Visual tactile sensor

Abstract

The utility model relates to the technical field of sensors, in particular to a visual touch sensor. According to the utility model, the colloid on the transparent plate is in contact with an object, the single-sided mirror is arranged opposite to the colloid on the opening, the camera component performs visual detection on the deformation condition of the colloid reflected by the single-sided mirror, and the effect of clamping different objects is achieved through the deformation of the colloid, so that the tactile perception capability of the visual tactile sensor is realized; the robot is simple in structure, low in cost and high in adaptability, and can be widely applied to the fields of object grabbing, flexible operation, touch perception in rehabilitation prostheses and the like; and meanwhile, the number of parts required by the visual tactile sensor is reduced, the working stability of the visual tactile sensor can be effectively improved, the failure rate is low, and the reliability is relatively high.

Description

TECHNICAL FIELD

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

[0002] When the robot perceives external objects, it needs to rely on the visual tactile sensor. At present, when the visual tactile sensor is designed, the commonly used way is: illuminating through red, green and blue light, and adding mark points on the flexible surface of the visual tactile sensor, and then using a color camera to shoot the tactile image.

[0003] The existing visual tactile sensor structure and production process are relatively complex, the cost is relatively high, which limits its wide application in the field of robots, and the design and preparation process of the specific gripper are relatively complex. The existing sensor cannot well control the gripping force of the object, and the stability of the operation is reduced. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a visual tactile sensor with simple structure, low cost and strong adaptability, which improves the stability during work, has low failure rate and high reliability.

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

[0006] A visual tactile sensor comprises:

[0007] A housing is internally provided with a mounting space, a partition plate is arranged on the mounting space, the mounting space is divided into an operation cavity and a control cavity by the partition plate, an opening is arranged on the housing, and the opening is in communication with the operation cavity;

[0008] A tactile mechanism is arranged on the opening, the tactile mechanism comprises a colloid and a transparent plate, the transparent plate is embedded on the opening, and the colloid is arranged on the transparent plate;

[0009] A visual mechanism is arranged in the operation cavity, the visual mechanism comprises a fixing frame, the fixing frame is arranged at the bottom of the partition plate, a camera component is arranged on the fixing frame, a single mirror is embedded on the inner wall of the operation cavity, the camera component is arranged opposite to the single mirror, and the camera component is used for visually detecting the deformation of the colloid reflected by the single mirror.

[0010] In an embodiment of the utility model, the fixing frame has an inclined surface and a straight surface, the straight surface is connected with the partition plate, a fixing groove is arranged on the inclined surface, the camera component is clamped on the fixing groove, a cover plate is arranged on the fixing groove, and the cover plate tightly presses the camera component on the fixing groove.

[0011] In one embodiment of the present application, the control cavity is provided with a control circuit board, the control circuit board is electrically connected with the camera component, a fixing seat is arranged on the inner side wall of the control cavity, a screw hole is arranged on the fixing seat, a fixing bolt is arranged on the control circuit board, the fixing bolt is screw-connected with the screw hole, and a wire outlet hole is formed in the top of the shell.

[0012] In one embodiment of the present application, a slot is arranged on the partition plate, a heat dissipation groove matched with the slot is formed in the fixing frame, the heat dissipation groove is communicated with the fixing groove, and the heat dissipation groove is used for leaking the camera component on the fixing groove.

[0013] In one embodiment of the present application, an inclined surface is arranged on the operation cavity, a mounting groove is arranged on the inclined surface, and the single mirror is arranged on the mounting groove, wherein the depth of the mounting groove is greater than or equal to the thickness of the single mirror.

[0014] In one embodiment of the present application, a material taking groove is arranged on the inclined surface, the material taking groove is communicated with the mounting groove, and the depth of the material taking groove is greater than or equal to the depth of the mounting groove.

[0015] In one embodiment of the present application, the shell comprises an outer shell, a support plate and an adapter plate, a mounting protrusion is arranged on the outer shell, a mounting groove matched with the mounting protrusion is arranged on the support plate, the mounting protrusion is clamped on the mounting groove, the adapter plate is arranged between the support plate and the outer shell, screw holes are arranged around the adapter plate, and the support plate and the outer shell are fixedly connected with the adapter plate through screws.

[0016] In one embodiment of the present application, the opening is arranged on the support plate, a positioning groove is formed in the inner side wall of the mounting protrusion, the positioning groove is oppositely arranged with the opening, the first side edge of the transparent plate is clamped on the positioning groove, the second side edge of the transparent plate is clamped on the opening, and the adhesive is arranged on the first side of the transparent plate.

[0017] In one embodiment of the present application, the transparent plate is made of acrylic material or glass material.

[0018] In one embodiment of the present application, an installation gap is arranged between the mounting groove and the mounting protrusion, the installation gap is in a U-shaped structure, a U-shaped frame is arranged on the installation gap, a lamp strip is arranged on the U-shaped frame, and the lamp strip is oppositely arranged with the transparent plate.

[0019] The present application has the following beneficial effects:

[0020] The utility model discloses a transparent plate is contacted with the object through the colloid, and the single -sided mirror is opposite to the colloid on the opening and is arranged, and the camera component carries out visual inspection to the colloid deformation of single -sided mirror reflection, reaches the effect of clamping different objects through the colloid deformation, realizes the tactile perception ability of visual tactile sensor, and its structure is simple, low in cost and strong in adaptability, can be widely applied to object grabbing, deft operation and tactile perception in the field such as rehabilitation prosthesis, reduces the part quantity required for visual tactile sensor simultaneously, can effectively improve its stability when working, and the failure rate is low, and the reliability is higher. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0023] Figure 3 It is the section view of the utility model.

[0024] Figure 4 It is the installation protrusion schematic diagram of the utility model.

[0025] Figure 5 It is the visual mechanism schematic diagram of the utility model.

[0026] Mark number explanation in drawing: 1, shell, 11, outer shell, 12, support plate, 121, installation recess, 122, U type frame, 123, lamp strip, 124, installation gap, 13, adapter plate, 14, wire hole, 15, opening, 16, installation space, 2, tactile mechanism, 21, transparent plate, 211, first side, 212, second side, 22, colloid, 3, baffle, 31, slot, 4, visual mechanism, 41, fixed frame, 42, fixed groove, 43, camera component, 44, cover plate, 45, heat dissipation groove, 46, straight surface, 47, inclined surface, 5, single -sided mirror, 51, installation groove, 52, material taking groove, 6, installation protrusion, 61, positioning groove, 7, control circuit board, 71, fixed seat, 72, fixed bolt. DETAILED DESCRIPTION

[0027] The utility model makes further explanation to the utility model in combination 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.

[0028] Referring to Figures 1-5 As shown in the figure, a visual tactile sensor, comprising:

[0029] A shell 1 is internally provided with a mounting space 16, a partition plate 3 is arranged on the mounting space 16, the mounting space 16 is divided into an operation cavity and a control cavity, an opening 15 is arranged on the shell 1, and the opening 15 is communicated with the operation cavity;

[0030] A tactile mechanism 2 is arranged on the opening 15, the tactile mechanism 2 comprises a gel 22 and a transparent plate 21, the transparent plate 21 is embedded on the opening 15, and the gel 22 is arranged on the transparent plate 21;

[0031] A visual mechanism 4 is arranged in the operation cavity, the visual mechanism 4 comprises a fixing frame 41, the fixing frame 41 is arranged at the bottom of the partition plate 3, a camera component 43 is arranged on the fixing frame 41, a single mirror 5 is embedded on the inner wall of the operation cavity, the camera component 43 is oppositely arranged with the single mirror 5, and the camera component 43 is used for visually detecting the deformation condition of the gel 22 reflected by the single mirror 5.

[0032] The gel 22 on the transparent plate 21 is in contact with the object, the single mirror 5 is oppositely arranged with the gel 22 on the opening 15, the camera component 43 visually detects the deformation condition of the gel 22 reflected by the single mirror 5, the effect of clamping different objects is achieved through the deformation of the gel 22, the tactile perception ability of the visual tactile sensor is realized, the structure is simple, the cost is low, the adaptability is strong, the visual tactile sensor can be widely applied to the fields of object grabbing, dexterous operation and tactile perception of rehabilitation prosthesis, meanwhile, the number of parts required by the visual tactile sensor is reduced, the stability during working of the visual tactile sensor is effectively improved, the failure rate is low, and the reliability is high.

[0033] The gel 22 can adopt flexible silica gel material as sensing material, so that the tactile perception effect of low cost, high durability and wide adaptability can be realized on various materials and surface shapes.

[0034] In one embodiment of the utility model, the fixing frame 41 has an inclined surface 47 and a straight surface 46, the straight surface 46 is connected with the partition plate 3, a fixing groove 42 is formed in the inclined surface 47, the camera component 43 is clamped in the fixing groove 42, a cover plate 44 is arranged on the fixing groove 42, and the cover plate 44 tightly presses the camera component 43 on the fixing groove 42.

[0035] Specifically, the camera component 43 is clamped in the fixing groove 42 of the fixing frame 41, the fixing groove 42 is arranged towards the single mirror 5, the cover plate 44 tightly presses and fixes the camera component 43 on the fixing groove 42, the position of the camera component 43 is prevented from shaking during use, the visual shooting precision is improved, the partition plate 3 is provided with fasteners such as bolts, and the straight surface 46 of the fixing frame 41 is fixed in position with the partition plate 3 through the fasteners.

[0036] In one embodiment of the utility model, control cavity inside be equipped with control circuit board 7, control circuit board 7 with camera component 43 electricity is connected, the inside wall of control cavity is provided with fixed seat 71, fixed seat 71 is provided with screw hole, control circuit board 7 is provided with fixed bolt 72, fixed bolt 72 with screw hole screw connection, the top of shell 1 is seted up and is led out the hole 14.

[0037] Specifically, the control circuit board 7 is electrically connected with the camera component 43, and the lead-out signal line on the control circuit board 7 is connected with an external device through the wire outlet hole. The control circuit board 7 is provided with the fixed bolt 72, and the fixed bolt 72 is screw-connected with the screw hole. The control circuit board 7 is vertically fixed, and the lead-out signal line is conveniently led out from the wire outlet hole without bending. The wire outlet hole is located above the camera component 43, and the heat generated by the camera component 43 can be discharged through the wire outlet hole 14.

[0038] In one embodiment of the utility model, the partition plate 3 is provided with a slot 31, the fixing frame 41 is provided with a heat dissipation groove 45 matched with the slot 31, the heat dissipation groove 45 is communicated with the fixing groove 42, and the heat dissipation groove 45 is used for leaking the camera component 43 on the fixing groove 42.

[0039] Specifically, the heat dissipation groove 45 is communicated with the fixing groove 42, the heat dissipation groove 45 is used for leaking the camera component 43 on the fixing groove 42, and the back of the camera component 43 is leaked through the heat dissipation groove 45. The heat generated by the camera component 43 during operation can be dissipated, the quality of visual detection is not affected by the heat generated by the camera component 43 during operation, and the service life is prolonged.

[0040] In one embodiment of the utility model, the operation cavity is provided with an inclined surface 47, the inclined surface 47 is provided with a mounting groove 51, the single mirror 5 is arranged on the mounting groove 51, and the depth of the mounting groove 51 is greater than or equal to the thickness of the single mirror 5.

[0041] Specifically, the operation cavity is provided with the inclined surface 47, the inclined surface 47 is provided with the mounting groove 51, the mounting groove 51 can position the single mirror 5, and the inclined surface 47 can ensure the inclination angle of the single mirror 5. The camera component 43 can perform visual detection on the colloid 22 at the best angle to obtain a clear tactile image, and the spatial resolution can be improved.

[0042] In one embodiment of the utility model, the inclined surface 47 is provided with a material taking groove 52, the material taking groove 52 is communicated with the mounting groove 51, and the depth of the material taking groove 52 is greater than or equal to the depth of the mounting groove 51.

[0043] Specific, tilt 47 on the setting a take-out slot 52, take-out slot 52 with the installation groove 51 is communicated, can be a side of the mirror 5 leak out, facilitate the single mirror 5 in the installation groove 51 is disassembled and assembled operation, reduce the assembly difficulty, the depth of the take-out slot 52 is greater than or equal to the depth of the installation groove 51, so that the side of the mirror 5 is completely leaked out, the mirror 5 leak out part forms a material taking part, facilitate the single mirror 5 and position adjustment.

[0044] In an embodiment of the utility model, the shell 1 includes the shell 11, the supporting plate 12 and the adapter plate 13, the shell 11 is provided with the mounting protrusion 6, the supporting plate 12 is provided with the mounting groove 121 matched with the mounting protrusion 6, the mounting protrusion 6 is clamped on the mounting groove 121, the adapter plate 13 is arranged between the supporting plate 12 and the shell 11, the periphery of the adapter plate 13 is provided with the threaded hole, and the supporting plate 12 and the shell 11 are fixedly connected with the adapter plate 13 through screws.

[0045] Specific, the shell 11 is provided with the mounting protrusion 6, the supporting plate 12 is provided with the mounting groove 121 matched with the mounting protrusion 6, the mounting protrusion 6 is clamped on the mounting groove 121, and the mounting protrusion 6 and the mounting groove 121 are connected in a matched mode, which can not only reduce the assembly difficulty of the two, but also facilitate the disassembly and maintenance of the shell 1, is practical, easy to manufacture and assemble.

[0046] In an embodiment of the utility model, the opening 15 is arranged on the supporting plate 12, the inner side wall of the mounting protrusion 6 is provided with the positioning groove 61, the positioning groove 61 is arranged opposite to the opening 15, the second side 212 edge of the transparent plate 21 is clamped on the positioning groove 61, the first side 211 edge of the transparent plate 21 is clamped on the opening 15, and the colloid 22 is arranged on the first side 211 of the transparent plate 21.

[0047] Specific, the second side 212 edge of the transparent plate 21 is clamped on the positioning groove 61, and one side of the transparent plate 21 is positioned, the first side 211 edge of the transparent plate 21 is clamped on the opening 15, and the other side of the transparent plate 21 is positioned again, the two sides of the transparent plate 21 are clamped and positioned by the mounting protrusion 6 and the shell 1, the installation stability of the transparent plate 21 is effectively guaranteed, the structure support effect of strong, stable and reliable is realized, and the utility model is suitable for the industrial scene application in harsh environment.

[0048] In an embodiment of the utility model, the transparent plate 21 is made of acrylic material or glass material.

[0049] Preferably, the transparent plate 21 is made of acrylic material, and the transparent plate 21 supports and connects the gel 22 and has a certain rigidity, so that the deformation of the gel 22 can be better transmitted, the visual detection precision of the gel 22 is improved, and low cost, durability and wide adaptability are achieved.

[0050] In an embodiment of the utility model, the mounting gap 124 is arranged between the mounting groove 121 and the mounting protrusion 6, the mounting gap 124 is of U-shaped structure, the U-shaped frame 122 is arranged on the mounting gap 124, the lamp strip 123 is arranged on the U-shaped frame 122, and the lamp strip 123 is arranged opposite to the transparent plate 21.

[0051] Specifically, the mounting gap 124 arranged between the mounting groove 121 and the mounting protrusion 6 does not occupy the mounting space 16, and the U-shaped frame 122 can be clamped and positioned by the mounting groove 121 and the mounting protrusion 6 without other positioning structures, so that the processing and assembly difficulty is reduced, the lighting effect of the lamp strip 123 is effectively guaranteed, and the visual and tactile imaging effect is improved.

[0052] In use, the camera component 43 is clamped on the fixing groove 42 of the fixing frame 41, the fixing groove 42 is arranged towards the single mirror 5, the cover plate 44 tightly fixes the camera component 43 on the fixing groove 42, the position of the camera component 43 is prevented from shaking in use, the visual shooting precision is improved, the fastener such as a bolt is arranged on the partition plate 3, the straight surface 46 on the fixing frame 41 is positionally fixed with the partition plate 3 through the fastener, the control circuit board 7 is electrically connected with the camera component 43, the lead-out signal line on the control circuit board 7 is connected with external equipment through the wire outlet, the gel 22 on the transparent plate 21 contacts with the object, the single mirror 5 is arranged opposite to the gel 22 on the opening 15, the camera component 43 visually detects the deformation of the gel 22 reflected by the single mirror 5, the tactile perception ability of the visual and tactile sensor is realized, and the visual and tactile sensor has the technical effects of simple structure, convenient preparation, low cost and wide adaptability.

[0053] The utility model reduces the part quantity required by the visual and tactile sensor, reduces the assembly difficulty of the visual and tactile sensor, and is easy to manufacture and assemble the visual and tactile sensor.

[0054] The above-described 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 technicians in the technical field based on 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 visual-tactile sensor characterized by, The application relates to a touch and vision device. The device comprises a shell, an installation space arranged in the shell, a partition plate arranged on the installation space, an operation cavity and a control cavity separated by the partition plate, an opening arranged on the shell and communicated with the operation cavity, a tactile mechanism arranged on the opening, a transparent plate and a gel arranged on the transparent plate, a visual mechanism arranged in the operation cavity, a fixed frame arranged on the bottom of the partition plate, a camera component arranged on the fixed frame, a single mirror arranged on the inner wall of the operation cavity, and the camera component is arranged opposite to the single mirror and used for visually detecting the deformation of the gel reflected by the single mirror. The fixed frame is provided with a slope and a straight surface, the straight surface is connected with the partition plate, a fixing groove is arranged on the slope, the camera component is clamped on the fixing groove, and a cover plate is arranged on the fixing groove and used for pressing the camera component on the fixing groove. A control circuit board is arranged in the control cavity and electrically connected with the camera component, a fixing seat is arranged on the inner wall of the control cavity, screw holes are arranged on the fixing seat, fixing bolts are arranged on the control circuit board, the fixing bolts are screw-connected with the screw holes, and a wire outlet hole is arranged on the top of the shell.

2. The tactile sensor of claim 1, wherein A slot is arranged on the partition plate, a heat dissipation groove matched with the slot is arranged on the fixed frame, the heat dissipation groove is communicated with the fixing groove, and the heat dissipation groove is used for leaking the camera component on the fixing groove.

3. The touch sensor of claim 1, wherein, An inclined surface is arranged on the operation cavity, an installation groove is arranged on the inclined surface, the single mirror is arranged on the installation groove, and the depth of the installation groove is greater than or equal to the thickness of the single mirror.

4. The touch sensor of claim 2, wherein the first and second electrodes are formed of a conductive material. A material taking groove is arranged on the inclined surface and communicated with the installation groove, and the depth of the material taking groove is greater than or equal to the depth of the installation groove.

5. The touch sensor of claim 1, wherein, The shell comprises an outer shell, a supporting plate and an adapter plate, the outer shell is provided with a mounting protrusion, the supporting plate is provided with a mounting groove matched with the mounting protrusion, the mounting protrusion is clamped on the mounting groove, the adapter plate is arranged between the supporting plate and the outer shell, the adapter plate is provided with screw holes around, and the supporting plate and the outer shell are fixedly connected with the adapter plate through screws.

6. The touch sensor of claim 5, wherein the first and second electrodes are formed of a conductive material. The opening is arranged on the supporting plate, a positioning groove is arranged on the inner wall of the mounting protrusion and arranged opposite to the opening, the second side edge of the transparent plate is clamped on the positioning groove, the first side edge of the transparent plate is clamped on the opening, and the gel is arranged on the first side of the transparent plate.

7. The touch sensor of claim 1, wherein, The transparent plate is made of acrylic material or glass material.

8. The tactile sensor of claim 7, wherein An installation gap is arranged between the mounting groove and the mounting protrusion, the installation gap is in a U-shaped structure, a U-shaped frame is arranged on the installation gap, a lamp strip is arranged on the U-shaped frame, and the lamp strip is arranged opposite to the transparent plate.

9. The tactile sensor of claim 1, wherein, ​ 10. The tactile sensor of claim 7, wherein, ​

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