Visual tactile sensing device

Abstract

The utility model relates to the technical field of sensors, in particular to a visual touch sensing device. The single-sided mirror and the camera component are oppositely arranged, the camera component performs visual detection on the deformation condition of the touch gel reflected by the single-sided mirror, the camera component can shoot a depth image of the deformation generated by the touch gel, the size is small, and the structure is simple; an optical material is arranged on at least one side face of the transparent plate, the optical material is configured to convert received light rays of the light source into light rays with preset colors, three-color or single-color light does not need to be designed around a camera component or the transparent plate, the space occupied by a lamp belt is omitted, the size of the tactile assembly is greatly increased, and the touch effect is improved. Meanwhile, the number of needed parts can be reduced, the assembling difficulty is lowered, and use is convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensor technical field relates to a visual tactile sensor device. BACKGROUND

[0002] The visual tactile sensor is an important sensing means of the robot, and has wide application prospect in the fields such as robot grasping, dexterous operation and rehabilitation prosthesis tactile feedback. At present, when the visual tactile sensor is designed, the usually adopted mode is that: the illumination is carried out through the light of three colors of red, green and blue, and the mark point is added on the flexible surface of the visual tactile sensor, and then the color camera is used to shoot the tactile image.

[0003] But the existing visual tactile sensor generally needs to design the light of three colors of red, green and blue on it, occupies the internal space of the sensor, causes the size of the visual tactile sensor to increase, makes the tactile component smaller, thereby, causes the flexibility of the visual tactile sensor to reduce. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problem to provide a visual tactile sensor device that is small in size, can reduce the number of required parts, reduce assembly difficulty and is convenient to use.

[0005] In order to solve the above technical problem, the technical scheme that the utility model solves its technical problem is:

[0006] A visual tactile sensor device, comprising:

[0007] A housing, an installation chamber is arranged in the housing, and an installation opening is arranged in the shell wall of the housing and communicates with the installation chamber;

[0008] A tactile component is arranged on the installation opening, the tactile component comprises a transparent plate and a tactile gel, the transparent plate is arranged on the installation opening, and the tactile gel is arranged on the transparent plate and located outside the housing;

[0009] A visual component is accommodated in the installation chamber, and the visual component is configured to visually detect the deformation of the tactile gel;

[0010] Wherein, the face body of the transparent plate parallel to the penetration direction of the installation opening is the side face of the transparent plate, the optical material is arranged on at least one side face of the transparent plate, the light source acting on the optical material is arranged on the housing, the optical material is configured to convert the received light of the light source into light with a preset color, and the preset color is the color of the optical material layer.

[0011] In an embodiment of the present application, the visual component comprises a camera component and a circuit board, the circuit board and the camera component are connected through a connecting frame, the connecting frame is connected with a support frame on the shell.

[0012] The camera component comprises a camera and a mounting plate, the camera is arranged on the bottom surface of the mounting plate, and the mounting plate is made of metal material.

[0013] In an embodiment of the present application, the connecting frame comprises a supporting cylinder and a fixing bolt, the mounting plate and the circuit board are provided with connecting hole positions matched with the supporting cylinder, the supporting cylinder is arranged between the mounting plate and the circuit board, and the fixing bolt is connected with the support frame in sequence through the circuit board, the supporting cylinder and the mounting plate.

[0014] In an embodiment of the present application, a plurality of connecting holes are arranged on the support frame and connected with the fixing bolt.

[0015] In an embodiment of the present application, the supporting cylinder is made of metal material, and the inner diameter of the supporting cylinder is greater than the outer diameter of the fixing bolt.

[0016] In an embodiment of the present application, the transparent plate is provided with one light-emitting side and three light-reflecting sides, the light-emitting side and the three light-reflecting sides are arranged around the transparent plate, and the reflection colors of the optical material are red, yellow, blue or green.

[0017] In an embodiment of the present application, the support frame is provided with a mounting inclined surface, the mounting plate is arranged on the mounting inclined surface, the mounting cavity is provided with a fixing inclined surface, the single mirror is arranged on the fixing inclined surface, and the camera on the mounting inclined surface is inclined to the direction of the single mirror.

[0018] In an embodiment of the present application, the depth of the mounting port is greater than or equal to the thickness of the transparent plate, the transparent plate is clamped on the mounting port, and the bottom part of the tactile gel is embedded or not embedded on the mounting port.

[0019] In an embodiment of the present application, the optical material can be in the form of powder, single crystal or thin film coated on the side surface of the transparent plate, the coating area of the optical material is less than the side surface area of the transparent plate, and a spacing area is arranged at the connection position of adjacent two side surfaces.

[0020] In an embodiment of the present application, the optical material is a fluorescent powder layer, the fluorescent powder is pasted on the side surface of the transparent plate, a wear-resistant layer is arranged on the fluorescent powder layer, and the wear-resistant layer abuts against the mounting port.

[0021] The utility model discloses beneficial effect:

[0022] The utility model discloses single -sided mirror and camera component relative arrangement, and camera component can take the depth image of the deformation of the tactile gel to the visual detection of the tactile gel deformation condition of single -sided mirror reflection, and its volume is small, and simple structure, and the at least one side of transparent board is equipped with optical material, and optical material is configured as the light of received light source is changed into the light with preset color, and does not need the camera component or the light of three -color or monochrome color of the design around transparent board, and the lamp strip occupies the space, and greatly increases tactile component size, can reduce the quantity of required parts simultaneously, and the assembly difficulty is reduced, and convenient to use. DRAWINGS

[0023] Fig. 1 It is a kind of visual tactile sensor device schematic diagram of the utility model.

[0024] Fig. 2 It is the schematic diagram of the connecting frame of the utility model.

[0025] Marked number in drawing:1, shell;11, installation chamber;2, support frame;21, installation slope;22, connecting hole;3, fixed slope;31, single -sided mirror;4, circuit board;5, connecting frame;51, fixed bolt;52, support cylinder;6, camera component;61, mounting plate;62, camera;7, installation port;71, transparent plate;72, tactile gel;73, the side of transparent plate;74, optical material;75, light source. CONCRETE IMPLEMENTATIONS

[0026] The utility model is further described below in conjunction with the drawings and specific embodiment, 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 Figs. 1-2 As shown in the figure, a kind of visual tactile sensor device, comprising:

[0028] Shell 1, inside installation chamber 11 is provided, the shell wall of the shell 1 is equipped with installation port 7 with the installation cavity communication;

[0029] Tactile component, is set up on the installation port 7, and the tactile component includes transparent plate 71 and tactile gel 72, the transparent plate 71 is set on the installation port 7, and the tactile gel 72 is set on the transparent plate 71 and located the outside of the shell 1;

[0030] Visual component, is housed in the installation cavity, and the visual component is configured to visually detect the deformation condition of the tactile gel 72;

[0031] The transparent plate 71 is provided with an optical material 74 on at least one side surface thereof, the optical material 74 is configured to convert the received light of the light source into light with a preset color, and the preset color is the color of the optical material 74 layer itself.

[0032] The single mirror 31 is arranged opposite to the camera component 6, the camera component 6 visually detects the deformation condition of the haptic gel 72 reflected by the single mirror 31, and the camera component 6 can capture the depth image of the deformation of the haptic gel 72, the volume is small, and the structure is simple.

[0033] In an embodiment of the utility model, the visual assembly includes a camera 62 component 6 and a circuit board 4, the circuit board 4 and the camera 62 component 6 are connected through a connecting frame 5, and the connecting frame 5 is connected with the support frame 2 on the shell 1.

[0034] The camera 62 component 6 includes a camera 62 and a mounting plate 61, the camera 62 is arranged on the bottom surface of the mounting plate 61, the mounting plate 61 is made of metal material, and the heat generated by the operation of the camera 62 can be quickly dissipated through the connection between the mounting plate and the camera 62, so that the camera 62 can operate in the best working condition and ensure the shooting effect of the camera 62.

[0035] In an embodiment of the utility model, the connecting frame 5 includes a support cylinder 52 and a fixing bolt 51, the mounting plate and the circuit board 4 are both provided with a connecting hole 22 matched with the support cylinder 52, the support cylinder 52 is arranged between the mounting plate and the circuit board 4, the fixing bolt 51 is sequentially connected with the support frame 2 through the circuit board 4, the support cylinder 52 and the mounting plate, the camera component 6 and the circuit board 4 can be quickly assembled, the connecting frame 5 has a stable and reliable structural support effect, and is suitable for industrial scene applications in harsh environments.

[0036] In one embodiment of the utility model, a plurality of connecting holes 22 are arranged on the support frame 2, the connecting holes 22 are connected with the fixed bolt 51, the mounting plate and the circuit board 4 are connected through the connecting frame 5, the connecting frame 5 is installed on the appropriate connecting hole 22 through the fixed bolt 51 or the first bolt 53 according to the model of camera 62, different types of cameras 62 can be replaced to reduce the assembly difficulty, and the camera 62 is easy to manufacture and assemble.

[0037] In one embodiment of the utility model, the support cylinder 52 is made of metal material, the inner diameter of the support cylinder 52 is greater than the outer diameter of the fixed bolt 51, the support cylinder 52 is connected with the mounting plate, so that the heat of the mounting plate can be dissipated, the inner diameter of the support cylinder 52 is greater than the outer diameter of the fixed bolt 51, the heat dissipation area is increased, and the assembly difficulty of the connecting frame 5 is reduced, and the assembly efficiency is high.

[0038] In one embodiment of the utility model, the transparent plate is provided with one light-emitting side and three light-reflecting sides, the light-emitting side is the side of the transparent plate where the light source is located, the other sides without light source are provided with optical material, the light-emitting side and the three light-reflecting sides are arranged around the transparent plate, the reflection color of the optical material is red, yellow, blue or green, the camera component 6 or the transparent plate 71 does not need to be designed with three-color or single-color light, the space occupied by the lamp strip is avoided, the size of the touch component is greatly increased, the three colors can improve the shooting precision of the camera component, and the visual touch detection precision is improved.

[0039] In one embodiment of the utility model, the support frame 2 is provided with an installation inclined plane 21, the mounting plate is arranged on the installation inclined plane 21, the installation cavity 11 is provided with a fixed inclined plane 3, the single mirror 31 is arranged on the fixed inclined plane 3, the camera 62 on the installation inclined plane 21 is inclined to the direction of the single mirror 31, the relative position precision of the single mirror 31, the camera 62 and the touch component is guaranteed, and the shooting effect of the camera 62 is improved.

[0040] In one embodiment of the utility model, the depth of the installation port 7 is greater than or equal to the thickness of the transparent plate 71, the transparent plate 71 is clamped on the installation port 7, and the bottom part of the touch gel 72 is embedded or not embedded on the installation port 7.

[0041] Specifically, the transparent plate 71 is arranged on the installation port 7, and the touch gel 72 is arranged on the transparent plate 71, not only guaranteeing the stability of the touch component installation, but also embedding or not embedding the bottom part of the touch gel 72 on the installation port 7, and shielding the edge of the transparent plate 71, avoiding the light leakage, and improving the visual touch detection precision.

[0042] In an embodiment of the utility model, the optical material 74 can be in the form of powder, single crystal or film coated on the side of the transparent plate 71, the coating area of the optical material 74 is less than the side area of the transparent plate 71, and a spacing area is arranged at the joint of two adjacent sides.

[0043] Specifically, the optical material 74 is coated on the side 73 of the transparent plate 71, without the need to add a three-color or single-color light strip, the space occupied by the light strip is reduced, the size of the visual-tactile sensor is reduced, and the flexibility of the visual-tactile sensor is increased.

[0044] The lower part of the mounting chamber is provided with a single mirror, the single mirror is arranged opposite to the camera component, the camera component is used for visually detecting the deformation of the tactile gel reflected by the single mirror, and the single mirror can effectively reduce the volume of the sensor and has high practicability.

[0045] In an embodiment of the utility model, the optical material 74 is a fluorescent powder layer, the fluorescent powder is pasted on the side of the transparent plate 71, a wear-resistant layer is arranged on the fluorescent powder layer, and the wear-resistant layer abuts against the mounting port 7.

[0046] Specifically, the wear-resistant layer is arranged on the fluorescent powder layer and abuts against the mounting port 7, the fluorescent powder layer is protected by the wear-resistant layer, the fluorescent powder layer is protected from being damaged, and the service life of the fluorescent powder layer is effectively improved.

[0047] In use, the single mirror 31 is assembled to the lower part of the mounting chamber 11, the camera 62 is fixed on the mounting plate, the mounting plate and the circuit board 4 are connected through the connecting frame 5, the connecting frame 5 is installed on the appropriate connecting hole 22 through the fixing bolt 51 according to the model of the camera 62, the mounting chamber 11 is provided with the fixing inclined surface 3, the single mirror 31 is arranged on the fixing inclined surface 3, the camera 62 on the mounting inclined surface 21 is inclined to the direction of the single mirror 31, the relative position accuracy of the single mirror 31, the camera 62 and the tactile assembly is ensured, the transparent plate 71 is arranged on the mounting port 7, the tactile gel 72 is arranged on the transparent plate 71, and the bottom part of the tactile gel 72 is embedded or not embedded on the mounting port 7, the stability of the tactile assembly installation is ensured, the optical material 74 is arranged on the three sides of the two sides and the bottom of the transparent plate 71, the optical material 74 can be red, green and blue three-color light or single-color light, the transparent plate 71 is lighted through the optical material 74, an article contacts the tactile gel 72, and the camera 62 visually detects the deformation of the tactile gel 72 reflected by the single mirror 31.

[0048] The above-described embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or transformations made by the skilled in the art based on the present application are within the protection scope of the present application. The protection scope of the present application is subject to the claims.

Claims

1. A visual-tactile sensing device, characterized by, The application relates to a haptic and visual assembly. The haptic and visual assembly comprises a shell, a haptic component and a visual component. The shell is internally provided with a mounting chamber, and a mounting port penetrating through a shell wall of the shell and communicating with the mounting chamber is arranged on the shell wall. The haptic component is arranged on the mounting port, and the haptic component comprises a transparent plate and a haptic gel. The visual component is accommodated in the mounting chamber and is configured to visually detect the deformation of the haptic gel.

2. The tactile sensor apparatus according to claim 1, wherein The side surface of the transparent plate is parallel to the penetrating direction of the mounting port. The optical material is arranged on at least one side surface of the transparent plate.

3. The tactile sensor apparatus according to claim 2, wherein The shell is provided with a light source acting on the optical material.

4. The tactile sensor apparatus according to claim 3, wherein The optical material is configured to convert the received light of the light source into light with a preset color.

5. The tactile sensor apparatus according to claim 3, wherein The preset color is the color of the optical material layer.

6. The tactile sensor apparatus according to claim 2, wherein The visual component comprises a camera component and a circuit board.

7. The tactile sensor apparatus according to claim 2, wherein The camera component comprises a camera and a mounting plate.

8. The tactile sensor apparatus according to claim 1, wherein The camera is arranged on the bottom surface of the mounting plate.

9. The tactile sensor apparatus according to claim 1, wherein The mounting plate is made of metal material.

10. The tactile sensor apparatus according to claim 9, wherein The connecting frame is connected with a support frame on the shell. The support frame is provided with a plurality of connecting holes connected with the fixing bolts. The support frame is provided with a mounting slope. The mounting plate is arranged on the mounting slope. The mounting chamber is provided with a fixing slope. A single mirror is arranged on the fixing slope. The camera on the mounting plate is obliquely directed to the single mirror. The depth of the mounting port is greater than or equal to the thickness of the transparent plate. The haptic gel is embedded or not embedded in the mounting port. The optical material can be in the form of powder, single crystal or thin film coated on the side surface of the transparent plate. The coating area of the optical material is less than the side surface area of the transparent plate. The connecting part of adjacent two side surfaces is provided with a spacing area. The optical material is a fluorescent powder layer. The fluorescent powder layer is pasted on the side surface of the transparent plate. The fluorescent powder layer is provided with a wear-resistant layer. The wear-resistant layer abuts against the mounting port.

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