Fingertip joint with visual tactile perception capability

Abstract

The utility model provides a fingertip joint with visual tactile perception capability, which comprises a driving module and a visual tactile sensor arranged on the driving module, and the driving module drives the fingertip joint with visual tactile perception capability to rotate around a support; the front grabbing end of the visual tactile sensor is in a wedge shape, the visual tactile sensor comprises a sensor shell, a holder and an illumination shooting element, the sensor shell is mounted on the holder in a covering manner, a closed and lightproof acquisition area is formed in the sensor shell, and the illumination shooting element is mounted in the acquisition area; the holder is provided with an opening, a transparent supporting plate is arranged in the opening, a rubber pad is installed on the outer side of the holder, the inner side of the rubber pad is tightly attached to the transparent supporting plate, and the outer surface of the rubber pad is covered with a non-transparent coating. Due to the design of the wedge-shaped grabbing front end, the visual touch sensor can stretch into a narrower area and grab objects, and meanwhile the adaptability and reliability of the sensor when the sensor grabs the objects of different shapes and sizes are improved.

Description

Technical Field

[0001] The utility model relates to an industrial manipulator, in particular to a fingertip joint with visual and tactile perception capabilities. Background Art

[0002] Dexterous robotic arms are highly flexible and programmable automated devices, typically composed of multiple joints and servo motors. They are capable of complex three-dimensional motion and are widely used in industrial production lines. By mimicking the movements of human fingers, they can perform tasks such as grasping, dexterous manipulation, and assembly, significantly improving production efficiency and precision.

[0003] A visual tactile sensor is a sensing device that can convert rich tactile signals into visual signals with high fidelity. It uses optical imaging technology to capture tactile information on a contact surface. When the sensor contacts an object, the tactile signal first causes a slight deformation of the sensor surface. These deformations are captured by a built-in micro-camera and converted into image signals. Computer vision algorithms process these image signals to extract tactile information, such as the magnitude and direction of the contact force, as well as the texture and shape of the object.

[0004] Combining visual-tactile sensors with a robotic arm allows the robotic arm to simultaneously grasp and analyze objects through tactile perception. Currently, visual-tactile sensors are relatively new and typically flat in shape. Because they require internal lighting and a visual system, they require a certain thickness. Directly attaching existing visual-tactile sensors to a robotic arm would be limited by their traditional shape, and the robotic arm's ability to grasp, perceive, and identify objects in confined spaces would be suboptimal. Utility Model Content

[0005] The utility model provides a fingertip joint with visual and tactile perception capabilities. The fingertip joint with visual and tactile perception capabilities is rotatably mounted on a bracket. The fingertip joint with visual and tactile perception capabilities includes a driving module and a visual and tactile sensor mounted on the driving module. The driving module drives the fingertip joint with visual and tactile perception capabilities to rotate around the bracket.

[0006] The visual tactile sensor has a wedge-shaped gripping front end. The visual tactile sensor includes a sensor housing, a holder, and an illumination and shooting element. The sensor housing is mounted on the holder and forms a sealed, light-proof collection area inside. The illumination and shooting element is installed in the collection area.

[0007] The holder is provided with an opening and a transparent support plate in the opening. A rubber pad corresponding to the position and shape of the opening is installed on the outside of the holder. The inner side of the rubber pad is tightly attached to the transparent support plate, and the outer surface of the rubber pad is covered with an opaque coating.

[0008] Furthermore, the lighting and shooting component includes a plurality of lighting light sources arranged around the opening and an image collector with a framing area facing the opening.

[0009] Furthermore, the drive module includes a drive housing, the drive housing is provided with a drive motor, the drive motor is transmission-connected to the rotating shaft through a reducer, and the drive housing is rotationally connected to the bracket through the rotating shaft.

[0010] Furthermore, the driving module and the visual tactile sensor are detachably connected, wherein,

[0011] The driver housing is provided with a plurality of first countersunk holes, the sensor housing is provided with a plurality of first threaded holes corresponding to the first countersunk holes, and the first bolts pass through the first countersunk holes and are threadedly connected with the first threaded holes to connect the visual tactile sensor and the driver module.

[0012] Furthermore, the retaining frame is provided with an annular side wall, the annular side wall is provided with a plurality of through holes at different positions, and an illuminating light source is provided in each through hole.

[0013] Furthermore, the sensor housing and the holder are detachably connected, wherein:

[0014] The sensor housing is provided with a plurality of second countersunk holes, the annular side wall is provided with an ear seat embedded in the driver housing, the ear seat is provided with a plurality of second threaded holes corresponding to the second countersunk holes, and the second bolts pass through the second countersunk holes and are threaded with the second threaded holes to connect the retaining frame and the sensor housing.

[0015] Furthermore, an outer end surface of the retaining frame is provided with a baffle extending outward, and an outer end surface of the sensor housing connected to the retaining frame is in contact with the baffle.

[0016] Furthermore, the transparent support plate is an acrylic plate.

[0017] Furthermore, both sides of the combined end of the driver housing and the sensor housing are provided with a butted special-shaped plug-in plate and a special-shaped slot, respectively. The special-shaped plug-in plate and the special-shaped slot are provided with a first countersunk hole and a first threaded hole, respectively.

[0018] The advantages of the present invention are:

[0019] 1) The wedge-shaped gripping front end design of the utility model can imitate the action of humans grasping objects with their fingertips, allowing the visual tactile sensor to reach into narrower areas and grasp objects, while also improving the adaptability and reliability of the sensor when grasping objects of different shapes and sizes.

[0020] 2) The design of the lighting and camera element and holder of this utility model is also highly innovative. The circular layout of multiple illumination sources ensures uniform illumination of the acquisition area, improving the clarity and accuracy of image acquisition. The clever combination of the through-hole design of the holder and the illumination sources ensures efficient light transmission while preventing interference from external light on the acquisition area, ensuring the accuracy and stability of the collected data.

[0021] 3) The detachable connection design of the utility model makes the maintenance and upgrading of the fingertip joints with visual and tactile perception capabilities more convenient. On the one hand, it can not only realize the separation of the visual tactile sensor and the driving module, which is convenient for the maintenance of the tactile sensor; on the other hand, the sensor housing and the retaining frame of the tactile sensor can also be separated, which is convenient for the replacement of the retaining frame.

[0022] To sum up, the fingertip joints with visual and tactile perception capabilities of this utility model achieve high-precision, high-resolution, all-round and multi-angle perception capabilities through a series of innovative designs and technical means, providing strong support for the development of robotics, unmanned driving, medical equipment and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions 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.

[0024] Figure 1 This is a disassembly diagram of a fingertip joint with visual and tactile perception capabilities according to the present invention;

[0025] Figure 2 This is the internal structure diagram of the driver module;

[0026] Figure 3 This is an outline diagram of the visual tactile sensor;

[0027] Figure 4 This is an exploded diagram of the visual tactile sensor;

[0028] Figure 5 is a schematic diagram of a sensor housing of a visual-tactile sensor;

[0029] Figure 6 Schematic diagram of the visual-tactile sensor holder, lighting and shooting components, and transparent support plate;

[0030] Figure 7 Schematic diagram of the cage. DETAILED DESCRIPTION

[0031] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present invention.

[0032] In order to fully understand the present invention, detailed steps and detailed structures will be provided in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention may also have other implementation methods.

[0033] Reference Figure 1-7 As shown, the utility model provides a fingertip joint with visual and tactile perception capabilities, which is rotatably mounted on a bracket 300. The fingertip joint with visual and tactile perception capabilities includes a driving module 100 and a visual and tactile sensor 200 mounted on the driving module 100. The driving module 100 drives the fingertip joint with visual and tactile perception capabilities to rotate around the bracket 300.

[0034] The visual-tactile sensor 200 has a wedge-shaped gripping front end, allowing it to reach into narrower areas and grasp objects. The visual-tactile sensor 200 comprises a sensor housing 210, a holder 220, and an illumination and camera element 230. The sensor housing 210 is mounted on the holder 220 and forms a sealed, light-tight collection area within it. The illumination and camera element 230 is mounted within the collection area. The holder 220 has an opening 221, within which a transparent support plate 240 is located. A rubber pad 250 is mounted on the outside of the holder 220, corresponding in position and shape to the opening 221. The inner side of the rubber pad 250 is in close contact with the transparent support plate 240, and the outer surface of the rubber pad 250 is covered with an opaque coating.

[0035] In an optional embodiment, the lighting and photographing component 230 includes a plurality of lighting light sources 231 arranged around the opening 221 and an image collector 232 with a viewing area facing the opening 221 .

[0036] The illumination light sources 231 are evenly distributed around the opening 221, forming a circle of soft and bright light sources, effectively eliminating shadows and dark corners that may occur during shooting.

[0037] In an optional embodiment, the drive module 100 includes a drive housing 110, which is provided with a drive motor 120. The drive motor 120 is transmission-connected to the rotating shaft 140 through a reducer 130, and the drive housing 110 is rotationally connected to the bracket 300 through the rotating shaft 140.

[0038] The driver module 100 and the visual-tactile sensor 200 can be connected either fixedly or detachably. Preferably, the visual-tactile sensor 200 is mounted on the driver module 100 in a detachable manner. The specific structure is as follows: the driver housing 110 is provided with a plurality of first countersunk holes 111, and the sensor housing 210 is provided with a plurality of first threaded holes 211 corresponding to the first countersunk holes 111. First bolts 112 pass through the first countersunk holes 111 and are threadedly connected to the first threaded holes 211 to connect the visual-tactile sensor 200 and the driver module 100. Removing the first bolts 112 allows the visual-tactile sensor 200 and the driver module 100 to be separated.

[0039] In an optional embodiment, a docking special-shaped plug-in plate 114 and a special-shaped slot 214 are respectively provided on both sides of the joint end of the driver housing 110 and the sensor housing 210. The shapes of the special-shaped plug-in plate 114 and the special-shaped slot 214 match each other. Through the docking and matching of the special-shaped plug-in plate 114 and the special-shaped slot 214, the visual-tactile sensor 200 can be accurately installed on the driver module 100. The first countersunk hole 111 and the first threaded hole 211 are respectively provided at the special-shaped plug-in plate 114 and the special-shaped slot 214.

[0040] In an optional embodiment, the holder 220 is provided with an annular side wall 222, and the annular side wall 222 is provided with a plurality of through holes 223 at different positions, and each through hole 223 is provided with an illumination light source 231, thereby improving the light shielding performance and the uniformity of the fill light.

[0041] The sensor housing 210 and the holder 220 can be connected in a fixed manner or in a detachable manner. It is preferred to connect the sensor housing 210 and the holder 220 in a detachable manner because the rubber pad 250 and the film on the surface are consumable parts. As the grab test is carried out continuously, wear and deformation will occur, which will affect the measurement accuracy. Therefore, in order to ensure the detection accuracy, once the wear and deformation of the rubber pad 250 has significantly affected the accuracy, it needs to be replaced in time. The utility model connects the holder 220, the transparent support plate 240 and the rubber pad 250 as a whole. When replacement is needed, the holder can be replaced as a whole, thereby improving production detection efficiency. The specific structure is as follows: a plurality of second countersunk holes 212 are provided on the sensor housing 210, and an ear seat 224 is provided on the annular side wall 222 and embedded in the driver housing 110. A plurality of second threaded holes 225 corresponding to the second countersunk holes 212 are provided on the ear seat 224. The second bolt 113 passes through the second countersunk hole 212 and is threaded into the second threaded hole 225 to connect the retaining frame 220 and the sensor housing 210. The retaining frame 220 and the sensor housing 210 can be separated by removing the second bolt 113.

[0042] In an optional embodiment, the outer end face of the retaining frame 220 is provided with a baffle 226 extending outward, and the outer end face of the sensor housing 210 connected to the retaining frame 220 is in contact with the baffle 226. The baffle 226 supports the sensor housing 210, thereby improving the stability of the combination of the two and further ensuring that the internal space of the sensor housing 210 is shielded from light.

[0043] In an optional embodiment, the transparent support plate 240 is an acrylic plate.

[0044] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-mentioned disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A fingertip joint with visual and tactile perception capabilities, wherein the fingertip joint is rotatably mounted on a bracket (300), characterized in that: The fingertip joint comprises a driving module (100) and a visual-tactile sensor (200) mounted on the driving module (100), and the driving module (100) drives the fingertip joint to rotate around the bracket (300); The grabbing front end of the visual-tactile sensor (200) is wedge-shaped. The visual-tactile sensor (200) comprises a sensor housing (210), a holder (220), and an illumination and shooting element (230). The sensor housing (210) is mounted on the holder (220) and forms a sealed and light-proof collection area inside. The illumination and shooting element (230) is installed in the collection area. The retaining frame (220) is provided with an opening (221) and a transparent support plate (240) is provided in the opening (221); a rubber pad (250) corresponding to the position and shape of the opening (221) is installed on the outside of the retaining frame (220); the inner side of the rubber pad (250) is in close contact with the transparent support plate (240); and the outer surface of the rubber pad (250) is covered with an opaque coating.

2. A fingertip joint with visual and tactile perception capabilities as claimed in claim 1, characterized in that: The lighting and shooting element (230) comprises a plurality of lighting light sources (231) arranged around the opening (221) and an image collector (232) with a framing area facing the opening (221).

3. A fingertip joint with visual and tactile perception capabilities as claimed in claim 2, characterized in that: The driving module (100) is connected to the bracket (300) via a rotating shaft (140); The driving module (100) includes a driving housing (110), a driving motor (120) is provided in the driving housing (110), and the driving motor (120) is transmission-connected to the rotating shaft (140) via a speed reducer (130).

4. A fingertip joint with visual and tactile perception capabilities as claimed in claim 3, characterized in that: The driving module (100) and the visual-tactile sensor (200) are detachably connected, wherein: The driver housing (110) is provided with a plurality of first countersunk holes (111), the sensor housing (210) is provided with a plurality of first threaded holes (211) corresponding to the first countersunk holes (111), and first bolts (112) pass through the first countersunk holes (111) and are threadedly connected to the first threaded holes (211) to connect the visual-tactile sensor (200) and the driver module (100).

5. The fingertip joint with visual and tactile perception capability as claimed in claim 3, characterized in that: The retaining frame (220) is provided with an annular side wall (222), the annular side wall (222) is provided with a plurality of through holes (223) at different positions, and the illumination light source (231) is provided in each of the through holes (223).

6. The fingertip joint with visual and tactile perception capability according to claim 5, characterized in that: The sensor housing (210) and the retaining frame (220) are detachably connected, wherein: The sensor housing (210) is provided with a plurality of second countersunk holes (212); the annular side wall (222) is provided with an ear seat (224) embedded in the driver housing (110); the ear seat (224) is provided with a plurality of second threaded holes (225) corresponding to the second countersunk holes (212); second bolts (113) pass through the second countersunk holes (212) and are threaded into the second threaded holes (225) to connect the retaining frame (220) and the sensor housing (210).

7. The fingertip joint with visual and tactile perception capability according to claim 6, characterized in that: The outer end surface of the retaining frame (220) is provided with a baffle (226) extending outward, and the outer end surface of the sensor housing (210) connected to the retaining frame (220) is in contact with the baffle (226).

8. The fingertip joint with visual and tactile perception capability as claimed in claim 1, characterized in that: The transparent support plate (240) is an acrylic plate.

9. The fingertip joint with visual and tactile perception capability as claimed in claim 4, characterized in that: A butted special-shaped plug plate (114) and a special-shaped slot (214) are respectively provided on both sides of the combined ends of the driver housing (110) and the sensor housing (210), and the special-shaped plug plate (114) and the special-shaped slot (214) are respectively provided with the first countersunk hole (111) and the first threaded hole (211).

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