A tactile sensor and an assembly method thereof

Abstract

The present invention provides a tactile sensor and an assembly method thereof, which include: an assembly component, the assembly component includes an assembly body, a slide rail and a first clamping mechanism, any slide rail extends along a first direction, and the assembly body is provided with a female plug hole; a body, the body includes a flexible extrusion portion, a slide seat, a terminal male head and a second clamping mechanism, the flexible extrusion portion is fixedly connected to the slide seat, the slide seat is provided with a slide groove, the slide groove moves along the slide rail, the terminal male head is connected to the slide seat, and the second clamping mechanism can abut against the first clamping mechanism. The present invention can greatly simplify the cumbersome process in conventional assembly technology. At the same time, the female plug hole can cooperate with the terminal male head to achieve stable signal transmission, thereby improving the stability and accuracy of the sensor. Compared with existing conventional sensors, the present application has significant advantages such as flexible disassembly and assembly, easy operation, precise docking, stable operation process and wide practical range.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a tactile sensor and an assembly method thereof. Background Art

[0002] With the continuous advancement of science and technology, the application of robots has penetrated into many fields such as industrial automation, medical services, home services, and exploration, and the diversity of their roles and the complexity of their functions are increasing. In robotics, dexterous hands are key components for achieving fine manipulation and complex interactions, and their flexibility and precision are increasingly required. In order to simulate the tactile function of human hands, tactile sensors have become an indispensable core component in dexterous hand technology. They can provide tactile feedback when the robot's fingers come into contact with the external environment, which is extremely important for robots to complete tasks such as fine manipulation, object recognition, and environmental perception.

[0003] However, existing tactile sensors have certain limitations in terms of fixation and signal transmission. At present, tactile sensors are usually fixed on the fingers of dexterous hands by screws or other fasteners. Although this fixing method can ensure the stability of the sensor to a certain extent, its installation and removal process is cumbersome and requires a lot of time and human resources. In addition, this fixing method is particularly inconvenient during the frequent operation and maintenance of the robot, and the wear and loosening of screws or other fasteners during long-term use may cause the sensor docking stability to decrease, or even loosen or fall off, thereby affecting the normal operation of the sensor and the operating accuracy of the robot.

[0004] At the same time, the existing signal transmission between the tactile sensor and the host computer mostly adopts the FPC connector design, which is easily affected by vibration and impact during the movement of the robot, causing the connector interface to wear or loosen, thereby affecting the stable transmission of the signal. These problems not only increase maintenance costs, but also may cause robot operation errors in some cases, affecting the quality and efficiency of task completion. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problems of complex sensor assembly and unstable signal transmission structure in the prior art, and to provide a tactile sensor and an assembly method thereof.

[0006] To solve the above technical problems, the present invention provides a tactile sensor, which includes: an assembly component, the assembly component includes an assembly body, at least one slide rail and at least one first clamping mechanism, the slide rail and the first clamping mechanism are respectively connected to the assembly body, wherein any of the slide rails extends along a first direction, the assembly body is provided with a female plug-in hole, and the female plug-in hole is located at one end of the slide rail, and at least one of the clamping mechanisms is arranged on one side of the slide rail; a body, the body includes a flexible extrusion portion, a slide seat, a terminal male head and a second clamping mechanism, the flexible extrusion portion is fixedly connected to the slide seat, the slide seat is provided with at least one slide groove, the slide groove moves along the slide rail, the terminal male head is connected to one end of the slide seat to dock with the female plug-in hole through the slide seat, and the second clamping mechanism is arranged on one side of the slide seat and can abut against the first clamping mechanism to connect the body to the assembly component.

[0007] In one embodiment of the present invention, the assembly body includes a connecting part and a base, the connecting part and the base are arranged perpendicular to each other, the slide rail is arranged on the base, the female plug hole and the first clamping mechanism are arranged on the connecting part, or the slide rail is arranged on the connecting part, the female plug hole and the first clamping mechanism are arranged on the base.

[0008] In one embodiment of the present invention, the first clamping mechanism includes a clamping groove and a limiting protrusion, the clamping groove extends along the first direction, the limiting protrusion is arranged in the clamping groove, and is protruded along the second direction; the second clamping mechanism includes a first hook and a first cantilever, one end of the first cantilever is connected to the base, and the other end is connected to the first hook, and the first cantilever is gap-matched with the base in the second direction, the first hook can be inserted into the clamping groove, and abut against the limiting protrusion.

[0009] In one embodiment of the present invention, the first clamping mechanism includes a second hook and a second cantilever, one end of the second cantilever is connected to the assembly body, and the other end is connected to the second hook, and the second cantilever is gap-matched with the base in the second direction, and the first hook can be abutted against the second hook.

[0010] In one embodiment of the present invention, the assembly component further includes an insulating member, the insulating member is connected to the inside of the assembly body, and the female plug hole is arranged inside the insulating member; or the insulating member is sleeved on the outer surface of the male terminal.

[0011] In one embodiment of the present invention, the slide rail includes a sliding portion and a limiting portion, the limiting portion is disposed at a top end of the sliding portion, and at least a portion of the limiting portion protrudes from the sliding portion in the second direction.

[0012] In one embodiment of the present invention, the assembly component also includes at least one plug-in block, and at least one of the plug-in blocks is correspondingly arranged on at least one of the slide rails; the main body also includes at least one third cantilever, and any of the third cantilever is provided with a plug-in hole, the third cantilever is connected to the slide seat, and is gap-matched with the slide seat, and the plug-in block can be inserted into the plug-in hole to realize a double locking structure between the assembly component and the main body.

[0013] In one embodiment of the present invention, the slide seat further comprises an avoidance groove, which is arranged above the third cantilever and extends from one side of the slide seat toward the plug-in block in a recessed manner along a first direction to avoid the plug-in block.

[0014] The present invention also provides a tactile sensor assembly method, which is used to assemble and disassemble the above-mentioned tactile sensor, and includes: step S1, installing the assembly component on the movable joint of the dexterous hand; step S2, moving the main body to make the slide move in the positive direction along the slide rail until the first clamping mechanism and the second clamping mechanism abut against each other, and the male terminal is inserted into the female terminal plug hole, thereby completing the assembly process; step S3, squeezing the slide from the second direction to disengage the first clamping mechanism and the second clamping mechanism from each other; step S4, moving the slide in the opposite direction along the slide rail under the squeezing state until the main body is disengaged from the assembly component, thereby completing the disassembly process.

[0015] In one embodiment of the present invention, the extended end of the female plug socket is connected to a control system signal.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art:

[0017] The tactile sensor and assembly method described in the present invention realize a detachable connection between the assembly component and the body through the cooperation between the first clamping mechanism and the second clamping mechanism, thereby greatly simplifying the tedious process of connecting through bolts and other connectors in conventional assembly technology. At the same time, during the plugging process, the female plug hole can cooperate with the male terminal to achieve stable signal transmission, thereby improving the stability and accuracy of the sensor. Compared with existing conventional sensors, the present application has significant advantages such as flexible disassembly and assembly, easy operation, precise docking, stable operation process and wide practical range, providing new ideas for the structural design and use of sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0019] Figure 1is a schematic diagram of the three-dimensional structure of a tactile sensor in a preferred embodiment of the present invention;

[0020] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown;

[0021] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown in another perspective;

[0022] Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the main body of the tactile sensor shown;

[0023] Figure 5 is a schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown in the second embodiment of the present invention;

[0024] Figure 6 is a schematic diagram of the three-dimensional structure of a tactile sensor shown in the third embodiment of the present invention;

[0025] Figure 7 yes Figure 6 Schematic diagram of the cross-section structure at AA in the middle;

[0026] Figure 8 yes Figure 6 A schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown;

[0027] Fig. 9 is a schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown in the fourth embodiment of the present invention;

[0028] Fig.10 yes Fig. 9 A schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown;

[0029] Fig.11 yes Fig. 9 A schematic diagram of the three-dimensional structure of the main body of the tactile sensor shown;

[0030] Fig.12 is a schematic diagram of the three-dimensional structure of the assembly components in the tactile sensor shown in the fifth embodiment of the present invention;

[0031] Fig.13 is a schematic diagram of the three-dimensional structure of the body of the tactile sensor shown in the fifth embodiment of the present invention;

[0032] Fig.14 yes Fig.13 Enlarged structural diagram at B in the middle.

[0033] Explanation of the reference numerals in the specification: 100, assembly component; 110, assembly body; 111, connection part; 112, base; 120, first clamping mechanism; 121, clamping groove; 122, limiting protrusion; 123, second hook and hanger; 124, second cantilever; 130, slide rail; 131, plug-in block; 140, female plug-in hole; 150, insulating member; 200, body; 210, flexible extrusion part; 220, slide seat; 221, slide groove; 222, avoidance groove; 230, second clamping mechanism; 231, first hook and hanger; 232, first cantilever; 240, male terminal; 250, third cantilever; 251, plug-in hole; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0035] See also Figure 1 As shown, this embodiment provides a tactile sensor, which includes: an assembly component 100, the assembly component 100 includes an assembly body 110, at least one slide rail 130 and at least one first clamping mechanism 120, the slide rail 130 and the first clamping mechanism 120 are respectively connected to the assembly body 110, wherein any of the slide rails 130 extends along a first direction X, the assembly body 110 is provided with a female plug hole 140, and the female plug hole 140 is located at one end of the slide rail 130, and at least one of the clamping mechanisms is arranged on one side of the slide rail 130; a body 200, the body 2 00 includes a flexible extrusion portion 210, a slide seat 220, a terminal male head 240 and a second clamping mechanism 230, the flexible extrusion portion 210 is fixedly connected to the slide seat 220, the slide seat 220 is provided with at least one slide groove 221, the slide groove 221 moves along the slide rail 130, the terminal male head 240 is connected to one end of the slide seat 220 to dock with the female head plug hole 140 through the slide seat 220, the second clamping mechanism 230 is arranged on one side of the slide seat 220, and can abut against the first clamping mechanism 120 to connect the main body 200 to the assembly component 100.

[0036] The tactile sensor described in this embodiment realizes a detachable connection between the assembly component 100 and the body 200 through the cooperation between the first clamping mechanism 120 and the second clamping mechanism 230, thereby greatly simplifying the cumbersome process of connecting through bolts and other connectors in conventional assembly technology. At the same time, during the plugging process, the female plug hole 140 can cooperate with the terminal male head 240 to achieve stable signal transmission, thereby improving the stability and accuracy of the use of this sensor. Compared with existing conventional sensors, this application has significant advantages such as flexible disassembly and assembly, easy operation, precise docking, stable operation process and wide practical range, providing new ideas for the structural design and use of sensors.

[0037] It should be noted that, for ease of description, this embodiment defines the plugging direction of the body 200 as a first direction X, the width direction of the tactile sensor as a second direction Y, and the thickness direction of the tactile sensor as a third direction Z, wherein the first direction X, the second direction Y, and the third direction Z are arranged perpendicular to each other in pairs, and the first direction X and the second direction Y are located in the same plane.

[0038] In this embodiment, the assembly component 100 is connected to the dexterous hand and provides a mounting platform for the body 200, which includes a connecting portion 111 and a base 112, wherein the connecting portion 111 and the base 112 are arranged perpendicular to each other, and further, the slide rail 130 is arranged on the base 112, the female plug hole 140 and the first clamping mechanism 120 are arranged on the connecting portion 111. In this embodiment, the assembly component 100 includes two slide rails 130 and two first clamping mechanisms 120, and the two slide rails 130 and the two first clamping mechanisms 120 are symmetrically arranged on opposite sides of the female plug hole 140 along the second direction Y, respectively, to improve the movement stability of the body 200. Correspondingly, two slide grooves 221 and two second clamping mechanisms 230 are also correspondingly arranged on the body 200.

[0039] See 2 and Figure 3As shown, the first clamping mechanism 120 includes a clamping groove 121 and a limiting protrusion 122, the clamping groove 121 extends along the first direction X, the limiting protrusion 122 is arranged in the clamping groove 121, and is arranged to protrude along the second direction Y; the second clamping mechanism 230 includes a first hook 231 and a first cantilever 232, one end of the first cantilever 232 is connected to the base 112, and the other end is connected to the first hook 231, and the first cantilever 232 is gap-matched with the base 112 in the second direction Y, the first hook 231 can be inserted into the clamping groove 121, and abut against the limiting protrusion 122. Further, in this embodiment, the gap between the first cantilever 232 and the base 112 is a "Y"-shaped structure, and during the plugging process, the first cantilever 232 can be squeezed and moved in the second direction Y through the above-mentioned gap structure to achieve mutual abutment / disengagement between the first clamping mechanism 120 and the second clamping mechanism 230. In different implementations, the gap between the first cantilever 232 and the base 112 may also be configured as other structures, and the present invention does not impose any specific limitation on this.

[0040] In this embodiment, in order to improve the stability and safety of signal transmission, the assembly component 100 in this embodiment also includes an insulating member 150 , which is connected to the inside of the assembly body 110 , and the female plug hole 140 is arranged inside the insulating member 150 .

[0041] See also Figures 2 to 4 As shown, in this embodiment, in order to limit and fix the body 200 in the third direction Z during the plugging process of the body 200, the slide rail 130 in this embodiment includes a sliding portion and a limiting portion, the limiting portion is arranged at the top of the sliding portion, and at least part of the limiting portion protrudes from the sliding portion in the second direction Y. Specifically, the sliding portion and the limiting portion in this embodiment are actually arranged as one body, and the projection area of ​​the slide rail 130 in the first direction X is preferably "L"-shaped, so as to achieve precise docking during the disassembly and assembly process, and at the same time improve the movement stability of the body 200. Embodiment 2

[0042] See also Figure 5 As shown, this embodiment provides another tactile sensor, whose main structure, operation process and principle are the same as those of the first embodiment, and no further details are given here. In this embodiment, only the shape of the slide rail 130 is improved to provide another feasible structure. Specifically, the projection area of ​​the slide rail 130 in the first direction X in this embodiment is preferably "T"-shaped, so as to achieve precise docking during the disassembly and assembly process, and at the same time improve the movement stability of the body 200. Embodiment 3

[0043] See also Figures 6 to 8As shown, this embodiment provides another tactile sensor, and the first clamping mechanism 120 in its structural configuration is different from that in the first embodiment, specifically: the first clamping mechanism 120 in this embodiment includes a second hooking member 123 and a second cantilever 124, one end of the second cantilever 124 is connected to the assembly body 110, and the other end is connected to the second hooking member 123, and the second cantilever 124 is gap-matched with the base 112 in the second direction Y, and the first hooking member 231 can abut against the second hooking member 123. Specifically, the second cantilever 124 can also achieve extrusion movement in the second direction Y through the above-mentioned gap structure to achieve mutual abutment / disengagement between the first clamping mechanism 120 and the second clamping mechanism 230.

[0044] In addition, see Figure 8 As shown, this embodiment also provides another structure of the slide rail 130 . Specifically, the projection area of ​​the slide rail 130 in the first direction X in this embodiment is preferably an inverted trapezoid, so as to simplify the processing and preparation process of the slide rail 130 . Embodiment 4

[0045] See also Figures 9 to 11 This embodiment provides another tactile sensor, which is suitable for mobile devices with different structures. In this embodiment, the slide rail 130 is arranged on the connecting portion 111, the female plug hole 140 and the first clamping mechanism 120 are arranged on the base 112. Embodiment 5

[0046] See also Figure 12 to Figure 14 The present embodiment provides another tactile sensor. In order to further improve the connection stability between the main body 200 and the assembly component 100 after assembly, the present embodiment sets a double self-locking structure between the main body 200 and the assembly component 100, specifically: the assembly component 100 also includes at least one plug-in block 131, and at least one of the plug-in blocks 131 is correspondingly arranged on at least one of the slide rails 130; the main body 200 also includes at least one third cantilever 250, and any of the third cantilever 250 is provided with a plug-in hole 251, the third cantilever 250 is connected to the slide seat 220, and has a clearance fit with the slide seat 220, and the plug-in block 131 can be inserted into the plug-in hole 251 to realize the double locking structure of the assembly component 100 and the main body 200.

[0047] Furthermore, in order to prevent the rest of the structure of the main body 200 from interfering with the movement of the plug-in block 131, the slide seat 220 in this embodiment also includes an avoidance groove 222, which is arranged above the third cantilever 250, and extends from the slide seat 220 toward one side of the plug-in block 131 along the first direction X to avoid the plug-in block 131.

[0048] Furthermore, in this embodiment, the insulating member 150 is sleeved on the outer surface of the terminal male head 240 , thereby providing another design structure of the insulating member 150 . Embodiment 6

[0049] This embodiment provides a tactile sensor assembly method, which is used to assemble and disassemble the tactile sensor described in Embodiment 1, and includes:

[0050] Step S1, installing the assembly component 100 on the movable joint of the dexterous hand;

[0051] Step S2, move the main body 200, so that the slide 220 moves forward along the slide rail 130 until the first clamping mechanism 120 and the second clamping mechanism 230 abut against each other, and the male terminal 240 is inserted into the female terminal plug hole 140, thus completing the assembly process; further, the extended end of the female terminal plug hole 140 in this embodiment is connected to the control system signal.

[0052] Step S3, pressing the slide seat 220 from the second direction Y to separate the first clamping mechanism 120 and the second clamping mechanism 230 from each other;

[0053] Step S4, in the squeezed state, the slide seat 220 moves in the opposite direction along the slide rail 130 until the body 200 is separated from the assembly component 100, thereby completing the disassembly process.

[0054] The tactile sensor and assembly method of the present invention realize the detachable connection between the assembly component 100 and the body 200 through the cooperation between the first clamping mechanism 120 and the second clamping mechanism 230, thereby greatly simplifying the cumbersome process of connecting through bolts and other connectors in conventional assembly technology. At the same time, during the plugging process, the female plug hole 140 can cooperate with the terminal male head 240 to achieve stable signal transmission, thereby improving the stability and accuracy of the use of the sensor. Compared with existing conventional sensors, the present application has significant advantages such as flexible disassembly and assembly, easy operation, precise docking, stable operation process and wide practical range, providing new ideas for the structural design and use of sensors.

[0055] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A tactile sensor, characterized in that: include: An assembly component, the assembly component comprises an assembly body, at least one slide rail and at least one first clamping mechanism, the slide rail and the first clamping mechanism are respectively connected to the assembly body, wherein any of the slide rails extends along a first direction, the assembly body is provided with a female plug hole, and the female plug hole is located at one end of the slide rail, and at least one of the clamping mechanisms is arranged on one side of the slide rail; The body comprises a flexible extrusion portion, a slide seat, a male terminal and a second clamping mechanism, wherein the flexible extrusion portion is fixedly connected to the slide seat, the slide seat is provided with at least one slide groove, the slide groove moves along the slide rail, the male terminal is connected to one end of the slide seat to dock with the female plug hole through the slide seat, and the second clamping mechanism is arranged on one side of the slide seat, and comprises a first hook and a first cantilever; The first clamping mechanism includes a clamping groove and a limiting protrusion, the first hook can be inserted into the clamping groove and abut against the limiting protrusion, or the first clamping mechanism includes a second hook and a second cantilever, the first hook can abut against the second hook.

2. The tactile sensor according to claim 1, characterized in that: The assembly body includes a connecting part and a base, the connecting part and the base are arranged perpendicular to each other, the slide rail is arranged on the base, the female plug hole and the first clamping mechanism are arranged on the connecting part, or the slide rail is arranged on the connecting part, the female plug hole and the first clamping mechanism are arranged on the base.

3. The tactile sensor according to claim 2, characterized in that: The first clamping mechanism includes a clamping groove and a limiting protrusion, the clamping groove extends along the first direction, the limiting protrusion is arranged in the clamping groove, and is protruded along the second direction; one end of the first cantilever is connected to the base, and the other end is connected to the first hook, and the first cantilever is gap-matched with the base in the second direction, the first hook can be inserted into the clamping groove, and abut against the limiting protrusion.

4. The tactile sensor according to claim 3, characterized in that: One end of the second cantilever is connected to the assembly body, and the other end is connected to the second hook. The second cantilever is gap-matched with the base in the second direction, and the first hook can abut against the second hook.

5. The tactile sensor according to claim 1, characterized in that: The assembly component also includes an insulating member, which is connected to the inside of the assembly body, and the female plug hole is arranged inside the insulating member; or the insulating member is sleeved on the outer surface of the male terminal.

6. The tactile sensor according to claim 1, characterized in that: The slide rail includes a sliding portion and a limiting portion, wherein the limiting portion is disposed at a top end of the sliding portion, and at least a portion of the limiting portion protrudes from the sliding portion in the second direction.

7. The tactile sensor according to claim 1, characterized in that: The assembly component also includes at least one plug-in block, and at least one of the plug-in blocks is correspondingly arranged on at least one of the slide rails; the main body also includes at least one third cantilever, and any of the third cantilever is provided with a plug-in hole. The third cantilever is connected to the slide seat and has a clearance with the slide seat. The plug-in block can be inserted into the plug-in hole to realize a double locking structure between the assembly component and the main body.

8. The tactile sensor according to claim 7, characterized in that: The slide seat further comprises an avoidance groove, which is arranged above the third cantilever and extends from the slide seat toward one side of the plug-in block in a recessed manner along a first direction so as to avoid the plug-in block.

9. A tactile sensor assembly method, characterized in that: Used for assembling and disassembling the tactile sensor according to any one of claims 1 to 6, comprising: Step S1, installing the assembly components on the movable joints of the dexterous hand; Step S2, moving the body, so that the slide seat moves forward along the slide rail until the first clamping mechanism and the second clamping mechanism abut against each other, and the male terminal is inserted into the female terminal plug hole, thus completing the assembly process; Step S3, pressing the slide seat from a second direction to separate the first clamping mechanism from the second clamping mechanism; Step S4, moving the slide seat in the opposite direction along the slide rail in the squeezed state until the body is separated from the assembly component, thus completing the disassembly process.

10. The tactile sensor assembly method according to claim 9, characterized in that: The extended end of the female plug hole is connected to the control system signal.

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