Visual tactile sensor structure

Abstract

The utility model relates to the technical field of visual tactile sensing, and relates to a visual tactile sensor structure. According to the utility model, the camera assembly carries out visual detection on the deformation condition of the colloid assembly, the effect of clamping different objects is achieved through colloid deformation, and the tactile perception capability of a visual tactile sensor is realized; the light strip is configured to provide the light with the preset color for at least one circumferential surface of the transparent plate, and the light strip is arranged on the side plate or the transparent plate, so that the space of the transparent plate occupied by a traditional lighting assembly is avoided, the size of the tactile assembly is greatly increased, and the application range of the sensor is widened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of vision and touch sensing technology relates to a vision and touch sensor structure. BACKGROUND

[0002] In recent years, the development of vision technology provides a new train of thought for tactile perception, and the vision and touch sensor is a sensor capable of converting visual images into tactile information, which perceives target attributes and interaction during the contact process by recording the deformation of flexible materials in contact with the target. The light assembly of the existing vision and touch sensor occupies the internal space of the sensor, which increases the size of the vision and touch sensor and reduces the flexibility of the vision and touch sensor. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide a vision and touch sensor structure which can guarantee the assembly precision of the side plate and the shell, greatly increase the size of the touch component, and improve the application range of the sensor.

[0004] In order to solve the above technical problem, the technical scheme adopted by the utility model to solve its technical problem is:

[0005] A vision and touch sensor structure, characterized by comprising:

[0006] A shell, a fixing port is arranged on the shell, the shell wall where the fixing port is located is a side plate of the shell, and the fixing port penetrates the side plate along a first direction;

[0007] A colloid component is arranged at the fixing port, the colloid component comprises a transparent plate, a touch colloid and a lamp strip, the transparent plate is arranged on the fixing port, the touch colloid is arranged on the transparent plate and located outside the side plate, the lamp strip is configured to provide light of a preset color to at least one circumferential surface of the transparent plate, and the lamp strip is arranged on the side plate or the transparent plate and located outside the circumferential surface of the transparent plate.

[0008] A camera component is arranged in the cavity of the shell and used for visually detecting the deformation of the colloid component.

[0009] Among them, the circumferential surface of the transparent plate is a face body parallel to the first direction.

[0010] In an embodiment of the utility model, a fixing groove is arranged at the lower part of the cavity, a single mirror is arranged on the fixing groove, the single mirror is arranged opposite to the colloid component, and a taking and placing opening is arranged at the bottom of the fixing groove.

[0011] In an embodiment of the utility model, the inner wall of the cavity is provided with a mounting block, the mounting block is provided with an inclined surface, the camera assembly is arranged on the inclined surface, so that the camera assembly is arranged opposite to the single mirror.

[0012] In an embodiment of the utility model, the camera assembly comprises a circuit board and a shooting camera, the shooting camera is arranged on the circuit board, both sides of the circuit board are provided with mounting holes, the mounting holes are provided with mounting screws, the mounting screws are connected with the mounting block through the mounting holes.

[0013] In an embodiment of the utility model, the shell is provided with a wire outlet hole on one side, the cavity is provided with a fixing block on the upper portion, the fixing block is provided with a wire arranging frame, the wire arranging frame is in U-shaped structure, both ends of the wire arranging frame are connected with the fixing block through fixing screws, and the wire arranging frame is arranged opposite to the wire outlet hole.

[0014] In an embodiment of the utility model, the shell is provided with a top plate on the top, the opening edge of the shell is provided with a guide groove, the edge of the side plate is provided with a guide strip matched with the guide groove, the top of the side plate is detachably connected with the top plate, and the bottom of the side plate is detachably connected with the shell.

[0015] In an embodiment of the utility model, the shell and the side plate are all provided with a connecting block, the connecting block is provided with a connecting screw hole, the top plate is provided with a connecting hole matched with the connecting screw hole, the connecting hole is provided with a connecting screw, and the connecting screw is screw-connected with the connecting screw hole through the connecting hole.

[0016] In an embodiment of the utility model, the distance between the connecting block and the guide strip on the side plate is greater than or equal to the thickness of the opening edge of the shell.

[0017] In an embodiment of the utility model, the opening edge bottom of the shell is provided with a positioning protrusion, the lower portion of the side plate is provided with a positioning groove matched with the positioning protrusion, and the positioning protrusion is inserted on the positioning groove.

[0018] In an embodiment of the utility model, the opening inner side edge of the shell is provided with a light blocking strip, and the side edge of the transparent plate is projected on the light blocking strip.

[0019] The utility model discloses beneficial effects:

[0020] The camera assembly of the utility model carries out visual inspection to the deformation condition of the colloid assembly, reaches the effect of clamping different objects through colloid deformation, realizes the tactile perception ability of the visual tactile sensor, the lamp strip is configured to provide light of preset color to at least one circumferential surface of the transparent plate, the lamp strip is arranged on the side plate or the transparent plate, the space of the transparent plate is saved from the traditional lighting assembly, the size of the tactile assembly is greatly increased, and the application range of the sensor is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a visual tactile sensor structure schematic diagram of the utility model.

[0022] Figure 2 It is an explosion schematic diagram of the utility model.

[0023] Figure 3 It is a side plate schematic diagram of the utility model.

[0024] Figure 4 It is a colloid assembly schematic diagram of the utility model.

[0025] Mark number explanation in drawing: 1, shell, 11, outgoing line hole, 12, cavity, 13, circuit board, 14, shooting camera, 15, mounting screw, 16, mounting block, 17, single surface mirror, 18, taking and placing opening, 2, top plate, 21, connecting hole, 22, connecting screw, 23, first screw, 24, connecting block, 25, connecting screw hole, 3, side plate, 31, fixed mouth, 32, ring groove, 33, lamp strip, 34, extension plate, 35, extension groove, 4, fixed block, 41, wire arranging frame, 5, guide groove, 51, guide strip, 52, guide gap, 6, light barrier, 61, positioning protrusion, 62, positioning groove, 7, colloid assembly, 71, transparent plate, 72, touch colloid. DETAILED DESCRIPTION

[0026] The utility model is further explained in combination with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0027] Referring to Figures 1-4 The visual tactile sensor structure is characterized by comprising:

[0028] The shell 1 is provided with the fixed mouth 31, the shell wall where the fixed mouth 31 is located is the side plate 3 of the shell 1, and the fixed mouth 31 penetrates the side plate 3 along a first direction.

[0029] A colloid assembly 7 is arranged at the fixing opening 31, the colloid assembly 7 comprises a transparent plate 71, a touch colloid 72 and a lamp strip 33, the transparent plate 71 is arranged on the fixing opening 31, the touch colloid 72 is arranged on the transparent plate 71 and located outside the side plate 3, the lamp strip 33 is configured to provide light of a preset color to at least one circumferential surface of the transparent plate 71, and the lamp strip 33 is arranged on the side plate 3 or the transparent plate 71 and located outside the circumferential surface of the transparent plate 71.

[0030] A camera assembly is arranged in the cavity 12 of the shell 1 and used for visually detecting the deformation of the colloid assembly 7.

[0031] The circumferential surface of the transparent plate 71 is a surface body parallel to the first direction.

[0032] The camera assembly of the utility model visually detects the deformation of the colloid assembly 7, achieves the effect of clamping different objects through colloid deformation, realizes the tactile sensing ability of the visual tactile sensor, the lamp strip 33 is configured to provide light of a preset color to at least one circumferential surface of the transparent plate 71, the lamp strip 33 is arranged on the side plate 3 or the transparent plate 71, the space of the transparent plate is avoided from being occupied by the traditional lighting assembly, the size of the tactile assembly is greatly increased, and the application range of the sensor is improved.

[0033] In an embodiment of the utility model, the cavity 12 is provided with a fixing groove in the lower part, a single mirror 17 is arranged on the fixing groove, the single mirror 17 is arranged opposite to the colloid assembly 7, and a taking and placing opening 18 is arranged at the bottom of the fixing groove, so that the single mirror 17 is conveniently assembled, and the assembly efficiency is improved.

[0034] In an embodiment of the utility model, an installation block 16 is arranged on the inner wall of the cavity 12, an inclined surface is arranged on the installation block 16, the camera assembly is arranged on the inclined surface, so that the camera assembly is arranged opposite to the single mirror 17, the single mirror 17 is used for reflecting the tactile colloid image, the camera assembly visually detects the deformation of the colloid assembly 7, the internal space of the cavity 12 is reduced, and the volume of the visual tactile sensor is reduced.

[0035] In an embodiment of the utility model, the camera assembly comprises a circuit board 13 and a shooting camera 14, the shooting camera 14 is arranged on the circuit board 13, installation holes are arranged on the two sides of the circuit board 13, installation screws 15 are arranged on the installation holes, and the installation screws 15 are connected with the installation block 16 by penetrating the installation holes.

[0036] In an embodiment of the utility model, the shell 1 one side is provided with the outlet hole 11, the cavity 12 upper portion is provided with fixed block 4, be provided with wire arranging frame 41 on fixed block 4, wire arranging frame 41 is U type structure, wire arranging frame 41 both ends are connected with fixed block 4 through fixed screw, wire arranging frame 41 is opposite to the outlet hole 11 setting, can carry out quick arrangement to the wire of camera assembly, reduce the volume of cavity 12 simultaneously, make the volume of visual tactile sensor smaller, structure is more compact.

[0037] The top of the shell is provided with a top plate, the opening edge of the shell is provided with a guide groove, the edge of the side plate is provided with a guide strip matched with the guide groove, the top of the side plate is detachably connected with the top plate, and the bottom of the side plate is detachably connected with the shell.

[0038] The guide strip 51 on the edge of the side plate 3 slides to be disassembled along the guide groove 5, not only can realize the installation guide effect, but also can ensure the assembly accuracy of the side plate 3 and the shell 1, and the guide groove 5 and the guide strip 51 are buckled together, so that the shell 1 and the side plate 3 are in sealed connection, and the sealing effect of the visual tactile sensor is ensured.

[0039] In an embodiment of the utility model, the shell 1 and the side plate 3 are provided with connecting blocks 24, the connecting blocks 24 are provided with connecting screw holes 25, the top plate 2 is provided with connecting holes 21 matched with the connecting screw holes 25, the connecting holes 21 are provided with connecting screws 22, and the connecting screws 22 are screwed and connected through the connecting holes 21 and the connecting screw holes 25.

[0040] Specifically, since the shell 1 and the side plate 3 are provided with the connecting blocks 24, the connecting screws 22 are screwed and connected through the connecting holes 21 and the connecting screw holes 25, when the side plate 3 and the colloid assembly 7 are replaced, the connecting screws between the top plate 2 and the side plate 3 can be directly loosened, the bottom of the side plate 3 is detachably connected with the shell 1 through the first screws 23, the guide strip 51 on the edge of the side plate 3 slides to be disassembled along the guide groove 5, the installation guide effect can be realized, and the assembly accuracy of the side plate 3 and the shell 1 is ensured.

[0041] In an embodiment of the utility model, the distance between the connecting block 24 and the guide strip 51 on the side plate 3 is greater than or equal to the thickness of the opening edge of the shell 1, so that a guide gap 52 is formed between the connecting block 24 and the guide strip 51, the side plate 3 can be conveniently slid along the guide groove 5 and mounted on the shell 1, secondary positioning is not needed, the mounting accuracy of the side plate 3 is ensured, the use effect is improved, the colloid assembly 7 can be quickly replaced, and the maintenance and replacement of the colloid assembly 7 are facilitated.

[0042] In an embodiment of the utility model, the opening edge bottom of shell 1 is provided with positioning protrusion 61, the lower part of side plate 3 is provided with positioning groove 62 matched with positioning protrusion 61, and positioning protrusion 61 is inserted on positioning groove 62.

[0043] Specifically, the guide strip 51 on the edge of the side plate 3 slides along the guide groove 5, so that the positioning protrusion 61 is inserted on the positioning groove 62, thereby completing the installation and positioning of the side plate 3 and the lower part of the shell 1, further ensuring the installation precision of the side plate 3 and the shell 1, and also improving the sealing effect of the bottom of the shell 1 and the side plate 3.

[0044] In an embodiment of the utility model, the lamp strip 33 is arranged opposite to the side of the transparent plate 71 to light the transparent plate 71.

[0045] The lamp strip 33 is in a U-shaped structure, one end of the lamp strip 33 is provided with an extension plate 34, the ring groove 32 is provided with an extension groove 35 matched with the extension plate 34, the extension plate 34 can make the one end of the lamp strip 33 slightly longer to form an asymmetric structure, thereby avoiding the lamp strip 33 from being installed reversely to play a foolproof role, and the extension groove 35 can position the lamp strip 33 to reduce the installation difficulty of the lamp strip 33.

[0046] In an embodiment of the utility model, the opening inner side edge of the shell 1 is provided with a light blocking strip 6, the width of the light blocking strip 6 is greater than the width of the ring groove 32, so that the side edge of the transparent plate 71 is projected on the light blocking strip 6, the transparent plate 71 and the lamp strip 33 can be shaded, and the light of the light source of the lamp strip 33 is prevented from affecting the camera assembly to shoot and affecting the quality of the shot image.

[0047] When in use, since the shell 1 and the side plate 3 are both provided with the connecting block 24, the connecting screw 22 is screwed and connected through the connecting hole 21 and the connecting screw hole 25, when the side plate 3 and the gel assembly 7 are replaced, the connecting screw between the top plate 2 and the side plate 3 can be directly loosened, the bottom of the side plate 3 is detachably connected with the shell 1 through the first screw 23, the guide strip 51 on the edge of the side plate 3 slides along the guide groove 5 to be dismounted, the installation guide effect is also realized, the assembly precision of the side plate 3 and the shell 1 is ensured, the guide groove 5 and the guide strip 51 are buckled together, the shell 1 and the side plate 3 are sealed and connected, and the sealing effect of the vision tactile sensor is ensured.

[0048] The above-mentioned embodiments are only preferred embodiments for fully illustrating the utility model, and the protection scope of the utility model is not limited thereto. Equivalent substitutions or transformations made by the person skilled in the art on the basis of the utility model are within the protection scope of the utility model. The protection scope of the utility model is subject to the claims.

Claims

1. A tactile sensor structure, characterized by, The shell is provided with a fixing opening on a side plate thereof, the fixing opening penetrates the side plate along a first direction; The glue assembly is arranged at the fixing opening, and comprises a transparent plate, a touch glue, and a lamp strip, the transparent plate is arranged on the fixing opening, the touch glue is arranged on the transparent plate and located outside the side plate, the lamp strip is configured to provide light of a preset color to at least one circumferential surface of the transparent plate, and the lamp strip is arranged on the side plate or the transparent plate and located outside the circumferential surface of the transparent plate. The camera assembly is arranged in a cavity of the shell and used for visually detecting deformation of the glue assembly. The circumferential surface of the transparent plate is a surface body parallel to the first direction. A fixed groove is arranged at a lower part of the cavity, a single mirror is arranged on the fixed groove, the single mirror is arranged opposite to the glue assembly, and a taking and placing opening is arranged at a bottom of the fixed groove.

2. The tactile sensor structure of claim 1, wherein An installation block is arranged on an inner wall of the cavity, an inclined surface is arranged on the installation block, and the camera assembly is arranged on the inclined surface, so that the camera assembly is arranged opposite to the single mirror.

3. The tactile sensor structure of claim 2, wherein The camera assembly comprises a circuit board and a shooting camera, the shooting camera is arranged on the circuit board, installation holes are arranged on two sides of the circuit board, installation screws are arranged on the installation holes, and the installation screws are arranged through the installation holes and connected with the installation block.

4. The tactile sensor structure of claim 3, wherein A wire outlet hole is arranged on one side of the shell, a fixed block is arranged at an upper part of the cavity, a wire arranging rack is arranged on the fixed block, the wire arranging rack has a U-shaped structure, two ends of the wire arranging rack are connected with the fixed block through fixed screws, and the wire arranging rack is arranged opposite to the wire outlet hole.

5. The touch sensor structure of claim 1, wherein, A top plate is arranged on a top of the shell, a guide groove is arranged on an opening edge of the shell, a guide strip matched with the guide groove is arranged on an edge of the side plate, a top of the side plate is detachably connected with the top plate, and a bottom of the side plate is detachably connected with the shell.

6. The touch sensor structure of claim 1, wherein, The shell and the side plate are both provided with a connection block, a connection screw hole is arranged on the connection block, a connection hole matched with the connection screw hole is arranged on the top plate, a connection screw is arranged on the connection hole, and the connection screw is screwed and connected through the connection hole and the connection screw hole.

7. The tactile sensor structure of claim 6, wherein The distance between the connection block and the guide strip on the side plate is greater than or equal to the thickness of the opening edge of the shell.

8. The tactile sensor structure of claim 7, wherein A positioning protrusion is arranged on a bottom of the opening edge of the shell, a positioning groove matched with the positioning protrusion is arranged on a lower part of the side plate, and the positioning protrusion is inserted on the positioning groove.

9. The tactile sensor structure of claim 6, wherein, A light blocking strip is arranged on an inner side edge of the opening of the shell, and a side edge of the transparent plate is projected on the light blocking strip.

10. The tactile sensor structure of claim 9, wherein, ​

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