Laser annotation data acquisition device

Abstract

This utility model discloses a laser marking data acquisition device, including a support, a laser, a gripper, and an information collector. The laser, mounted on the support, emits laser light towards a target object to form a positioning mark on the target object. The gripper, mounted on the support, grips the target object. The information collector, mounted on the support, collects image and / or voice information when the gripper grips the target object. This laser marking data acquisition device, by using a laser to emit laser light and form positioning marks on a target object, can significantly identify the target object, thereby improving the positioning accuracy. When a robot learns the semantic data with positioning marks collected by this utility model, it helps the robot better understand semantic information in the environment, significantly improving the robot's operational capabilities and intelligence level.

Description

Technical Field

[0001] This utility model relates to the field of data acquisition technology, specifically to a laser-marked data acquisition device. Background Technology

[0002] With the continuous development of robotics technology, robotic arms are increasingly widely used in industries such as manufacturing, service, and healthcare. To enable robotic arms to better adapt to complex environments and improve their operational capabilities and intelligence, semantic data acquisition technology has become a research hotspot. Among related technologies, semantic data acquisition mainly relies on cameras to collect rich environmental information. However, during the semantic data acquisition process, there is a problem of low accuracy in target object localization. When the robot learns from the collected semantic data, it cannot better understand the semantic information in the environment, resulting in lower operational capabilities and intelligence levels for the robotic arm. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of this utility model propose a laser marking data acquisition device.

[0005] The laser marking data acquisition device of this utility model embodiment includes a bracket, a laser, a gripper, and an information collector. The laser is disposed on the bracket and is used to emit laser light toward the target object to form a positioning mark on the target object. The gripper is disposed on the bracket and is used to grip the target object. The information collector is disposed on the bracket and is used to collect image information and / or voice information when the gripper grips the target object.

[0006] In some embodiments, the bracket includes a frame and a support portion. The frame includes a top plate and a bottom plate. The laser and the information collector are both located on the side of the top plate away from the bottom plate, and the support portion is located on the side of the bottom plate away from the top plate.

[0007] In some embodiments, the frame is provided with an angle adjustment component, which is connected to the laser and is used to adjust the yaw angle and pitch angle of the laser.

[0008] In some embodiments, the frame has a mounting cavity located between the top plate and the bottom plate, and at least a portion of the angle adjustment assembly is disposed within the mounting cavity.

[0009] In some embodiments, the angle adjustment assembly includes a rotating rod and a first driving member. The rotating rod is rotatably disposed on the top plate, with a first end located inside the mounting cavity and a second end located outside the mounting cavity. The laser is disposed at the second end of the rotating rod, and the first driving member is disposed inside the mounting cavity and connected to the first end of the rotating rod for driving the rotating rod to rotate, thereby adjusting the yaw angle of the laser.

[0010] In some embodiments, the angle adjustment assembly further includes a rotating shaft, a transmission component, and a second driving component. The rotating shaft is rotatably disposed at the second end of the rotating rod and perpendicular to the rotating rod. The laser is connected to the rotating shaft. The second driving component is disposed on the rotating rod and located within the mounting cavity. The second driving component is connected to the rotating shaft via the transmission component to drive the rotating shaft to rotate, thereby adjusting the pitch angle of the laser.

[0011] In some embodiments, the laser marking data acquisition device of this utility model includes a first slide and a second slide. The first slide and the second slide are slidably disposed on the base plate along a first direction and located outside the mounting cavity. The gripper includes a first clamping member and a second clamping member. The first clamping member is disposed on the first slide and the second clamping member is disposed on the second slide. The first clamping member and the second clamping member cooperate in the first direction to clamp the target object. The first direction is orthogonal to the height direction of the frame.

[0012] In some embodiments, the laser marking data acquisition device of this utility model includes a slider, a first connecting rod, and a second connecting rod. The slider is disposed between the first slide block and the second slide block in the first direction. The slider is slidably connected to the base plate in the second direction. The two ends of the first connecting rod are pivotally connected to the first slide block and the slider, respectively. The two ends of the second connecting rod are pivotally connected to the second slide block and the slider, respectively. The slider slides in the second direction to drive the first slide block and the second slide block to slide in the first direction, wherein the second direction is orthogonal to the first direction and the height direction.

[0013] In some embodiments, the slider, the first connecting rod, and the second connecting rod are disposed within the mounting cavity. The slider is provided with a push rod, and the base plate is provided with a clearance hole. The push rod extends out of the mounting cavity through the clearance hole to push the slider to slide.

[0014] In some embodiments, the laser marking data acquisition device of this utility model includes a joystick controller and a microcontroller. The joystick controller is disposed on the frame and located outside the mounting cavity, and the microcontroller is disposed inside the mounting cavity. The joystick controller is connected to the angle adjustment component through the microcontroller, and the joystick controller controls the yaw angle and pitch angle of the laser by swinging the joystick.

[0015] In some embodiments, the joystick controller is connected to the laser via the microcontroller, and the joystick controller controls the laser to turn on and off by pressing the joystick.

[0016] In some embodiments, the support has a receiving cavity containing a battery, which is electrically connected to the angle adjustment assembly, the joystick controller, the microcontroller, and the laser.

[0017] In some embodiments, the laser marking data acquisition device of this utility model includes a first reflector and a second reflector. The first reflector and the second reflector are disposed on the top plate and located outside the mounting cavity. The first reflector and the second reflector are spaced apart on both sides of the information collector along the first direction, and the mirror surfaces of the first reflector and the second reflector face each other. The first reflector and the second reflector are disposed between the gripper and the information collector along the second direction.

[0018] In some embodiments, the first reflector and the second reflector gradually move away from each other in the second direction along a direction away from the information collector.

[0019] The laser-marked data acquisition device of this invention uses a laser to emit laser light, forming positioning marks on target objects. This significantly improves the accuracy of target object positioning by enabling object identification. When a robot learns the semantic data with positioning marks acquired by this invention, it helps the robot better understand semantic information in the environment, significantly improving the robot's operational capabilities and intelligence level. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the laser marking data acquisition device according to an embodiment of the present invention from a first-view perspective.

[0021] Figure 2 This is a schematic diagram of the laser marking data acquisition device according to an embodiment of the present invention from a second-view perspective.

[0022] Figure 3 This is a side view of the laser marking data acquisition device according to an embodiment of the present invention.

[0023] Figure 4 This is a bottom view of the laser marking data acquisition device according to an embodiment of this utility model.

[0024] Figure 5 This is a partial structural diagram of the laser marking data acquisition device according to an embodiment of the present invention, with the top plate partially obscured.

[0025] Figure 6 This is a cross-sectional view of the laser marking data acquisition device according to an embodiment of the present invention.

[0026] Figure 7 This is a cross-sectional view of the laser marking data acquisition device according to an embodiment of the present invention.

[0027] Figure label:

[0028] 100. Laser marking data acquisition device; 1. Bracket; 101. Frame; 1011. Top plate; 1012. Bottom plate; 10121. Clearance hole; 1013. Mounting cavity; 102. Support part; 1021. Receiving cavity; 2. Laser; 3. Gripper; 301. First clamping component; 302. Second clamping component; 4. Information acquisition device; 5. Angle adjustment assembly; 501. Rotating rod; 502. First driving component; 503. Rotating shaft; 504. Transmission component; 505. Second driving component; 6. First slide; 7. Second slide; 8. Slider; 9. First connecting rod; 10. Second connecting rod; 11. Push rod; 12. Joystick controller; 13. Microcontroller; 14. Battery; 15. First reflector; 16. Second reflector. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] like Figures 1 to 7 As shown, the laser marking data acquisition device 100 of this utility model embodiment includes a support 1, a laser 2, a gripper 3, and an information collector 4. The laser 2 is mounted on the support 1 and is used to emit laser light toward the target object to form a positioning mark on the target object. The gripper 3 is mounted on the support 1 and is used to grip the target object. The information collector 4 is mounted on the support 1 and is used to collect image information and / or voice information when the gripper 3 grips the target object.

[0031] In use, the laser marking data acquisition device 100 of this embodiment allows the operator to control the movement of the support 1 by holding it by hand or mounting it on a mobile device. Then, the laser 2 is activated to emit a laser beam towards the target object, forming a clear positioning mark on its surface to improve the accuracy of target object identification and positioning. The gripper 3 then uses its gripper 3 to grasp the laser-marked target object, performing actions such as grabbing, moving, or placing the object. During operation, the operator can simultaneously issue voice instructions, such as verbally describing the name of the target object. While the gripper 3 is moving the target object, the information acquisition device 4 records the entire process, collecting image and / or voice information of the gripper 3 grasping the target object. The voice and video are saved simultaneously. This information, along with the IMU data in the information acquisition device 4, is used for subsequent semantic data analysis and processing by the robot.

[0032] The laser-marked data acquisition device 100 of this invention uses a laser 2 to emit laser light, forming positioning marks on target objects. This significantly improves the positioning accuracy of target objects by enabling their identification. When a robot learns the semantic data with positioning marks acquired by this invention, it helps the robot better understand semantic information in the environment, significantly improving the robot's operational capabilities and intelligence level.

[0033] For example, the semantic data collected by the laser annotation data acquisition device 100 in this embodiment of the invention enables the robot to better adapt to various complex environments, such as industrial, service and medical fields, thereby enhancing the robot's applicability and flexibility.

[0034] Optionally, laser 2 can generate clear laser dots with a diameter of less than or equal to 2 mm as laser markers within a working distance of 0.3 m to 5 m. The data acquisition device 4 is a GoPro HERO10 camera that acquires 4K@60fps synchronous RGB video. The data acquisition device 4 has a built-in three-axis gyroscope and accelerometer. The raw IMU data is transmitted to the ESP32 via BLE for subsequent SLAM and hand-eye calibration.

[0035] In some embodiments, such as Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the support 1 includes a frame 101 and a support part 102. The frame 101 includes a top plate 1011 and a bottom plate 1012. The laser 2 and the information collector 4 are both located on the side of the top plate 1011 away from the bottom plate 1012. The support part 102 is located on the side of the bottom plate 1012 away from the top plate 1011.

[0036] For example, the support 102 can be used by the operator to hold it, or the support 102 can be installed on a mobile device to support the frame 101 for mobile data collection operations.

[0037] Since both the laser 2 and the information collector 4 are mounted on the side of the top plate 1011 away from the bottom plate 1012, and the support 102 is located on the side of the bottom plate 1012 away from the top plate 1011, the laser 2 and the information collector 4 can face the target object in front of the operator, facilitating positioning and image acquisition. They are not obstructed by the support 102 or the operator, thus ensuring the accuracy of laser marking and the integrity of image acquisition. Furthermore, when the operator holds the support 102, its position is more ergonomic, making the operator comfortable during prolonged use and allowing for easy control of the device.

[0038] In some embodiments, the frame 101 is provided with an angle adjustment component 5, which is connected to the laser 2 and is used to adjust the yaw angle and pitch angle of the laser 2.

[0039] It should be noted that the yaw angle refers to the angle of yaw of laser 2 in the horizontal direction, while the pitch angle is the angle of yaw in the vertical direction.

[0040] In different working environments, the position and angle of the target object will vary. The operator can precisely control the direction of the laser beam as needed, and use the angle adjustment component 5 to adjust the deflection angle of the laser beam to ensure that the laser mark can accurately fall on the predetermined position of the target object, ensuring effective data acquisition in any environment. By quickly adjusting the angle of the laser 2, the operator can reduce the time for repositioning, thereby improving the efficiency of data acquisition.

[0041] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 7 As shown, the frame 101 has a mounting cavity 1013 located between the top plate 1011 and the bottom plate 1012, and at least a portion of the angle adjustment assembly 5 is disposed within the mounting cavity 1013.

[0042] The mounting cavity 1013, located between the top plate 1011 and the bottom plate 1012, provides a safe and stable installation environment for the angle adjustment assembly 5. At least a portion of the angle adjustment assembly 5 is placed within the mounting cavity 1013, which helps protect the assembly from external environmental factors such as dust, moisture, and impacts, thereby improving its durability and reliability. Simultaneously, mounting at least a portion of the angle adjustment assembly 5 within the cavity helps maintain the neat appearance of the bracket 1, reducing external protrusions and making the overall structure more compact, facilitating operation and portability.

[0043] In some embodiments, such as Figure 1 and Figure 7 As shown, the angle adjustment assembly 5 includes a rotating rod 501 and a first driving member 502. The rotating rod 501 is rotatably mounted on the top plate 1011. The first end of the rotating rod 501 is located inside the mounting cavity 1013, and the second end of the rotating rod 501 is located outside the mounting cavity 1013. The laser 2 is mounted on the second end of the rotating rod 501. The first driving member 502 is located inside the mounting cavity 1013 and is connected to the first end of the rotating rod 501 to drive the rotating rod 501 to rotate, thereby adjusting the yaw angle of the laser 2.

[0044] For example, the first drive unit 502 is an SG90 servo motor, which is responsible for rotating the rotating rod 501 by ±150°.

[0045] Specifically, when adjusting the yaw angle of the laser 2, the angle adjustment component 5 drives the rotating rod 501 to rotate clockwise or counterclockwise, thereby rotating the rotating rod 501 and causing the laser 2 to rotate, thus changing the yaw angle of the laser 2. Through the cooperation of the rotating rod 501 and the first driving component 502, precise adjustment of the yaw angle of the laser 2 can be achieved, ensuring that the laser beam is accurately pointed at the target object. The arrangement of the rotating rod 501 allows the laser 2 to be mounted outside the bracket 1, while the driving component is located inside, making the entire device more compact. Since the first driving component 502 is located within the mounting cavity 1013, it is well protected and not easily affected by the external environment.

[0046] In some embodiments, such as Figure 1 and Figure 7 As shown, the angle adjustment assembly 5 also includes a rotating shaft 503, a transmission component 504, and a second driving component 505. The rotating shaft 503 is rotatably mounted on the second end of the rotating rod 501 and perpendicular to the rotating rod 501. The laser 2 is connected to the rotating shaft 503. The second driving component 505 is mounted on the rotating rod 501 and located within the mounting cavity 1013. The second driving component 505 is connected to the rotating shaft 503 via the transmission component 504 to drive the rotating shaft 503 to rotate, thereby adjusting the pitch angle of the laser 2.

[0047] For example, the second transmission component 505 is a micro servo motor, which is responsible for the continuous adjustment of the positive and negative 90° of the rotating shaft 503, with a rated torque of 1.8 kg·cm and a response speed of 0.11s / 60°. The transmission component 504 can be a transmission belt or a chain.

[0048] Specifically, when adjusting the pitch angle of the laser 2, the angle adjustment component 5 uses the second drive member 505 to drive the rotating shaft 503 to rotate clockwise or counterclockwise via the transmission member 504. The rotating shaft 503 then drives the laser 2 to rotate clockwise or counterclockwise, thereby changing the pitch angle of the laser 2. By adding the rotating shaft 503 and the second drive member 505, the angle adjustment component 5 can now simultaneously adjust the yaw and pitch angles of the laser 2, providing more flexible adjustment capabilities. This dual adjustment capability allows for more precise control of the laser beam direction, thereby improving the accuracy of data acquisition. The ability to adjust the pitch angle allows the device to adapt to more complex environments; for example, when the target object is at different heights, the device can quickly adjust to adapt.

[0049] In some embodiments, as shown in the figure, Figure 2 , Figure 4 and Figure 5 As shown, the laser marking data acquisition device 100 of this utility model embodiment includes a first slide 6 and a second slide 7. The first slide 6 and the second slide 7 are slidably disposed on the base plate 1012 along a first direction and located outside the mounting cavity 1013. The gripper 3 includes a first clamping member 301 and a second clamping member 302. The first clamping member 301 is disposed on the first slide 6, and the second clamping member 302 is disposed on the second slide 7. The first clamping member 301 and the second clamping member 302 cooperate in a first direction to clamp the target object. The first direction is orthogonal to the height direction of the frame 101. For example, as Figure 4 As shown, the first direction is the left and right direction of bracket 1.

[0050] The first clamping member 301 is disposed on the first slide block 6, and the second clamping member 302 is disposed on the second slide block 7. By sliding the positions of the first slide block 6 and the second slide block 7, the two clamping members cooperate in the first direction to clamp the target object. The slidable setting of the slide blocks allows the clamping members to move in the first direction, making it highly applicable to clamping target objects of different shapes and sizes.

[0051] In some embodiments, such as Figure 5 As shown, the laser marking data acquisition device 100 of this utility model embodiment includes a slider 8, a first connecting rod 9, and a second connecting rod 10. The slider 8 is disposed between the first sliding block 6 and the second sliding block 7 in a first direction, and is slidably connected to the base plate 1012 along a second direction. The two ends of the first connecting rod 9 are pivotally connected to the first sliding block 6 and the slider 8, respectively, and the two ends of the second connecting rod 10 are pivotally connected to the second sliding block 7 and the slider 8, respectively. The slider 8 slides along the second direction to drive the first sliding block 6 and the second sliding block 7 to slide along the first direction, wherein the second direction is orthogonal to the first direction and the height direction. For example, as... Figure 4 As shown, the second direction is the front-to-back direction of bracket 1.

[0052] Specifically, when the slider 8 is pushed forward, the first slide block 6 and the second slide block 7 move away from each other under the action of the first connecting rod 9 and the second connecting rod 10. The first slide block 6 and the second slide block 7 also cause the first clamping member 301 and the second clamping member 302 to move away from each other, so as to form a receiving space for placing the target object between the first clamping member 301 and the second clamping member 302. Then, when the slider 8 is pushed backward, the first slide block 6 and the second slide block 7 move closer to each other under the action of the first connecting rod 9 and the second connecting rod 10. The first slide block 6 and the second slide block 7 also cause the first clamping member 301 and the second clamping member 302 to move closer to each other, so as to clamp the target object.

[0053] The laser marking data acquisition device 100 of this embodiment can simultaneously control the movement of the first clamping member 301 and the second clamping member 302 to pick up and place target objects by moving the slider 8. When the operator is operating, the operation process is simpler, and the operator can easily adjust the position of the clamping members, thereby improving the efficiency of data acquisition.

[0054] In some embodiments, such as Figure 3 and Figure 6 As shown, the slider 8, the first connecting rod 9, and the second connecting rod 10 are located in the mounting cavity 1013. The slider 8 is provided with a push rod 11, and the base plate 1012 is provided with a clearance hole 10121. The push rod 11 extends out of the mounting cavity 1013 through the clearance hole 10121 to push the slider 8 to slide.

[0055] Mounting the slider 8, first connecting rod 9, and second connecting rod 10 within the mounting cavity 1013 protects these components from dust, moisture, and other external environmental factors, thereby improving their durability and reliability. The push rod 11 allows the operator to control the sliding of the slider 8 from the outside, making the operation more convenient and intuitive.

[0056] In some embodiments, such as Figure 5 As shown, the laser marking data acquisition device 100 of this utility model embodiment includes a joystick controller 12 and a microcontroller 13. The joystick controller 12 is mounted on the frame 101 and located outside the mounting cavity 1013, while the microcontroller 13 is located inside the mounting cavity 1013. The joystick controller 12 is connected to the angle adjustment component 5 through the microcontroller 13. The joystick controller 12 controls the yaw angle and pitch angle of the laser 2 by swinging the joystick.

[0057] The joystick controller 12 is mounted on the frame 101, located outside the mounting cavity 1013, for easy direct control by the operator. The microcontroller 13 is installed inside the mounting cavity 1013, responsible for receiving signals from the joystick controller 12 and transmitting them to the angle adjustment component 5, thus controlling both signal transmission and mechanical movement. The operator controls the yaw and pitch angles of the laser 2 by moving the joystick controller 12. The joystick controller 12 allows the operator to control the direction of the laser 2 through intuitive physical operation, improving the convenience and intuitiveness of operation.

[0058] In some embodiments, the joystick controller 12 is connected to the laser 2 via the microcontroller 13, and the joystick controller 12 controls the laser 2 to turn on and off by pressing the joystick.

[0059] The joystick controller 12 is connected to the laser 2 via a microcontroller 13, which processes control signals and controls the state of the laser 2. The operator controls the laser 2 by pressing the joystick, simplifying the operation and eliminating the need for additional buttons or switches. The joystick controller 12's versatility allows the operator to control all functions of the laser 2 with a single device, improving intuitiveness and efficiency.

[0060] In some embodiments, such as Figure 6 As shown, the support 102 has a receiving cavity 1021, in which a battery 14 is provided. The battery 14 is electrically connected to the angle adjustment assembly 5, the joystick controller 12, the microcontroller 13 and the laser 2, providing power support for these components.

[0061] The battery 14 housed within the housing 1021 provides power to the device, enabling the laser marking data acquisition device 100 to operate without an external power source, thus improving its portability. Thanks to the built-in battery 14, the device can operate independently without an external power source, which is particularly useful for use in field or mobile environments. The design of the housing 1021 ensures the safe storage of the battery 14 within the device, reducing the risk of the battery being affected by external impacts or environmental factors.

[0062] In some embodiments, such as Figure 1 and Figure 2As shown, the laser marking data acquisition device 100 of this utility model embodiment includes a first reflector 15 and a second reflector 16. The first reflector 15 and the second reflector 16 are disposed on the top plate 1011 and located outside the mounting cavity 1013. The first reflector 15 and the second reflector 16 are spaced apart on both sides of the information collector 4 along a first direction, and the mirror surfaces of the first reflector 15 and the second reflector 16 face each other. The first reflector 15 and the second reflector 16 are disposed between the gripper 3 and the information collector 4 along a second direction.

[0063] The arrangement of the first reflector 15 and the second reflector 16 enables the information collector 4 to capture images of the target object from different angles when collecting image information. This helps to improve the comprehensiveness and accuracy of data collection, so as to facilitate the robot's subsequent high-efficiency and high-precision learning.

[0064] In some embodiments, the first reflector 15 and the second reflector 16 gradually move away from each other in a second direction away from the information collector 4, so that the first reflector 15 and the second reflector 16 can illuminate a larger area of ​​space, so as to collect image information of this larger area with the information collector 4, thereby improving the accuracy of data acquisition.

[0065] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0068] In this 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.

[0069] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. 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.

[0070] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A laser marking data acquisition device, characterized in that, include: Frame (1); A laser (2) is mounted on the bracket (1) and is used to emit a laser toward the target object to form a positioning mark on the target object; The gripper (3) is disposed on the bracket (1) and is used to grip the target object; and Information collector (4), which is located on the bracket (1), is used to collect image information and / or voice information when the gripper (3) grips the target object.

2. The laser marking data acquisition device according to claim 1, characterized in that, The bracket (1) includes a frame (101) and a support (102). The frame (101) includes a top plate (1011) and a bottom plate (1012). The laser (2) and the information collector (4) are both located on the side of the top plate (1011) away from the bottom plate (1012). The support (102) is located on the side of the bottom plate (1012) away from the top plate (1011).

3. The laser marking data acquisition device according to claim 2, characterized in that, An angle adjustment component (5) is provided on the frame (101). The angle adjustment component (5) is connected to the laser (2) and is used to adjust the yaw angle and pitch angle of the laser (2).

4. The laser marking data acquisition device according to claim 3, characterized in that, The frame (101) has a mounting cavity (1013) located between the top plate (1011) and the bottom plate (1012), and at least a portion of the angle adjustment assembly (5) is disposed within the mounting cavity (1013).

5. The laser marking data acquisition device according to claim 4, characterized in that, The angle adjustment assembly (5) includes a rotating rod (501) and a first driving member (502). The rotating rod (501) is rotatably mounted on the top plate (1011). The first end of the rotating rod (501) is located inside the mounting cavity (1013), and the second end of the rotating rod (501) is located outside the mounting cavity (1013). The laser (2) is located at the second end of the rotating rod (501). The first driving member (502) is located inside the mounting cavity (1013) and connected to the first end of the rotating rod (501) to drive the rotating rod (501) to rotate, thereby adjusting the yaw angle of the laser (2).

6. The laser marking data acquisition device according to claim 5, characterized in that, The angle adjustment assembly (5) further includes a rotating shaft (503), a transmission component (504), and a second driving component (505). The rotating shaft (503) is rotatably disposed at the second end of the rotating rod (501) and perpendicular to the rotating rod (501). The laser (2) is connected to the rotating shaft (503). The second driving component (505) is disposed on the rotating rod (501) and located in the mounting cavity (1013). The second driving component (505) is connected to the rotating shaft (503) through the transmission component (504) to drive the rotating shaft (503) to rotate, thereby adjusting the pitch angle of the laser (2).

7. The laser marking data acquisition device according to claim 4, characterized in that, The device includes a first slide (6) and a second slide (7), which are slidably disposed on the base plate (1012) along a first direction and located outside the mounting cavity (1013). The gripper (3) includes a first clamping member (301) and a second clamping member (302), the first clamping member (301) being disposed on the first slide (6) and the second clamping member (302) being disposed on the second slide (7). The first clamping member (301) and the second clamping member (302) cooperate in the first direction to clamp the target object. The first direction is orthogonal to the height direction of the frame (101).

8. The laser marking data acquisition device according to claim 7, characterized in that, The system includes a slider (8), a first connecting rod (9), and a second connecting rod (10). The slider (8) is disposed between the first slide block (6) and the second slide block (7) in the first direction. The slider (8) is slidably connected to the base plate (1012) in the second direction. The two ends of the first connecting rod (9) are pivotally connected to the first slide block (6) and the slider (8), respectively. The two ends of the second connecting rod (10) are pivotally connected to the second slide block (7) and the slider (8), respectively. The slider (8) slides in the second direction to drive the first slide block (6) and the second slide block (7) to slide in the first direction, wherein the second direction is orthogonal to the first direction and the height direction.

9. The laser marking data acquisition device according to claim 8, characterized in that, The slider (8), the first connecting rod (9) and the second connecting rod (10) are disposed in the mounting cavity (1013). The slider (8) is provided with a push rod (11). The base plate (1012) is provided with a clearance hole (10121). The push rod (11) extends out of the mounting cavity (1013) through the clearance hole (10121) to push the slider (8) to slide.

10. The laser marking data acquisition device according to claim 4, characterized in that, The device includes a joystick controller (12) and a microcontroller (13). The joystick controller (12) is mounted on the frame (101) and located outside the mounting cavity (1013). The microcontroller (13) is located inside the mounting cavity (1013). The joystick controller (12) is connected to the angle adjustment assembly (5) through the microcontroller (13). The joystick controller (12) controls the yaw angle and pitch angle of the laser (2) by swinging the joystick.

11. The laser marking data acquisition device according to claim 10, characterized in that, The joystick controller (12) is connected to the laser (2) via the microcontroller (13), and the joystick controller (12) controls the opening and closing of the laser (2) by pressing the joystick.

12. The laser marking data acquisition device according to claim 10, characterized in that, The support (102) has a receiving cavity (1021) in which a battery (14) is provided. The battery (14) is electrically connected to the angle adjustment assembly (5), the rocker controller (12), the microcontroller (13) and the laser (2).

13. The laser marking data acquisition device according to claim 8, characterized in that, Includes a first reflector (15) and a second reflector (16), the first reflector (15) and the second reflector (16) are disposed on the top plate (1011) and located outside the mounting cavity (1013), the first reflector (15) and the second reflector (16) are spaced apart on both sides of the information collector (4) along the first direction, and the mirror surfaces of the first reflector (15) and the second reflector (16) face each other, the first reflector (15) and the second reflector (16) are disposed between the gripper (3) and the information collector (4) along the second direction.

14. The laser marking data acquisition device according to claim 13, characterized in that, The first reflector (15) and the second reflector (16) gradually move away from each other in the second direction in a direction away from the information collector (4).

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