since the second rack 427 and the first rack 424 are located on opposite sides of the second gear 423, and the second rack 427 is meshed with the second gear 423, the second gear 423 pushes the second rack 427 to move away from the handle 240. At this time... Two springs 428 are stretched; the second rack 427 pushes two steering linkages 330 to move through two connecting rods respectively. The steering linkages 330 push the two first linkages 322 closer to each other, and the two first linkages 322 push the two clamping members 100 closer to each other, thereby clamping the object; when the trigger 410 is released, under the elastic force of the springs 428, the movement direction of each component is opposite to the above movement direction, which eventually makes the trigger 410 return to the initial position and the two clamping members 100 move away from each other, thereby releasing the object.
[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.
Claims
1. A data acquisition system for a dual-arm humanoid robot, characterized in that, The data acquisition system includes: Gripper device; A positioning device is disposed on the gripper device, and the positioning device is used to position the posture of the gripper device; The control device (500) includes: case; An industrial computer (530) is disposed inside the housing and is connected to the gripper device and the positioning device. A power adapter is located outside the housing and is connected to the industrial computer (530) via a wire (550).
2. The dual-arm humanoid robot data acquisition system according to claim 1, characterized in that, The data acquisition system also includes: An image acquisition device is disposed on the gripper device and connected to the industrial control computer (530). The image acquisition device is used to acquire image information and send the image information to the industrial control computer (530).
3. The dual-arm humanoid robot data acquisition system according to claim 2, characterized in that, The housing includes: The shell body (510) has an opening, and the industrial control computer (530) is located inside the shell body (510). A cover (520) that covers the opening and is detachably connected to the shell body (510).
4. The dual-arm humanoid robot data acquisition system according to claim 3, characterized in that, A wire outlet hole is provided on one side of the shell body (510), and the wire (550) passes through the wire outlet hole. A fixing bracket (560) is provided in the wire outlet hole. The fixing bracket (560) is connected to the shell body (510), and the wire (550) is fixed to the fixing bracket (560).
5. The dual-arm humanoid robot data acquisition system according to claim 3, characterized in that, The data acquisition system also includes: A height adjustment bracket (540) is disposed on the gripper device, and the image acquisition device is disposed on the height adjustment bracket (540). The height adjustment bracket (540) is used to adjust the height of the image acquisition device.
6. The dual-arm humanoid robot data acquisition system according to claim 5, characterized in that, The height adjustment bracket (540) is connected to the gripper device by bolts.
7. The dual-arm humanoid robot data acquisition system according to claim 5, characterized in that, The housing also includes: A crossband, the two ends of which are connected to the two ends of the shell body (510).
8. The dual-arm humanoid robot data acquisition system according to any one of claims 1 to 7, characterized in that, The gripper device includes: Two clamping parts (100); The outer shell (200) has an internal cavity, and mounting holes (210) are provided on both sides of the outer shell (200). Linkage component (300), the linkage component (300) includes two multi-link assemblies, the two multi-link assemblies being respectively hinged to the housing (200) and the corresponding clamping member (100); A drive component (400) is connected to the housing (200) and the two multi-link assemblies. The drive component (400) is used to drive the two clamping members (100) to move closer or further apart through the multi-link assemblies to clamp or release the clamped object.
9. The dual-arm humanoid robot data acquisition system according to claim 8, characterized in that, The multi-link assembly includes: A connecting mechanism (310) is provided, the first end of which is hinged to the corresponding clamping member (100), and the second end of which is hinged to the outer shell (200) via a first pin (321). At least one linkage mechanism (320) is provided with a connecting part on the opposite side of the two clamping members (100), and the linkage mechanism (320) is hinged to the connecting part, the housing (200) and the first pin (321); Steering link (330), the first end of which is hinged to the linkage mechanism (320) via a second pin (331), and the second end of which passes through the mounting hole (210) and is hinged to the drive component (400) via a connecting rod.
10. The dual-arm humanoid robot data acquisition system according to claim 8, characterized in that, The multi-link assembly includes two linkage mechanisms (320), which are symmetrically distributed on both sides of the connecting part.