Visual touch sensing structure

Abstract

The utility model relates to the technical field of sensors, and relates to a visual touch sensing structure. According to the utility model, the camera component performs visual detection on the tactile colloid so as to shoot a depth image of deformation generated by the tactile colloid, and the camera component is small in size and simple in structure; the fixing mechanism presses and positions the transparent plate on the opening, the problem that the transparent plate shakes is effectively avoided, the shooting precision of the camera component is guaranteed, the service life is prolonged, meanwhile, shading treatment can be conducted on the non-polished installation side face of the transparent plate, and the phenomenon that the shooting precision of the camera component is affected due to light leakage is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensor technical field relates to a visual touch sensing structure. BACKGROUND

[0002] As an important sensing means of robot, visual touch sensor has wide application prospect in the fields of robot grasping, dexterous operation and rehabilitation prosthesis tactile feedback, in recent years, the development of visual technology provides a new train of thought for tactile perception, the deformation of flexible material and target contact is recorded to perceive target attribute and interaction in the contact process. But the existing visual touch sensor in the using process, the design of specific gripper, preparation process is more complex, the structure strength and durability are insufficient, the gel and the transparent plate repeatedly contact with the object, the transparent plate is prone to shaking and other problems, leading to the deviation of camera shooting image, influence use precision. UTILITY MODEL CONTENT

[0003] The utility model solves the technical problem that provides a visual touch sensing structure that effectively avoids the problem of transparent plate shaking, ensures the shooting accuracy of the camera component, and also avoids the problem of light leakage affecting the shooting accuracy of the camera component.

[0004] To solve the above technical problems, the utility model adopts the technical scheme of:

[0005] A visual touch sensing structure comprises:

[0006] A housing is provided with a mounting chamber, and a camera component is arranged in the mounting chamber;

[0007] A side plate is arranged on the housing, and the side plate covers the mounting chamber, and the side plate is provided with an opening;

[0008] A gel assembly is arranged on the opening of the side plate, and the gel assembly comprises a transparent plate and a tactile gel, the camera component is arranged opposite to the tactile gel, and the camera component is used for visually detecting the deformation of the tactile gel;

[0009] A fixing mechanism is arranged on the inner side surface of the opening, and the fixing mechanism is used for tightly positioning the transparent plate on the opening.

[0010] In an embodiment of the utility model, the fixing mechanism comprises a pressing plate, the pressing plate is provided with a mounting hole, a fixing screw is arranged in the mounting hole, the fixing screw is connected with the fixing hole on the edge of the opening through the mounting hole, and the transparent plate is tightly positioned on the opening through the pressing plate.

[0011] In one embodiment of the utility model, the both sides of installation chamber are provided with the positioning slot matched with the pressing plate, the end of pressing plate is inserted on the positioning slot, and the depth of positioning slot is less than or equal to the thickness of pressing plate.

[0012] In one embodiment of the utility model, the edge of opening is provided with the material taking groove, the material taking groove is communicated with the opening, and the depth of material taking groove is less than the depth of opening.

[0013] In one embodiment of the utility model, the fixing hole is arranged on the installation side of opening, the material taking groove is arranged on the installation side, and the pressing plate cover is arranged on the material taking groove, so that the pressing plate partially or completely shields the material taking groove.

[0014] In one embodiment of the utility model, the fixing groove is arranged on the shell, the single mirror is arranged on the fixing groove, the single mirror is oppositely arranged with the camera component, and the gel assembly is oppositely arranged with the single mirror.

[0015] In one embodiment of the utility model, the camera component includes a connecting frame and a circuit board, the lower part of connecting frame is provided with a mounting plate, the visual camera is arranged on the mounting plate, the circuit board is arranged on the connecting frame, the shell is provided with a wire outlet, and the wire outlet is oppositely arranged with the circuit board.

[0016] In one embodiment of the utility model, the connecting frame is a first bolt and a second bolt, the mounting plate and the circuit board are both provided with connecting hole positions, the first bolt is connected with the supporting frame by penetrating the connecting hole position on the mounting plate, the first bolt is provided with a threaded hole, and the second bolt is screw-connected with the threaded hole by penetrating the connecting hole position on the circuit board.

[0017] In one embodiment of the utility model, the wire outlet is provided with a rubber block, the wire outlet hole is arranged on the rubber block, the edge of wire outlet is provided with a mounting guide groove, the edge of rubber block is provided with a clamping groove matched with the mounting guide groove, and the rubber block is clamped on the mounting guide groove.

[0018] In one embodiment of the utility model, the both side inner walls of opening are provided with limiting protrusions, the limiting protrusions are oppositely arranged with the transparent plate, and the both sides of transparent plate are tightly positioned on the limiting protrusions of opening by the fixing mechanism.

[0019] The utility model discloses beneficial effects are as follows:

[0020] The camera component of the utility model carries out visual inspection to tactile colloid, and the depth image of deformation of tactile colloid is shot, its volume is small, simple structure;The fixed mechanism is positioned in the opening by pressing the transparent plate, effectively avoid the problem that the transparent plate shakes, guarantee the shooting accuracy of camera component, prolong the life, can also carry out shading treatment to the installation side of the transparent plate that is not lighted, avoid the emergence of the light leakage influence shooting accuracy of camera component. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a view touch sensing structure schematic view of the utility model.

[0022] Figure 2 It is a side plate schematic view of the utility model.

[0023] Figure 3 It is a shell schematic view of the utility model.

[0024] Figure 4 It is a camera component schematic view of the utility model.

[0025] Mark number explanation in drawing: 1, shell;11, outgoing line port;12, rubber block;13, outgoing line hole;14, installation guide groove;15, clamping groove;16, installation chamber;17, fixed groove;18, single mirror;19, fixed part;2, side plate;3, gel assembly;31, transparent plate;32, tactile colloid;4, fixed mechanism;41, pressing plate;42, mounting hole site;43, fixed hole;44, material taking groove;45, limiting protrusion;46, positioning groove;5, connecting frame;51, circuit board;52, mounting plate;53, visual camera;54, first bolt;55, second bolt. DETAILED DESCRIPTION

[0026] The utility model is further explained 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.

[0027] Referring to Figures 1-4 The view touch sensing structure shown in the figure, including:

[0028] Shell 1, is provided with installation chamber 16 on it, the camera component is provided in installation chamber 16;

[0029] Side plate 2, is provided on the shell 1, and the side plate 2 is covered on the installation chamber 16, and the opening is provided on the side plate 2;

[0030] A gel assembly 3 is arranged on the opening of the side plate 2, the gel assembly 3 comprises a transparent plate 31 and a tactile gel 32, the camera component is arranged opposite to the tactile gel 32, and the camera component is used for visually detecting the deformation on the tactile gel 32.

[0031] A fixing mechanism 4 is arranged on the inner side of the opening, and the fixing mechanism 4 is used for tightly positioning the transparent plate 31 on the opening.

[0032] The camera component visually detects the tactile gel 32, so that the depth image of the deformation of the tactile gel 32 is shot, the volume is small, and the structure is simple; the fixing mechanism 4 tightly positions the transparent plate 31 on the opening, the problem that the transparent plate 31 shakes is effectively avoided, the shooting accuracy of the camera component is ensured, the service life is prolonged, meanwhile, the un-illuminated mounting side of the transparent plate 31 can be shaded, and the problem that light leakage affects the shooting accuracy of the camera component is avoided.

[0033] In one embodiment of the utility model, fixing mechanism 4 includes pressing plate 41, be provided with mounting hole site 42 on pressing plate 41, be provided with fixed screw on mounting hole site 42, fixed screw passes through mounting hole site 42 and is connected with the fixed hole 43 on the edge of opening, the transparent plate 31 is tightly positioned on the opening through pressing plate 41, effectively avoid the problem that the transparent plate 31 shakes, ensure the shooting accuracy of the camera component, prolong the service life, simultaneously still can the un-illuminated mounting side of the transparent plate 31 is shaded, and the problem that light leakage affects the shooting accuracy of the camera component is avoided.

[0034] In one embodiment of the utility model, the both sides of the installation chamber 16 are provided with the positioning groove 46 matched with the pressing plate 41, the end of the pressing plate 41 is inserted into the positioning groove, and the depth of the positioning groove is less than or equal to the thickness of the pressing plate 41. The both ends of the pressing plate 41 are tightly pressed by the positioning groove, the problem that the both ends of the pressing plate 41 are warped is avoided, the pressing plate 41 is tightly attached to the transparent plate 31, and the pressing effect is improved.

[0035] In one embodiment of the utility model, the edge of the opening is provided with a material taking groove 44, the material taking groove 44 is communicated with the opening, and the depth of the material taking groove 44 is less than the depth of the opening. The material taking groove 44 can facilitate the taking and placing of the transparent plate 31, the transparent plate 31 can be quickly positioned, and the assembly efficiency is improved.

[0036] In one embodiment of the utility model, the fixed hole 43 is arranged on the installation side of the opening, the material taking groove 44 is arranged on the installation side, and the pressing plate 41 is arranged on the material taking groove 44, so that the pressing plate 41 partially or completely shields the material taking groove 44, dust and other impurities can be prevented from entering through the material taking groove 44, and the material taking groove 44 can also be shielded to prevent the problem of light leakage of the transparent plate 31.

[0037] In one embodiment of the utility model, the shell 1 is provided with a fixed groove 17, the fixed groove 17 is provided with a single mirror 18, the single mirror 18 is arranged opposite to the camera component, and the gel assembly 3 is arranged opposite to the single mirror 18.

[0038] Specifically, the single mirror 18 is arranged opposite to the camera component, the gel assembly 3 is arranged opposite to the single mirror 18, the single mirror 18 is used for reflecting the image of the tactile gel 32, the camera component is used for visually detecting the deformation of the tactile gel 32, the internal space of the installation chamber 16 is reduced, and the volume of the visual tactile sensor is reduced.

[0039] In one embodiment of the utility model, the camera component comprises a connecting frame 5 and a circuit board 51, the lower part of the connecting frame 5 is provided with a mounting plate 52, the mounting plate 52 is provided with a visual camera 53, the circuit board 51 is arranged on the connecting frame 5, the shell 1 is provided with a wire outlet 11, the wire outlet 11 is arranged opposite to the circuit board 51, the connecting frame 5 is mounted on the fixed part 19 of the inner wall of the installation chamber 16, and the circuit board 51 directly passes through the wire outlet hole 13 to output the wire, so that a wire arranging frame is not needed in the installation chamber 16, the internal space of the installation chamber 16 is reduced, and the volume of the visual tactile sensor is reduced.

[0040] In one embodiment of the utility model, the connecting frame 5 is a first bolt 54 and a second bolt 55, the mounting plate 52 and the circuit board 51 are provided with connecting hole positions, the first bolt 54 passes through the connecting hole position on the mounting plate 52 and is connected with the shell 1, the first bolt 54 is provided with a threaded hole, and the second bolt 55 passes through the connecting hole position on the circuit board 51 and is rotationally connected with the threaded hole.

[0041] Specifically, the connecting frame 5 is a first bolt 54 and a second bolt 55, the first bolt 54 passes through the connecting hole position on the mounting plate 52 and is connected with the shell 1, the second bolt 55 passes through the connecting hole position on the circuit board 51 and is rotationally connected with the threaded hole, so that the connecting frame 5 is formed in a split connection mode, the visual camera 53 and the circuit board 51 can be installed in sections, the assembly difficulty is reduced, subsequent maintenance and replacement are facilitated, and the use cost is reduced.

[0042] In one embodiment of the utility model, the outlet 11 is provided with a rubber block 12, the rubber block 12 is provided with an outlet hole 13, the edge of outlet 11 is provided with a mounting guide groove 14, the edge of rubber block 12 is provided with a clamping groove 15 matched with mounting guide groove 14, and rubber block 12 is clamped on mounting guide groove 14.

[0043] Specifically, the outlet hole 13 on the rubber block 12 has certain elasticity, so that the rubber block 12 wraps the wire of the circuit board 51, avoids impurities entering the inside of the visual tactile sensor through the outlet 11, improves the use effect of the visual tactile sensor, and also can replace the rubber block 12 with different hole diameters according to the thickness of the wire, so the application range is wide, the rubber block 12 is clamped on the mounting guide groove 14, the rubber block 12 can be quickly replaced, and the mounting precision is ensured.

[0044] In one embodiment of the utility model, the two side inner walls of the opening are provided with limiting protrusions 45, the limiting protrusions 45 are oppositely arranged with the transparent plate 31, and the fixing mechanism 4 tightly positions the two sides of the transparent plate 31 on the limiting protrusions 45 of the opening.

[0045] Specifically, the fixing mechanism 4 tightly positions the two sides of the transparent plate 31 on the limiting protrusions 45 of the opening, the limiting protrusions 45 cooperate with the pressing plate 41 to position the two sides of the transparent plate 31, effectively ensure the fixing effect of the transparent plate 31, make the transparent plate 31 keep a stable vertical state, and improve the detection precision.

[0046] In use, the transparent plate 31 is assembled on the opening, the inner side wall of the opening is embedded with a light-emitting lamp strip, the light-emitting lamp strip has red, blue or green, the tactile gel 32 is pasted on the transparent plate 31, the light-emitting lamp strip performs one-side or three-side lighting on the transparent plate 31, the pressing plate 41 tightly positions the two sides of the transparent plate 31 on the limiting protrusions 45 of the opening, when the transparent plate 31 is one-side lighted, the opening has three mounting side surfaces, the pressing plate 41 is arranged on the three non-lighted mounting side surfaces, when the transparent plate 31 is two-side lighted, the opening has two mounting side surfaces, the pressing plate 41 is arranged on the two non-lighted mounting side surfaces, when the transparent plate 31 is three-side lighted, the opening has one mounting side surface, and the pressing plate 41 is arranged on the non-lighted mounting side surface, the visual camera 53 is mounted on the connecting frame 5, the connecting frame 5 is mounted on the fixed part 19 of the inner wall of the mounting cavity 16, the wire of the circuit board 51 directly passes out through the outlet hole 13, the mounting cavity 16 does not need to be provided with a wire arranging frame, the internal space of the mounting cavity 16 is reduced, the volume of the visual tactile sensor is reduced, the single-surface mirror 18 is oppositely arranged with the camera component, the gel assembly 3 is oppositely arranged with the single-surface mirror 18, the single-surface mirror 18 is used for reflecting the image of the tactile gel 32, and the camera component visually detects the deformation of the tactile gel 32.

[0047] 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 those 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 tactile sensor structure, characterized by, The utility model relates to a camera device, including: A shell is provided with a mounting chamber on it, and a camera component is arranged in the mounting chamber; A side plate is arranged on the shell, and the side plate covers the mounting chamber, and an opening is arranged on the side plate; A gel assembly is arranged on the opening of the side plate, the gel assembly includes a transparent plate and a tactile gel, the camera component is arranged opposite to the tactile gel, and the camera component is used for visually detecting the deformation on the tactile gel; A fixing mechanism is arranged on the inner side of the opening, and the fixing mechanism is used for tightly positioning the transparent plate on the opening.

2. The tactile sensing structure of claim 1, wherein, The fixing mechanism includes a pressing plate, the pressing plate is provided with a mounting hole, a fixing screw is arranged on the mounting hole, the fixing screw is connected with a fixing hole on the edge of the opening through the mounting hole, and the transparent plate is tightly positioned on the opening through the pressing plate.

3. The tactile sensing structure of claim 2, wherein, Both sides of the mounting chamber are provided with positioning grooves matched with the pressing plate, the end of the pressing plate is inserted into the positioning grooves, and the depth of the positioning grooves is less than or equal to the thickness of the pressing plate.

4. The tactile sensor structure of claim 2, wherein, The edge of the opening is provided with a material taking groove, the material taking groove is communicated with the opening, and the depth of the material taking groove is less than the depth of the opening.

5. The tactile sensing structure of claim 4, wherein, The fixing hole is arranged on the mounting side of the opening, the material taking groove is arranged on the mounting side, and the pressing plate covers the material taking groove, so that the pressing plate partially or completely shields the material taking groove.

6. The tactile sensing structure of claim 1, wherein, The shell is provided with a fixed groove, a single mirror is arranged on the fixed groove, the single mirror is arranged opposite to the camera component, and the gel assembly is arranged opposite to the single mirror.

7. The tactile sensing structure of claim 1, wherein, The camera component includes a connecting frame and a circuit board, the lower part of the connecting frame is provided with a mounting plate, a visual camera is arranged on the mounting plate, the circuit board is arranged on the connecting frame, the shell is provided with a wire outlet, and the wire outlet is arranged opposite to the circuit board.

8. The tactile sensor structure of claim 7, wherein, The connecting frame is a first bolt and a second bolt, connecting holes are arranged on the mounting plate and the circuit board, the first bolt is connected with the supporting frame by penetrating the connecting hole on the mounting plate, a threaded hole is arranged on the first bolt, and the second bolt is connected with the threaded hole by penetrating the connecting hole on the circuit board.

9. The tactile sensor structure of claim 7, wherein, A rubber block is arranged on the wire outlet, a wire outlet hole is arranged on the rubber block, an installation guide groove is arranged on the edge of the wire outlet, a clamping groove matched with the installation guide groove is arranged on the edge of the rubber block, and the rubber block is clamped on the installation guide groove.

10. The tactile sensor structure of claim 1, wherein, Limiting protrusions are arranged on the inner walls of both sides of the opening, the limiting protrusions are arranged opposite to the transparent plate, and the fixing mechanism tightly positions both sides of the transparent plate on the limiting protrusions of the opening.

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