Robot touch sensor

Abstract

The utility model belongs to the technical field of sensors, and particularly relates to a robot touch sensor which comprises a substrate, a depth information module is fixedly mounted at the center of the top of the substrate, a plurality of uniformly distributed mounting grooves are formed in the top of the substrate, mounting blocks are inserted into the mounting grooves, and the depth information module is connected with the mounting blocks. Mounting assemblies are arranged between the interiors of the mounting blocks and the interiors of the mounting grooves, limiting assemblies are arranged on the outer surface of the base plate, the limiting assemblies and the mounting assemblies are mounted, and the tops of the multiple mounting blocks are jointly and fixedly connected with an elastic shell. According to the utility model, the elastic shell is inserted into the mounting groove through the mounting block to be mounted with the substrate, and the mounting block can be stably mounted with the mounting groove through the matching of the mounting assembly and the limiting assembly, so that the mounting block is convenient to disassemble, and the elastic shell is convenient to disassemble; therefore, the depth information module at the top of the substrate can be checked and overhauled conveniently, and the tactile sensor is high in practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a robot tactile sensor. Background Art

[0002] With the popularization of robots, sensors, as the eyes of robots when they move, have also been widely used. Tactile sensors, as sensors that obtain information through contact, can perceive the material, texture, and shape of touched objects (that is, the three-dimensional information of the object). As a supplement to visual sensors, they further assist machine vision in realizing the perception of objects and the surrounding environment.

[0003] A Chinese patent application, CN212567428U, discloses a tactile sensor and robot, relating to the field of sensor technology. The device comprises a substrate, a depth information module, and an elastic shell. The elastic shell is disposed on one side of the substrate and encloses the substrate to form a deformation chamber. The depth information module is disposed on the substrate and located within the deformation chamber, and is used to obtain deformation information of the elastic shell, thereby indirectly acquiring the pressure, texture, and three-dimensional shape of the touched object. This achieves machine tactile perception without requiring geometric or texture information of the touched object, and exhibits strong adaptability. It also enables high-precision, low-power, and integrated promotion and application. This avoids the situation where existing tactile sensors, due to limitations in materials, processes, and yield rates, can only remain in the laboratory stage and cannot be truly mass-produced and applied. Furthermore, the elastic shell can effectively protect the various modules inside.

[0004] However, the existing tactile sensor is difficult to disassemble between the substrate and the elastic shell during use, and the depth information module on the top of the substrate is difficult to view and repair, so that the sensor cannot meet more usage requirements. Therefore, a robot tactile sensor is proposed to address the above problems. Utility Model Content

[0005] In order to make up for the shortcomings of the existing technology, the utility model solves the problem that the existing tactile sensor is inconvenient to disassemble the substrate and the elastic shell during use, and the depth information module on the top of the substrate is inconvenient to view and repair, thereby making the sensor unable to meet more usage requirements. A robot tactile sensor is proposed.

[0006] The technical solution adopted by the utility model to solve the technical problem is as follows: the robot tactile sensor described in the utility model includes a substrate;

[0007] A depth information module is fixedly installed at the center of the top of the substrate. A plurality of evenly distributed mounting grooves are provided on the top of the substrate. A mounting block is inserted into the mounting groove. A mounting assembly is provided between the interior of the mounting block and the interior of the mounting groove. A limiting assembly is provided on the outer surface of the substrate, and the limiting assembly is installed with the mounting assembly. An elastic shell is fixedly connected to the tops of the plurality of mounting blocks.

[0008] Preferably, the top of the elastic shell fits with the top of the substrate.

[0009] Preferably, the limiting assembly includes a limiting ring sleeved on the outer surface of the substrate, the inner side wall of the limiting ring is provided with a circle of continuous limiting grooves, and the inner upper surface of the limiting groove is provided with a plurality of evenly distributed through holes.

[0010] Preferably, the mounting assembly includes an inner groove provided inside the mounting block, two through-type through grooves provided inside the inner groove, a slider is slidably connected inside the through groove, a spring is fixedly connected between the slider and the through groove, a mounting rod is fixedly connected to one side of the slider, two mounting holes are provided inside the mounting groove, one end of the mounting rod passes through the spring and is inserted into the mounting hole.

[0011] Preferably, a groove 1 is provided on one side of the slider, a connecting rod is rotatably connected to the inside of the groove 1 through a rotating rod 1, a connecting block is slidably connected to the inside of the inner groove, two grooves 2 are provided on one side of the connecting block, one end of the connecting rod is inserted into the inside of the groove 2 and is rotatably connected to the groove 2 through the rotating rod 2, an extrusion rod is fixedly connected to the other side of the connecting block, a through-hole is provided on one side of the inside of the mounting groove, one end of the extrusion rod passes through the through-hole and is fixedly connected to the extrusion block, and the extrusion block is inserted into the inside of the limiting groove.

[0012] Preferably, both ends of the connecting rod are arranged in an arc shape.

[0013] Preferably, the outer surface of the extrusion block is arranged in an arc shape.

[0014] The utility model is beneficial in that:

[0015] 1. The elastic shell of the present invention is installed on the base plate by inserting the mounting block into the mounting groove, and the mounting block can be firmly installed between the mounting grooves through the cooperation of the mounting assembly and the limit assembly, thereby facilitating the disassembly of the mounting block and the elastic shell, and further facilitating the inspection and maintenance of the depth information module on the top of the base plate, and making the tactile sensor more practical.

[0016] 2. The utility model sets the depth information module on the substrate and locates it inside the deformation chamber formed by the elastic shell and the substrate. When it is powered on, it transmits signals and receives signals reflected back by the elastic shell to obtain the deformation information of the elastic shell when it is deformed, thereby indirectly obtaining the pressure, texture, three-dimensional morphology, etc. of the touched object, thereby realizing machine tactile perception. It does not require the geometric and texture information of the touched object and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure in Example 1;

[0019] Figure 2 It is a schematic diagram of a partial front cross-section structure in Example 1;

[0020] Figure 3 It is a schematic diagram of a partial top-sectional structure in Example 1;

[0021] Figure 4 For Example 1 Figure 3 Enlarged structural diagram at point A in the middle.

[0022] In the figure: 1. Base plate; 2. Elastic shell; 3. Limiting assembly; 301. Limiting ring; 302. Through hole; 303. Limiting groove; 4. Depth information module; 5. Mounting groove; 6. Mounting block; 7. Mounting assembly; 701. Mounting hole; 702. Mounting rod; 703. Through groove; 704. Spring; 705. Slider; 706. Groove 1; 707. Inner groove; 708. Rotating rod 1; 709. Connecting rod; 710. Connecting block; 711. Groove 2; 712. Rotating rod 2; 713. Extrusion rod; 714. Through hole; 715. Extrusion block. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Example 1

[0025] See also Figure 1-3 As shown, a robot tactile sensor includes a substrate 1;

[0026] A depth information module 4 is fixedly installed at the center of the top of the substrate 1. A plurality of evenly distributed mounting grooves 5 are opened on the top of the substrate 1. A mounting block 6 is inserted into the mounting groove 5. A mounting component 7 is arranged between the inside of the mounting block 6 and the inside of the mounting groove 5. A limiting component 3 is provided on the outer surface of the substrate 1, and the limiting component 3 is installed with the mounting component 7. The tops of the plurality of mounting blocks 6 are fixedly connected with an elastic shell 2. When working, the depth information module 4 is set on the substrate 1 and is located inside the deformation chamber formed by the elastic shell 2 and the substrate 1. When it is powered on, it transmits signals and receives signals reflected by the elastic shell 2. The signal emitted back can obtain the deformation information of the elastic shell 2 when it is deformed, and indirectly obtain the pressure, texture, three-dimensional morphology, etc. of the touched object, thereby realizing machine tactile perception. It does not require the geometric and texture information of the touched object and has strong adaptability. At the same time, the elastic shell 2 is installed with the substrate 1 in the mounting groove 5 through the mounting block 6, and the mounting block 6 can be firmly installed between the mounting groove 5 through the cooperation of the mounting component 7 and the limit component 3, thereby facilitating the disassembly of the mounting block 6 and the disassembly of the elastic shell 2, and then facilitating the inspection and maintenance of the depth information module 4 on the top of the substrate 1, and making the tactile sensor more practical.

[0027] The top of the elastic shell 2 fits with the top of the base plate 1 ; during operation, the elastic shell 2 can be separated and disassembled from the base plate 1 .

[0028] The limiting component 3 includes a limiting ring 301 mounted on the outer surface of the substrate 1, and the inner wall of the limiting ring 301 is provided with a circle of continuous limiting grooves 303, and the upper surface of the inner part of the limiting groove 303 is provided with multiple evenly distributed through holes 302; when working, the installation component 7 is limited by the limiting groove 303 and the limiting ring 301, and the through holes 302 can facilitate the limiting ring 301 to be released from the limit.

[0029] The mounting assembly 7 includes an inner groove 707 provided inside the mounting block 6, and two through-type slots 703 are provided inside the inner groove 707, and a slider 705 is slidably connected inside the through-slot 703, and a spring 704 is fixedly connected between the slider 705 and the through-slot 703, and one side of the slider 705 is fixedly connected to the mounting rod 702. Two mounting holes 701 are provided inside the mounting groove 5, and one end of the mounting rod 702 passes through the spring 704 and is inserted into the mounting hole 701; when working, the mounting block 6 is inserted into the mounting groove 5 for limited installation by inserting the mounting rod 702 into the mounting hole 701, and when the mounting rod 702 moves and is inserted into the mounting hole 701, the spring 704 is squeezed so that the spring 704 has a rebound force, and the rebound force of the spring 704 facilitates the resetting of the mounting rod 702, and then the movement of the slider 705 can drive the mounting rod 702 to move.

[0030] One side of the slider 705 is provided with a groove 706, and the interior of the groove 706 is rotatably connected to a connecting rod 709 through a rotating rod 708. A connecting block 710 is slidably connected to the interior of the inner groove 707. One side of the connecting block 710 is provided with two grooves 711. One end of the connecting rod 709 is inserted into the interior of the groove 711 and is rotatably connected to the groove 711 through a rotating rod 712. The other side of the connecting block 710 is fixedly connected to an extrusion rod 713. A through-hole 714 is provided on one side of the interior of the installation groove 5. One end of the extrusion rod 713 passes through the through-hole 714 and is fixedly connected to an extrusion block 715, and the extrusion block 715 is inserted into the interior of the limiting groove 303. When working, the extrusion block 715 is pressed against the limiting groove 303 of the limiting ring 301. The limit is performed, and the extrusion block 715 drives the extrusion rod 713 and the connecting block 710 to move. Then the movement of the connecting block 710 drives the connecting rod 709 to rotate to squeeze the slider 705 so that the slider 705 moves, and when the limiting ring 301 rotates so that the extrusion block 715 corresponds to the through hole 302, the limiting ring 301 is removed to allow the limiting ring 301 to be separated from the extrusion limit of the extrusion block 715, thereby allowing the extrusion block 715 to be separated from the extrusion movement of the extrusion rod 713, the connecting rod 709 and the slider 705, and allowing the mounting rod 702 to move under the action of the rebound force of the spring 704, and allowing the mounting rod 702 to be separated from the mounting hole 701, thereby allowing the mounting rod 702 to be separated from the limiting installation of the mounting block 6, and allowing the mounting block 6 to be removed from the inside of the mounting groove 5, and allowing the elastic shell 2 to be disassembled from the substrate 1.

[0031] Both ends of the connecting rod 709 are configured to be arc-shaped, which facilitates the rotation of the connecting rod 709 during operation.

[0032] Example 2

[0033] See also Figure 4 As shown, compared with Example 1, as another implementation of the present invention, the outer surface of the extrusion block 715 is set to be arc-shaped; when working, it is convenient for the extrusion block 715 to be extruded.

[0034] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these 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 any one or more embodiments or examples.

[0035] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention as claimed.

Claims

1. A robot tactile sensor comprising a substrate (1); Its characteristics are: A depth information module (4) is fixedly mounted at the center of the top of the substrate (1); a plurality of evenly distributed mounting grooves (5) are provided on the top of the substrate (1); a mounting block (6) is inserted into the interior of the mounting groove (5); a mounting assembly (7) is provided between the interior of the mounting block (6) and the interior of the mounting groove (5); a limiting assembly (3) is provided on the outer surface of the substrate (1), and the limiting assembly (3) is mounted on the mounting assembly (7); and a plurality of the mounting blocks (6) are fixedly connected to the tops of the plurality of mounting blocks (6) with an elastic housing (2).

2. A robot tactile sensor according to claim 1, characterized in that: The top of the elastic shell (2) is in contact with the top of the base plate (1).

3. The robot tactile sensor according to claim 1, wherein: The limiting assembly (3) comprises a limiting ring (301) sleeved on the outer surface of the base plate (1); the inner side wall of the limiting ring (301) is provided with a circle of continuous limiting grooves (303); the inner upper surface of the limiting groove (303) is provided with a plurality of evenly distributed through holes (302).

4. The robot tactile sensor according to claim 3, wherein: The mounting assembly (7) comprises an inner groove (707) provided inside the mounting block (6), two through-type through grooves (703) provided inside the inner groove (707), a slider (705) slidably connected inside the through groove (703), a spring (704) fixedly connected between the slider (705) and the through groove (703), a mounting rod (702) fixedly connected to one side of the slider (705), two mounting holes (701) provided inside the mounting groove (5), one end of the mounting rod (702) passing through the spring (704) and inserted into the mounting hole (701).

5. The robot tactile sensor according to claim 4, characterized in that: A groove (706) is provided on one side of the slider (705), and a connecting rod (709) is rotatably connected to the inside of the groove (706) through a rotating rod (708). A connecting block (710) is slidably connected to the inside of the inner groove (707). Two grooves (711) are provided on one side of the connecting block (710). One end of the connecting rod (709) is inserted into the inside of the groove (711) and is rotatably connected to the groove (711) through a rotating rod (712). An extrusion rod (713) is fixedly connected to the other side of the connecting block (710). A through-hole (714) is provided on one side of the inside of the installation groove (5), and one end of the extrusion rod (713) passes through the through-hole (714) and is fixedly connected to an extrusion block (715), and the extrusion block (715) is inserted into the inside of the limiting groove (303).

6. The robot tactile sensor according to claim 5, characterized in that: Both ends of the connecting rod (709) are configured to be arc-shaped.

7. The robot tactile sensor according to claim 5, characterized in that: The outer surface of the extrusion block (715) is configured to be in an arc shape.

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