Finger-type sensor

Abstract

The utility model discloses a finger-type sensor. The finger-type sensor comprises a housing; the contact module is arranged on the shell, and the contact module is a part of the shell wall of the shell and is used for being in contact with an object; the imaging module is arranged on the shell and is used for acquiring an image when the contact module is in contact with an object; the outer wall of the contact module is in a finger pulp shape.

Description

TECHNICAL FIELD

[0001] The utility model belongs to sensor technical field, concretely relates to a finger type sensor. BACKGROUND

[0002] The visual tactile sensor provides rich perception ability for the robot, and provides vital perception information in the perception, operation, grabbing and other tasks. The existing visual tactile sensor cannot flexibly sense the object due to the limitation of the shape structure, which greatly limits the use of the visual tactile sensor. Therefore, it is necessary to improve the prior art to overcome the defects in the prior art. SUMMARY

[0003] Therefore, the technical problem to be solved by the utility model is to provide a finger type sensor with good touch effect.

[0004] To solve the above technical problems, the utility model provides a finger type sensor, which comprises a shell, a contact module arranged on the shell, the contact module being a part of the shell wall, and an imaging module arranged on the shell and used for collecting images when the contact module contacts with an object, wherein the outer wall of the contact module is in the shape of a finger pulp.

[0005] Preferably, the contact module comprises a hard transparent piece arranged on the shell and an elastic contact body arranged on the periphery of the hard transparent piece, wherein the hard transparent piece and the elastic contact body are in the shape of a finger pulp.

[0006] Preferably, the contact module further comprises a light source for providing light to the hard transparent piece, the hard transparent piece has a first abutting surface in contact with the shell, and the light source is distributed along the first abutting surface, wherein the light source is configured to improve the image collection effect of the imaging module.

[0007] Preferably, the first abutting surface is in the shape of an arch, and the first abutting surface comprises an arc-shaped part and a pair of straight flat parts connected to both ends of the arc-shaped part.

[0008] Preferably, the light source comprises a first light source acting on the arc-shaped part, a second light source acting on one of the pair of straight flat parts, and a third light source acting on the other of the pair of straight flat parts, and the elastic contact body has a third abutting surface in contact with the shell, and the third abutting surface is a similar figure to the first abutting surface.

[0009] Preferably, the shell has a second abutting surface opposite to the first abutting surface.

[0010] One of the first abutting surface and the second abutting surface is provided with a convex rib, and the other one is provided with a groove.

[0011] Preferably, the light source is located in the groove and inside the convex rib.

[0012] Preferably, the light source is a lamp strip, or the light source comprises a light source body and a fluorescent layer arranged on the hard transparent piece, wherein the light source is configured to provide red, green and blue illumination light.

[0013] Preferably, the shell is provided with a mounting hole for the imaging module to pass through, and a circuit board of the imaging module is arranged outside the shell through the mounting hole, wherein the mounting hole is a stepped hole.

[0014] Preferably, the elastic contact body is in a shell shape, comprising a first contact body in a quarter spherical shape and a second contact body in an arc-shaped bent plate shape connected with the first contact body, and the first contact body and the second contact body form a first receiving cavity for receiving the hard transparent piece.

[0015] The hard transparent piece is in a shell shape, comprising a first light-transmitting part in a quarter spherical shape and a second light-transmitting part in an arc-shaped bent plate shape connected with the first light-transmitting part, and the first contact body and the second contact body form a second receiving cavity, and the second receiving cavity and the shell form a mounting cavity for receiving the imaging module.

[0016] Preferably, the shell and the contact module are connected only through a connecting structure located below the shell.

[0017] The technical scheme provided by the utility model has the following advantages:

[0018] In the embodiment, the contact module is part of the shell wall of the shell, and the outer wall of the contact module is in the shape of a finger pad. Thus, the entire contact module is similar to a human finger and can more dexterously feel objects and has good feeling effect. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Figure 1The utility model provides a finger type sensor's first direction's three-dimensional structure schematic view is provided.

[0021] Figure 2 The utility model provides a finger type sensor's second direction's three-dimensional structure schematic view is provided.

[0022] Figure 3 It is the exploded schematic view of the part structure of the finger type sensor.

[0023] Figure 4 It is the exploded structure schematic view of the finger type sensor in the first direction.

[0024] Figure 5 It is the exploded structure schematic view of the finger type sensor in the second direction.

[0025] Figure 6 It is the three-dimensional structure schematic view of the hard transparent piece.

[0026] Figure 7 It is the three-dimensional structure schematic view of the elastic contact body.

[0027] Figure 8 It is the cross section structure schematic view of the finger type sensor. DETAILED DESCRIPTION

[0028] The technical scheme of the utility model will be described clearly and completely below in combination with the drawings, obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiment. The utility model will be described in detail below with reference to the drawings and in combination with the embodiment. It should be noted that the embodiment in the utility model and the features in the embodiment can be combined with each other without conflict.

[0029] It should be noted that the terms "first", "second" and the like in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0030] In the utility model, the orientation words such as "up, down, top, bottom" used without making the opposite statement are usually for the direction shown in the drawing, or for the component itself in the vertical, perpendicular or gravity direction. Similarly, for the convenience of understanding and description, "inner, outer" refers to the inner and outer of the contour of each component itself, but the above-mentioned orientation words are not used to limit the utility model.

[0031] The utility model provides a finger type sensor, the finger type sensor is the visual tactile sensor, under an application scene, the finger type sensor is used for the mechanical hand, provides the sensing ability for the machine hand, and then provides the sensing information in the task such as grabbing.

[0032] As shown in Figures 1 to 5 The finger-shaped sensor comprises a shell 100, a contact module 200 and an imaging module 300, and the contact module 200 and the imaging module 300 are arranged on the shell 100. The shell 100 serves as a mounting carrier for carrying the contact module 200 and the imaging module 300.

[0033] The contact module 200 is used for contacting an object, and the object is an object for tactile perception. The contact module 200 can be deformed after contacting the object. The imaging module 300 is used for collecting an image of the contact between the contact module 200 and the object, and more specifically, collecting an image of the deformation of the contact module 200.

[0034] In the embodiment, the contact module 200 is a part of the shell wall of the shell 100, and the outer wall of the contact module 200 is in the shape of a finger pulp. In this way, the entire contact module 200 is similar to a human finger, and can more dexterously touch an object and has a good touch effect.

[0035] The contact module 200 at least comprises a hard transparent piece 210 arranged on the shell 100 and an elastic contact body 220 arranged on the outer periphery of the hard transparent piece 210, wherein the hard transparent piece 210 and the elastic contact body 220 are both in the shape of a finger pulp.

[0036] The hard transparent piece 210 can be made of a transparent acrylic plate, a transparent glass material or other transparent materials. The hard transparent piece 210 is used for providing support for the elastic contact body 220, and preferably, the hard transparent piece 210 is made of a transparent acrylic plate. The elastic contact body 220 is fixedly arranged on the outer periphery of the hard transparent piece 210 and can be fixedly connected together by means of adhesion.

[0037] More specifically, the elastic contact body 220 is a part of the shell wall of the shell 100, so as to facilitate contact with an object. The elastic contact body 220 completely covers the outer periphery of the hard transparent piece 210, and the hard transparent piece 210 is located on the inner side of the elastic contact body 220 and supports the elastic contact body 220 from the inner side, that is, the hard transparent piece 210 cannot be seen from the outside of the finger-shaped sensor.

[0038] The elastic contact body 220 is in the shape of a shell, as shown in Figure 7 The elastic contact body 220 comprises a first contact body 221 in the shape of a quarter sphere, a second contact body 222 in the shape of an arc-shaped bent plate connected with the first contact body 221, and the first contact body 221 and the second contact body 222 form a receiving cavity 223 for receiving the hard transparent piece 210.

[0039] It should be noted that in the present specification, "substantially" can be understood as close to, approximate, or within a predetermined range from a target value. That is, the above "substantially quarter-spherical shape" refers to a quarter-spherical shape or a shape close to a quarter-spherical shape.

[0040] The first contact body 221 is fixedly connected with the second contact body 222 to form an integral whole, preferably, the first contact body 221 and the second contact body 222 are integrally formed. The end surface of the first contact body 221 in contact with the shell 100, the end surface of the second contact body 222 in contact with the shell 100 are flushly distributed, that is, the end surfaces of the first contact body 221 and the second contact body 222 close to the shell 100 side are flush. The "end surfaces of the first contact body 221 and the second contact body 222 close to the shell 100 side" are the third abutting surface 224 of the elastic contact body 220, and the third abutting surface 224 is in the shape of an arch.

[0041] As shown in Figure 6 The hard transparent piece 210 is also in the shape of a shell, including a first light-transmitting part 213 in the shape of a substantially quarter-sphere, a second light-transmitting part 214 in the shape of an arc-shaped bent plate connected with the first light-transmitting part 213, and the first contact body 221 and the second contact body 222 surrounding to form a second accommodating cavity 215.

[0042] The end surface of the first light-transmitting part 213 in contact with the shell 100, the end surface of the second light-transmitting part 214 in contact with the shell 100 are flushly distributed, that is, the end surfaces of the first light-transmitting part 213 and the second light-transmitting part 214 close to the shell 100 side are flush. The "end surfaces of the first light-transmitting part 213 and the second light-transmitting part 214 close to the shell 100 side" are the first abutting surface 211 of the hard transparent piece 210, and the first abutting surface 211 is also in the shape of an arch.

[0043] In the present embodiment, the first abutting surface 211 and the third abutting surface 224 are similar figures, and the first abutting surface 211 and the third abutting surface 224 are the same in shape but different in size. It can be understood that the shape of the first abutting surface 211 and the third abutting surface 224 includes but is not limited to "the shape of an arch", and can also be "the shape of a door frame". Hereinafter, the structure of "the shape of an arch" will be described taking the first abutting surface 211 as an example.

[0044] As shown in Figure 6 The first abutting surface 211 is an axisymmetric structure, specifically, the first abutting surface 211 includes an arc-shaped part 2111 and a pair of straight flat parts 2112 connected to both ends of the arc-shaped part 2111. Among them, the pair of straight flat parts 2112 are arranged tangent to the arc-shaped part 2111.

[0045] Preferably, the shell 100 has a shape of a fingertip of a human finger, so that after being matched with the contact module 200, the fingertip sensor has a structure similar to a human finger, and can more flexibly grasp and perceive objects, greatly expanding the application range of the fingertip sensor.

[0046] As shown in Figure 4 The shell 100 is provided with an opening 130 for connecting the shell cavity of the shell 100 and the second receiving cavity 215 of the hard transparent piece 210. The second receiving cavity 215 and the shell 100 form a mounting cavity for receiving the imaging module 300, and the imaging module 300 is at least partially located in the shell cavity of the shell 100. Part of the imaging module 300 can extend into the second receiving cavity 215, so as to reduce the size of the shell 100 and facilitate miniaturization of the overall structure.

[0047] As shown in Figure 4 , Figure 6 and Figure 8 The shell 100 has a second abutting surface 120 opposite to the first abutting surface 211 and the third abutting surface 224. One of the first abutting surface 211 and the second abutting surface 120 is provided with a convex rib 212, and the other is recessed with a groove 121, and the convex rib 212 is in the shape of an arch and is received in the groove 121. Hereinafter, the first abutting surface 211 is provided with the convex rib 212, and the second abutting surface 120 is provided with the groove 121 will be described as an example, but based on the above description, the protection scope of the present application is not limited thereto.

[0048] The structure of the convex rib 212 and the groove 121 matched with each other can facilitate alignment during installation and improve installation accuracy. On the other hand, the convex rib 212 and the groove 121 can realize sealing between the shell 100 and the hard transparent piece 210, prevent water vapor and dust in the external environment from entering the inside of the fingertip sensor, and avoid affecting the image acquisition effect of the imaging module 300.

[0049] In an embodiment, due to the existence of the second receiving cavity 215, the shell 100 can not be provided with a shell cavity, and the imaging module 300 is received by the second receiving cavity 215. At this time, the shell 100 can be in the shape of a plate, greatly simplifying the structure of the shell 100.

[0050] As shown in Figure 8As shown, the contact module 200 further comprises a light source 230 for providing light to the hard transparent piece 210, the light source 230 being used to improve the image acquisition effect of the imaging module 300. The light source 230 can be arranged on the hard transparent piece 210 or the shell 100. Wherein, the above-mentioned "arranged on the hard transparent piece 210 or the shell 100" can be directly arranged on the hard transparent piece 210 or the shell 100, or arranged on the hard transparent piece 210 or the shell 100 through a connecting piece (not shown in the figure).

[0051] Specifically, the light source 230 is distributed along the first abutting surface 211, and the light source 230 comprises a first light source (not shown in the figure) acting on the arc-shaped portion 2111, a second light source (not shown in the figure) acting on one of the pair of straight flat portions 2112, and a third light source (not shown in the figure) acting on the other of the pair of straight flat portions 2112. The first light source, the second light source and the third light source are continuously distributed on the first abutting surface 211, and the above-mentioned "continuous distribution" means that there is no spacing between the end of the first light source and the second light source, and there is no spacing between the end of the first light source and the third light source. Thus, the overall light emission of the light source is more uniform, avoiding the occurrence of local bright or dark conditions.

[0052] In order to improve the image acquisition effect of the imaging module 300, the light source 230 is designed to emit red, green and blue light to illuminate the contact module 200, and the above-mentioned first light source, second light source and third light source correspond to emit red, green and blue light. Of course, the color of the light source 230 includes but is not limited to the above-mentioned three colors, and can also be yellow, purple, orange and the like.

[0053] In an embodiment, the light source can be a light strip, further, an LED light strip, and the light strip is used to provide light to the hard transparent piece 210. At this time, different colored lamp beads are arranged on the first light source, the second light source and the third light source, and the lamp beads on the first light source can be set to red, the lamp beads on the second light source can be set to green, and the lamp beads on the third light source can be set to blue. Of course, the lamp beads on the first light source can also be green or blue, the lamp beads on the second light source can also be red or blue, and the lamp beads on the third light source can also be red or green.

[0054] In another embodiment, the light source 230 comprises a light source body and a fluorescent layer arranged on the hard transparent piece 210, and the light source 230 is used to provide light to the fluorescent layer. At this time, the light source 230 is a white light source, and the fluorescent layer can have different colors, for example, the fluorescent layer on the arc-shaped portion 2111 is a red fluorescent layer, and the fluorescent layer on the pair of straight flat portions 2112 is a green fluorescent layer and a blue fluorescent layer. When the light source 230 irradiates the corresponding fluorescent layer, the fluorescent layer changes the light into light with its own color and then irradiates the contact module 200.

[0055] Further, as shown in Figure 8 The light source 230 is located in the groove 121 and on the inner side of the convex rib 212. The groove 121 and the convex rib 212 define the installation position of the light source 230, that is, the installation position of the light source 230 is determined, having the advantage of convenient installation.

[0056] The elastic contact body 220 includes a light-transmitting elastic body layer close to the hard transparent piece 210, a mark layer laid on the light-transmitting elastic body layer, and a reflecting layer provided on the mark layer, wherein the light-transmitting elastic body layer, the mark layer, and the reflecting layer all have a finger pad shape. The mark layer includes a plurality of MARK points, and the plurality of MARK points are black dot arrays. The reflecting layer is white. The contrast between black and white can increase the image contrast, and is more conducive to the imaging module 300 to shoot a clear image.

[0057] The shell 100 and the contact module 200 are connected through a connecting structure, and the connecting structure is located below the shell 100. Further, the connecting structure is located below the light source 230 and does not affect the transmission of light of the light source 230, which can make the light source 230 emit light more uniformly to some extent and have a good lighting effect.

[0058] Regarding the connecting structure, as shown in Figure 4 The connecting structure includes a mounting protrusion 110 fixedly provided on the shell 100, and the mounting protrusion 110 is located below the opening 130 and is distributed along the extension direction of the arc-shaped portion 2111. In this embodiment, the "upper and lower directions" are consistent with the "upper and lower directions" in the drawings.

[0059] First mounting holes 111 are formed at both ends of the mounting protrusion 110, and second mounting holes 240 opposite to the first mounting holes 111 are provided on the two side walls of the bottom of the hard transparent piece 210. Fasteners (not shown in the figure) are arranged in the second mounting holes 240, and the hard transparent piece 210 is mounted on the shell 100 through the fasteners. When the elastic contact body 220 is arranged on the hard transparent piece 210, the second mounting holes 240 are covered by the bottom of the elastic contact body 220, and from the outside, no trace of the mounting holes can be seen, having the advantage of being beautiful and generous. In this embodiment, the shell 100 and the contact module 200 are connected only through the connecting structure located below the shell 100, having the advantages of simple structure and convenient installation.

[0060] The bottom of the shell 100 is further provided with a support plate 140 extending towards the contact module 200, and the support plate 140 and the shell 100 form an "L" type structure together. The support plate 140 is located below the mounting protrusion 110, wherein the bottom end surface of the mounting protrusion 110 is located on the support plate 140, and the side wall of the mounting protrusion 110 is located on the side wall of the shell 100 where the above-mentioned opening 130 is formed.

[0061] In the installation of the hard transparent piece 210, the hard transparent piece 210 can be first placed on the support plate 140, and then the second mounting hole 240 is aligned with the first mounting hole 111, and then the fastener is screwed on the mounting protrusion 110. That is, the support plate 140 can play an auxiliary supporting role in the installation process of the hard transparent piece 210, so as to facilitate the installation of the hard transparent piece 210.

[0062] The bottom end surface of the shell 100 is further provided with at least one connecting column 400, and the shell 100 can be connected with an external device (not shown in the figure) through the connecting column 400, and the connecting column 400 is provided with a through hole 410. Figure 5 As shown, the shell 100 is further provided with a mounting port 150 for the imaging module 300 to pass through, and the circuit board on the imaging module 300 is arranged outside the shell 100 through the mounting port 150, wherein the mounting port 150 is a stepped hole to limit the imaging module 300.

[0063] Obviously, the above-described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, those skilled in the art can make other different forms of changes or variations without creative labor, which should belong to the protection scope of the present application.

Claims

1. A finger sensor, characterized by, The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module.

2. The finger sensor of claim 1, wherein The application relates to a contact module and an imaging module.

3. The finger sensor of claim 2, wherein, The application relates to a contact module and an imaging module.

4. The finger sensor of claim 3, wherein The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module.

5. The finger sensor of claim 3, wherein The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module.

6. The finger sensor of claim 5, wherein The application relates to a contact module and an imaging module.

7. The finger sensor of claim 3, wherein The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module.

8. The finger sensor of claim 1, wherein, The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. The application relates to a contact module and an imaging module. 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The finger sensor of claim 2, wherein, The elastic contact body (220) is in a shell shape, comprising a first contact body (221) in a quarter spherical shape, a second contact body (222) in an arc-shaped bent plate shape connected with the first contact body (221), and the first contact body (221) and the second contact body (222) surround to form a first receiving cavity (223) for accommodating the hard transparent piece (210); The hard transparent piece (210) is in a shell shape, comprising a first light-transmitting part (213) in a quarter spherical shape, a second light-transmitting part (214) in an arc-shaped bent plate shape connected with the first light-transmitting part (213), and the first contact body (221) and the second contact body (222) surround to form a second receiving cavity (215), and the second receiving cavity (215) and the shell (100) surround to form a mounting cavity for accommodating the imaging module (300).

10. The finger sensor of claim 1, wherein, The shell (100) and the contact module (200) are connected only through a connecting structure located below the shell (100).

Images