Pressure testing device for visual and tactile sensors

Abstract

This utility model discloses a pressure testing device for visual-tactile sensors, including a base, a testing module, and an adjustment module. The visual-tactile sensor and the testing module are movably arranged relative to each other. The adjustment module is drivenly connected to the movably arranged visual-tactile sensor and / or the testing module, so that the orientation of the testing module relative to the visual-tactile sensor can be adjusted. The testing module includes: a mounting base; a connecting base, movably mounted on the mounting base in the testing direction near and away from the visual-tactile sensor; a pressure sensor disposed on one side of the connecting base in the testing direction, with the force-bearing surface of the pressure sensor facing or away from the connecting base; a contact body connected to the side of the pressure sensor away from the connecting base; and a feeding mechanism connected to the connecting base. This application can perform repeatable, multiple tests on the same or different visual-tactile sensors, which helps to improve testing efficiency and enhance the overall practicality of the pressure testing device.

Description

Technical Field

[0001] This utility model relates to the field of testing technology for visual and tactile sensors, and specifically to a pressure testing device applied to visual and tactile sensors. Background Technology

[0002] Vision-tactile sensors serve as core components of robot perception technology, significantly enhancing a robot's ability to perceive the material, shape, and operational status of objects by fusing visual and tactile information. Vision-tactile sensors typically collect tactile (force, material) and visual (texture, deformation) data simultaneously, and improve environmental adaptability through algorithmic fusion. This necessitates that vision-tactile sensors possess high-resolution tactile perception capabilities and multimodal information fusion capabilities. Utility Model Content

[0003] The main objective of this invention is to provide a device that can be used simply, efficiently, and repeatedly to test the ability of a visual-tactile sensor to collect tactile and visual data.

[0004] To achieve the above objectives, this utility model proposes a pressure testing device for a visual-tactile sensor, comprising a base and a testing module and an adjustment module disposed on the base. The visual-tactile sensor and the testing module are movably arranged relative to each other. The adjustment module is drivenly connected to the movably arranged visual-tactile sensor and / or the testing module, so that the orientation of the testing module relative to the visual-tactile sensor is adjustable. The testing module includes:

[0005] Mounting base;

[0006] A connector is movably mounted on the mounting base in the test direction, both near and away from the visual-tactile sensor;

[0007] A pressure sensor is disposed on one side of the connector in the test direction, and the force-bearing surface of the pressure sensor is facing or away from the connector.

[0008] The contact body is connected to the side of the pressure sensor opposite to the connector; and,

[0009] A feeding mechanism is provided on the mounting base and drivenly connected to the connecting base so that the feed amount of the contact body along the test direction is adjustable.

[0010] Optionally, the test direction is vertical or oblique, intersecting the vertical direction; wherein,

[0011] The visual-tactile sensor and / or the mounting base are respectively movably mounted on the base in the lateral and longitudinal directions; or,

[0012] The visual-tactile sensor and / or the mounting base are respectively translatably mounted on the base in the lateral and longitudinal directions and rotatably about an axis extending vertically.

[0013] Optionally, the visual-tactile sensor is fixed relative to the base; the adjustment module includes:

[0014] The first fixing seat is connected and fixed to the base;

[0015] The first movable seat is longitudinally and can be translatably mounted on the first fixed seat;

[0016] A first driving mechanism is disposed on the first fixed base and is drivingly connected to the first movable base;

[0017] The second fixed seat is connected and fixed to the first movable seat;

[0018] The second movable seat is installed laterally and translationally on the second fixed seat; and,

[0019] The second drive mechanism is located on the second fixed base and is drivenly connected to the second movable base;

[0020] The mounting base is installed on the second movable base.

[0021] Optionally, the mounting base is fixedly mounted to the second movable base so that the testing direction is vertical; or,

[0022] The mounting base is rotatably mounted on the second movable base about an axis extending laterally and / or longitudinally, so that during its rotation, the connecting base is driven to a first state in which the test direction is vertical, and a second state in which the test direction of the connecting base is obliquely arranged to intersect the vertical direction.

[0023] Optionally, the mounting base includes:

[0024] A first unit is fixedly mounted on the second movable base. The first unit has a circular hole extending longitudinally, and the circular hole is provided with a plurality of first half-holes spaced circumferentially therearound.

[0025] The second unit is rotatably mounted in the circular hole about a longitudinally extending axis. The second unit has a plurality of second half holes spaced apart along its circumference. After being rotated to align any second half hole with any first half hole, the two together form a second threaded hole. The second threaded hole can be locked and fixed by a screw fastener so that the connecting seat can be maintained in the current first state or the second state.

[0026] Optionally, the first movable seat, the second movable seat, and the connecting seat are each provided with a threaded hole;

[0027] The first drive mechanism, the second drive mechanism, and the feed mechanism each include a motor and a lead screw, and the lead screw is threadedly connected to the corresponding threaded hole.

[0028] Optionally, the pressure testing device applied to the visual-tactile sensor further includes:

[0029] A slide rail mechanism, which may be selectively disposed between the first fixed seat and the first movable seat, between the second fixed seat and the second movable seat, and / or between the connecting seat and the mounting seat; and / or,

[0030] A limit switch is selectively disposed at the first fixed seat, the second fixed seat, and / or the connecting seat, and at the extreme positions of the first movable seat, the second movable seat, or the mounting seat. The limit switch can trigger a sensing signal when the corresponding first movable seat, the second movable seat, or the mounting seat moves closer to each other, so that the first movable seat, the second movable seat, or the mounting seat can be controlled to stop moving according to the sensing signal.

[0031] Optionally, the connector includes:

[0032] A first seat body is movably and adjustably mounted on the mounting base; and,

[0033] The second seat is detachably connected to the first seat, and a receiving groove is recessed on one side of the second seat;

[0034] The test module further includes a mounting plate, on which the pressure sensor is mounted and housed within the receiving groove. The force-bearing surface of the pressure sensor faces the bottom wall of the receiving groove. The area of ​​the mounting plate is not less than the opening area of ​​the receiving groove, and the mounting plate and the second base body are spaced apart.

[0035] Optionally, the surface of the contact body facing away from the connecting seat is provided in a convex arc shape; or,

[0036] The contact body is spherically shaped.

[0037] Optionally, the test module further includes a rigid connector, one end of which is detachably connected and fixed to one end of the mounting plate opposite to the pressure sensor, and the other end of which is recessed with a mounting groove.

[0038] The contact body is spherical and partially installed in the mounting groove. The shape of the mounting groove matches the shape of the contact body at the corresponding position.

[0039] Optionally, the outer wall of the connector is provided with through holes communicating with the mounting groove. Multiple through holes are provided in a distributed manner. The through holes are used to inject external adhesive into the mounting groove to bond and fix the contact body.

[0040] In the technical solution provided by this utility model, the base integrates the visual and tactile sensor, the testing module and the adjustment module into a whole, making it easier to transfer and store as a whole.

[0041] In the test module, the feeding direction of the connector, the force direction of the pressure sensor, and the contact direction of the contact body are all consistent and defined as the test direction. This allows the feeding mechanism to drive the contact body to contact the detection surface of the visual-tactile sensor with different feed amounts after the test module and the visual-tactile sensor are properly positioned, thus forming different image information on the detection surface. Simultaneously, the pressure sensor can promptly sense the different pressure values ​​corresponding to different feed amounts. In this way, the feed amount, pressure value, and image information can be mapped and associated one-to-one, facilitating subsequent data storage or analysis.

[0042] Furthermore, the adjustment module allows for the adjustment of the relative position and / or orientation of the test module and the visual-tactile sensor according to actual needs. Position adjustment ensures effective contact matching between the contacting subject and the detection surface of the visual-tactile sensor during testing. Orientation adjustment allows the contacting subject to contact the detection surface of the visual-tactile sensor along any suitable testing direction, thus enabling more diverse and comprehensive testing of the visual-tactile sensor.

[0043] Furthermore, the pressure testing device provided in this application can perform repeatable and multiple tests on the same or different visual and tactile sensors, which helps to improve testing efficiency and enhance the overall practicality of the pressure testing device. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0045] Figure 1 A perspective view of an embodiment of the pressure testing device provided by this utility model;

[0046] Figure 2 for Figure 1 Top view of the medium pressure testing device;

[0047] Figure 3 for Figure 1 A 3D schematic diagram of the adjustment module;

[0048] Figure 4 for Figure 1 A three-dimensional schematic diagram of the test module;

[0049] Figure 5 for Figure 4 A schematic diagram showing the main structural breakdown of the test module;

[0050] Figure 6 for Figure 4 A three-dimensional schematic diagram of the mounting plate from another perspective;

[0051] Figure 7 for Figure 4 A three-dimensional schematic diagram of the connecting component from another perspective;

[0052] Figure 8 A perspective view of another embodiment of the mounting base 210 provided by this utility model.

[0053] Explanation of icon numbers:

[0054] 100 Base; 200 Test Module; 210 Mounting Base; 211 First Unit; 211a First Threaded Hole; 211b Circular Hole; 211c First Half Hole; 212 Second Unit; 212a Second Half Hole; 220 Connecting Seat; 221 First Seat Body; 222 Second Seat Body; 222a Receiving Slot; 222b Support Protrusion; 230 Pressure Sensor; 231 Force-Bearing Surface; 240 Contact Body; 250 Feeding Mechanism; 251 Third Lead screw; 252 Nut seat; 260 Mounting plate; 261 Connecting protrusion; 262 Limiting step; 270 Connector; 271 Connecting recess; 272 Mounting groove; 273 Through hole; 310 Longitudinal adjustment module; 311 First fixed seat; 312 First movable seat; 313 First lead screw; 320 Lateral adjustment module; 321 Second fixed seat; 322 Second movable seat; 323 Second lead screw; 400 Slide rail mechanism; 500 Visual and tactile sensor.

[0055] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0057] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0058] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0059] Please see Figures 1 to 8 This utility model provides a pressure testing device for a visual-touch sensor 500 (hereinafter referred to as a pressure testing device for ease of understanding).

[0060] The pressure testing device includes a base 100 and a test module 200 and an adjustment module disposed on the base 100.

[0061] The visual-tactile sensor 500 and the test module 200 can be movably positioned relative to each other. The module is driven to connect with the movably positioned visual-tactile sensor 500 and / or the test module 200 so that the orientation of the test module 200 relative to the visual-tactile sensor 500 is adjustable.

[0062] The test module 200 includes a mounting base 210, a connecting base 220, a pressure sensor 230, a contact body 240, and a feeding mechanism 250.

[0063] The connector 220 is movably mounted on the mounting base 210 in the test direction, both near and far from the visual-tactile sensor 500.

[0064] The pressure sensor 230 is located on one side of the connector 220 in the test direction, and the force-bearing surface 231 of the pressure sensor 230 is facing or away from the connector 220.

[0065] The contact body 240 is connected to the side of the pressure sensor 230 that is opposite to the connector 220.

[0066] The feed mechanism 250 is mounted on the mounting base 210 and driven to the connecting base 220, so that the feed amount of the contact body 240 along the test direction is adjustable.

[0067] In the technical solution provided by this utility model, the base 100 integrates the visual and tactile sensor 500, the test module 200 and the adjustment module into a whole, making it easier to transfer and store them as a whole.

[0068] In the test module 200, the feeding direction of the connecting seat 220, the force direction of the pressure sensor 230, and the contact direction of the contact body 240 are all consistent and defined as the test direction. This allows the feeding mechanism 250 to drive the contact body 240 to contact the detection surface of the visual-tactile sensor 500 with different feed amounts after the test module 200 and the visual-tactile sensor 500 are properly aligned, thus forming different image information on the detection surface. Simultaneously, the pressure sensor 230 can promptly sense the different pressure values ​​corresponding to different feed amounts. In this way, the feed amount, pressure value, and image information can be mapped and associated one-to-one, facilitating subsequent data storage or analysis.

[0069] Furthermore, the adjustment module can adjust the relative position and / or relative orientation of the test module 200 and the visual-tactile sensor 500 according to actual needs. Adjusting the position ensures that the contact body 240 can effectively contact and match the detection surface of the visual-tactile sensor 500 during testing. Adjusting the orientation allows the contact body 240 to contact the detection surface of the visual-tactile sensor 500 along any suitable testing direction, thus making the testing of the visual-tactile sensor 500 more diverse and comprehensive.

[0070] Furthermore, the pressure testing device provided in this application can perform repeatable and multiple tests on the same or different visual and tactile sensors 500, which helps to improve testing efficiency and enhance the overall practicality of the pressure testing device.

[0071] For ease of understanding, the following embodiments will be described using an example where the pressure testing device has two roughly perpendicular vertical, horizontal, and longitudinal axes. When applying the pressure testing device to a real-world scenario, the vertical axis roughly corresponds to the direction of gravity and has upward and downward directions. The horizontal and longitudinal axes are two roughly perpendicular directions on a horizontal plane. In the entire testing system of the pressure testing device, if a testing coordinate system is established, the vertical axis roughly corresponds to the Z-axis, the horizontal axis roughly corresponds to the X-axis, and the longitudinal axis roughly corresponds to the Y-axis.

[0072] Understandably, before testing the visual-tactile sensor 500, it is necessary to first adjust and fix the relative positions of the visual-tactile sensor 500 and the test module 200 by adjusting the module.

[0073] As described above, the orientations of the connector 220, pressure sensor 230, and contact body 240 in the test module 200 are basically fixed. They are also arranged roughly along the test direction. The mounting base 210 serves as the common mounting carrier and motion reference carrier for the connector 220, pressure sensor 230, and contact body 240. Therefore, in practical applications, adjusting the module specifically involves adjusting the relative orientations of the visual-tactile sensor 500 and the mounting base 210.

[0074] During the adjustment process, specifically, the mounting base 210 may remain fixed relative to the base 100, while only the orientation of the tactile sensor 500 relative to the base 100 may be adjusted. Alternatively, the tactile sensor 500 may remain fixed relative to the base 100, while only the orientation of the mounting base 210 relative to the base 100 may be adjusted. Alternatively, both the mounting base 210 and the tactile sensor 500 relative to the base 100 may be able to be adjusted in orientation.

[0075] However, for ease of understanding, in the following embodiments, the following will be used as... Figures 1 to 8 The following example illustrates the situation where the visual-tactile sensor 500 is fixed relative to the base 100, while only the mounting base 210 is adjusted in orientation relative to the base 100.

[0076] At this point, the base 100 can define an installation area using either a visible or non-visual structure. This installation area allows the visual-tactile sensor 500 to be fixedly mounted. This ensures that throughout the subsequent testing process, the visual-tactile sensor 500 will not be affected by the contact body 240 and will not shift or deflect.

[0077] When the same visual-tactile sensor 500 is subjected to repeated pressure tests, the division of the installation area can ensure that the position of the visual-tactile sensor 500 remains basically unchanged in each test.

[0078] When different visual and tactile sensors 500 are subjected to multiple pressure tests in succession, the division of the installation area facilitates the simplification of the assembly and disassembly of each visual and tactile sensor 500, thereby helping to improve testing efficiency.

[0079] Of course, a detachable connection structure can be provided between the mounting area of ​​the base 100 and the visual-tactile sensor 500. The specific design of this detachable connection structure is not limited, and it can be fixed by means of screws, adsorption, magnetic attraction, or adhesive bonding.

[0080] Next, regarding the scheme for adjusting the orientation of the mounting base 210 relative to the base 100, the following explanations will all take the above-mentioned test direction as vertical or as an example of an oblique direction intersecting the vertical direction.

[0081] In one application, the mounting base 210 can be adjusted in position only relative to the base 100. That is, during the movement of the mounting base 210 relative to the base 100, the testing direction remains unchanged, and the direction in which the contact body 240 contacts the visual-tactile sensor 500 remains unchanged. In this case, the position adjustment of the mounting base 210 is generally to match the relative position between the contact body 240 and the detection surface of the visual-tactile sensor 500.

[0082] Specifically, the mounting base 210 can be configured to be slidably mounted on the base 100 in both the lateral and longitudinal directions. In this way, before testing, the contact body 240 can move closer to or further away from the aforementioned visual-tactile sensor 500 in the lateral / longitudinal directions, ensuring that during testing, when the contact body 240 is fed along the testing direction, it will inevitably make contact with the detection surface of the visual-tactile sensor 500.

[0083] Alternatively, in one application, the mounting base 210 can be oriented only relative to the base 100. This is particularly suitable for testing scenarios where the testing direction is oblique. In this case, that is, during the movement of the mounting base 210 relative to the base 100, the testing direction can be changed according to actual needs. In this way, it can be ensured that during the testing process, the contact body 240 can be fed from any direction and ultimately contact and apply force to the detection surface of the visual-tactile sensor 500.

[0084] Specifically, the mounting base 210 may be configured to be rotatably mounted on the base 100 about an axis extending vertically.

[0085] Alternatively, in one application, the mounting base 210 can be adjusted in position and orientation relative to the base 100. Therefore, as described above, the mounting base 210 can be translatably mounted on the base 100 in both the transverse and longitudinal directions, and rotatably mounted about an axis extending vertically.

[0086] In the above applications, there are no restrictions on the scheme in which the adjustment module enables the drive mounting base 210 to be translatably set in both the horizontal and vertical directions. For example, the adjustment module includes a vertical adjustment module 310 and a horizontal adjustment module 320.

[0087] The longitudinal adjustment module 310 includes a first fixed base 311, a first movable base 312, and a first drive mechanism. The first fixed base 311 is fixedly connected to the base 100. It can be understood that the first fixed base 311 and the base 100 can be integrally formed. Alternatively, the first fixed base 311 and the base 100 can be separately formed and then detachably or non-detachably connected. The first movable base 312 is longitudinally slidably mounted on the first fixed base 311. The first drive mechanism is located on the first fixed base 311 and is drively connected to the first movable base 312.

[0088] The longitudinal adjustment module 310 can be specifically represented as a lead screw and nut mechanism. In this case, the first movable seat 312 constitutes the nut. The first movable seat 312 has a threaded hole extending longitudinally. The first drive mechanism includes a first motor and a first lead screw 313. The first lead screw 313 extends longitudinally and is rotatably mounted on the first fixed seat 311 about its own axis. The first lead screw 313 and the first movable seat 312 are threadedly connected. Thus, when the first motor starts running, it can drive the first lead screw 313 to rotate, thereby driving the first movable seat 312 to translate longitudinally.

[0089] Two longitudinal adjustment modules 310 can be arranged side-by-side at intervals along the transverse direction. In this case, the visual-tactile sensor 500 can be located between the two longitudinal adjustment modules 310. To enable the two first movable seats 312 in the two longitudinal adjustment modules 310 to move longitudinally synchronously, the two longitudinal adjustment modules 310 can share the same first motor. The first motor is linked to two first lead screws 313 via, for example, a belt assembly.

[0090] The lateral adjustment module 320 includes a second fixed base 321, a second movable base 322, and a second drive mechanism. The second fixed base 321 is fixedly connected to the first movable base 312. It can be understood that the second fixed base 321 and the first movable base 312 can be integrally formed. Alternatively, the second fixed base 321 and the first movable base 312 can be separately formed and then detachably or non-detachably connected. The second movable base 322 is laterally slidably mounted on the first movable base 312. The second drive mechanism is located on the first movable base 312 and is drively connected to the second movable base 322.

[0091] The lateral adjustment module 320 can be specifically represented as a lead screw and nut mechanism. In this case, the second movable seat 322 constitutes the nut. The second movable seat 322 has a threaded hole extending laterally. The second drive mechanism includes a second motor and a second lead screw 323. The second lead screw 323 extends laterally and is rotatably mounted on the first movable seat 312 about its own axis. The second lead screw 323 and the second movable seat 322 are threadedly connected. Thus, when the second motor starts running, it can drive the second lead screw 323 to rotate, thereby causing the second movable seat 322 to translate laterally.

[0092] When two longitudinal adjustment modules 310 are configured as described above, the second fixed seat 321 can be connected between the two longitudinal adjustment modules 310 and simultaneously connected to the two first movable seats 312.

[0093] Of course, when it is necessary to achieve the aforementioned purpose of rotating the mounting base 210 about a vertically extending axis, in a specific application, the adjustment module can also include a base. Both the aforementioned lateral adjustment module 320 and longitudinal adjustment module 310 are mounted on this base. The visual-tactile sensor 500 is fixedly mounted on the base 100. The base is rotatably mounted on the base 100 about a vertically extending axis. This allows the lateral adjustment module 320, longitudinal adjustment module 310, and test module 200 as a whole to rotate relative to the visual-tactile sensor 500.

[0094] As can be seen from the above, the test direction can be vertical or diagonal, intersecting the vertical direction.

[0095] In one application, such as Figures 1 to 8 As shown, the test direction can be set vertically and remain constant. In this case, the mounting base 210 is fixedly mounted on the second movable base 322. The connecting base 220 is vertically and movably mounted on the mounting base 210. The pressure sensor 230 is disposed on the vertical side of the connecting base 220. The force-bearing surface 231 of the pressure sensor 230 faces the connecting base 220 or is opposite to it. The contact body 240 is disposed on the side of the pressure sensor 230 opposite to the connecting base 220. This ensures the test direction is vertical. In this case, the contact body 240 contacts and applies force approximately along the normal to the detection surface of the visual-tactile sensor 500.

[0096] Alternatively, in another application, the mounting base 210 is rotatably mounted to the second movable base 322 about an axis extending laterally and / or longitudinally, so that during its rotation, it drives the connecting base 220 to a first state where the testing direction is vertical, and a second state where the testing direction of the connecting base 220 intersects with the vertical direction. When moved to the first state, as described above, the contact body 240 contacts and applies force approximately along the normal to the detection surface of the visual-touch sensor 500. When moved to the second state, the contact body 240 does not contact and apply force from the normal to the detection surface of the visual-touch sensor 500. Instead, it contacts and applies force to the detection surface of the visual-touch sensor 500 at a certain oblique angle. The size of the oblique angle can be determined according to the rotation stroke of the mounting base 210 relative to the second movable base 322.

[0097] To enable the mounting base 210 to be rotatably mounted on the second movable base 322 around a laterally extending axis, in practical applications, one end of the mounting base 210 is pivotally connected to the second movable base 322. The test module 200 may also include, for example, a linear cylinder. The body of the linear cylinder is fixedly mounted on the second movable base 322. The extension rod of the linear cylinder is connected to the other end of the mounting base 210, thereby driving the mounting base 210 to rotate relative to the second movable base 322.

[0098] To enable the mounting base 210 to be rotatably mounted on the second movable base 322 around the longitudinally extending axis, in practical applications, such as Figure 8 As shown, the mounting base 210 may include, for example, a first unit 211 and a second unit 212. The first unit 211 is fixedly connected to a second movable base 322. The second unit 212 may be connected to, for example, the mounting base 210. The second unit 212 is rotatably mounted to the first unit 211 about a longitudinally extending axis.

[0099] Specifically, the first unit 211 may have first threaded holes 211a distributed around its circumference. The first unit 211 is fixed to the second movable seat 322 by screw fastening through the first threaded holes 211a. The first unit 211 also has a circular hole 211b extending longitudinally. The second unit 212 is approximately circular in shape and is separately disposed within the circular hole 211b. The outer diameter of the second unit 212 is smaller than the inner diameter of the circular hole 211b, so that sufficient annular movement space can be reserved between the inner side of the circular hole 211b and the outer side of the second unit 212. At this time, since the second unit 212 and the first unit 211 are in a separated state, the second unit 212 can be rotated relative to the first unit 211 at any angle.

[0100] Next, within the aforementioned annular movable space, a first half-hole 211c is longitudinally provided along the wall of the hole corresponding to the circular hole 211b, and a second half-hole 212a is longitudinally provided along the outer edge of the second unit 212. Multiple first half-holes 211c are spaced apart along the circumference of the circular hole 211b. Multiple second half-holes 212a are spaced apart along the circumference of the second unit 212. After the second unit 212 is rotated relative to the first unit 211 at any angle, at least one first half-hole 211c and one second half-hole 212a align, together forming a second threaded hole. This second threaded hole can be secured using a screw or similar threaded connector, thereby locking and limiting the second unit 212 at the rotation angle, i.e., maintaining it in either the first or second state corresponding to that rotation angle.

[0101] Of course, for ease of understanding, the following will use the vertical test direction as an example to explain each component in the test module 200.

[0102] At this point, the feed mechanism 250 can be specifically exemplified as a lead screw and nut mechanism. In this case, the connecting seat 220 directly constitutes the nut. Alternatively, the feed mechanism 250 may also include a nut seat 252. The nut seat 252 and the connecting seat 220 are separately configured and can be detachably or non-detachably connected. The nut seat 252 has a threaded hole extending vertically (i.e., in the test direction). The feed mechanism 250 also includes a third motor and a third lead screw 251. The third lead screw 251 extends vertically and is rotatably mounted on the mounting base 210 around its own axis. The third lead screw 251 and the nut seat 252 are threadedly connected. Thus, when the third motor starts running, it can drive the third lead screw 251 to rotate, thereby causing the connecting seat 220, pressure sensor 230, and contact body 240 to translate vertically.

[0103] The mounting base 210 and the second movable base 322 described above can be integrally formed. Alternatively, the mounting base 210 and the second movable base 322 can be obtained by detaching or non-detaching them after being formed separately.

[0104] Furthermore, the pressure testing device also includes a slide rail mechanism 400, which can be selectively disposed between the first fixed seat 311 and the first movable seat 312, between the second fixed seat 321 and the second movable seat 322, and / or between the connecting seat 220 (or the nut seat 252) and the mounting seat 210. It is understood that the slide rail mechanism 400 generally includes a first structure with a sliding groove and a second structure with a sliding protrusion. The sliding groove and the sliding protrusion are slidably connected and engaged.

[0105] Taking the first fixed seat 311 and the first movable seat 312 as examples, the sliding groove and / or sliding protrusion extend elongatedly along the longitudinal direction. One of the first fixed seat 311 and the first movable seat 312, along with the first structural body, can be integrally formed. Alternatively, they can be obtained by detachable or non-detachable connection after separate forming. The other of the first fixed seat 311 and the first movable seat 312, along with the second structural body, can be integrally formed. Alternatively, they can be obtained by detachable or non-detachable connection after separate forming.

[0106] It is understandable that the screw and nut mechanism and / or slide rail mechanism 400 described above contribute to greater stability of the overall structure.

[0107] Furthermore, the pressure testing device also includes limit switches.

[0108] The limit switch can be located at the first fixed base 311 and at one or two extreme positions during the movement of the first movable base 312. When the first movable base 312 moves close to the limit switch, the limit switch triggers a sensing signal. An externally installed or dedicated control device can promptly control the first movable base 312 to stop moving based on the received sensing signal. The location of the limit switch effectively limits the maximum travel and extreme positions of the first movable base 312, helping to make the movement of the first movable base 312 more adaptable to contact bodies 240 and visual-tactile sensors 500 of different specifications, ensuring a safer and more reliable detection process.

[0109] Similarly, the limit switch can also be located at the second fixed base 321, and at one or two extreme positions during the movement of the second movable base 322. When the second movable base 322 moves close to the limit switch, the limit switch triggers a sensing signal. An externally installed or dedicated control device can promptly control the second movable base 322 to stop moving based on the received sensing signal. The location of the limit switch effectively limits the maximum travel and extreme movement positions of the second movable base 322, helping to make the movement of the second movable base 322 more adaptable to contact bodies 240 and visual-tactile sensors 500 of different specifications, ensuring a safer and more reliable detection process.

[0110] The limit switch can also be located at the connecting base 220, and at one or two extreme positions during the movement of the mounting base 210. When the mounting base 210 moves close to the limit switch, the limit switch triggers a sensing signal. An externally installed or dedicated control device can then control the mounting base 210 to stop moving based on the received sensing signal. The location of the limit switch effectively limits the maximum travel and extreme movement positions of the mounting base 210, helping to make the movement of the mounting base 210 more adaptable to contact bodies 240 and visual / tactile sensors 500 of different specifications, ensuring a safer and more reliable detection process.

[0111] It should be noted that when the slide rail mechanism 400 is provided as described above, the limit switch can be specifically set at the corresponding slide rail mechanism 400. Taking the slide rail mechanism 400 as an example, the limit position determined by the limit switch can refer to the two ends of the slide rail mechanism 400 that are arranged opposite each other in its length direction. Alternatively, it can be any position between these two ends, whichever is suitable for the testing requirements of the contact body 240 and the visual-tactile sensor 500.

[0112] The specific type of limit switch is not limited, and can be, but is not limited to, photoelectric sensors, pressure sensors, tension sensors, mass sensors, etc.

[0113] In addition, please combine Figures 4 to 5 In one embodiment, the connecting seat 220 includes a first seat body 221 and a second seat body 222. The first seat body 221 is movably and adjustably mounted on the mounting seat 210 along the testing direction. The second seat body 222 is detachably connected to the first seat body 221. Specifically, one of the first seat body 221 and the second seat body 222 may be provided with a support protrusion 222b, while the other is provided with a support recess. The support protrusion 222b and the support recess are in a convex-concave fit. For example, as shown in Figure 5, two support recesses may be formed on both lateral sides of the first seat body 221. The second seat body 222 may have two support protrusions 222b protruding toward the first seat body 221. The two support protrusions 222b are respectively supported at the two support recesses.

[0114] A receiving groove 222a is recessed on one vertical side of the second seat 222. The pressure sensor 230 is housed within the receiving groove 222a. Furthermore, the force-bearing surface 231 of the pressure sensor 230 faces the bottom wall of the receiving groove 222a. Thus, when the contact body 240 contacts the detection surface of the visual-tactile sensor 500, the force-bearing surface 231 of the pressure sensor 230 receives a force transmitted from the second seat 222, which is substantially the same as the pressure applied by the contact body 240 to the detection surface of the visual-tactile sensor 500. Alternatively, it can be used to test the required pressure value.

[0115] The test module 200 also includes a mounting plate 260. A pressure sensor 230 is mounted on the mounting plate 260 and housed within a receiving groove 222a. The force-bearing surface 231 of the pressure sensor 230 faces the bottom wall of the receiving groove 222a. The area of ​​the mounting plate 260 is not less than the opening area of ​​the receiving groove 222a. The mounting plate 260 and the second base 222 are spaced apart. This ensures that during normal testing, the mounting plate 260 and the second base 222 do not contact each other, thus not affecting the normal force-bearing surface 231 of the pressure sensor 230. Furthermore, the stop action between the mounting plate 260 and the second base 222 at the opening of the receiving groove 222a prevents excessive contact between the force-bearing surface 231 of the pressure sensor 230 and the bottom wall of the receiving groove 222a, which could lead to structural damage or functional failure of the force-bearing surface 231 of the pressure sensor 230.

[0116] The specific form of the contact subject 240 described above is not limited; it can be set to any suitable shape, size, and material according to actual needs. However, generally, since the detection surface of the visual-tactile sensor 500 is usually a flexible surface, the contact subject 240 is generally set as a rigid structure.

[0117] Furthermore, the surface of the contact body 240 facing away from the connecting seat 220 is convex or spherical. That is, the contact area where the contact body 240 contacts the detection surface of the visual-touch sensor 500 is either convex or spherical. This ensures that when the contact body 240 contacts the detection surface of the visual-touch sensor 500 along the detection direction, the force is uniform in all directions. The convex shape allows for a certain deviation between the actual contact direction and the detection direction between the contact body 240 and the detection surface of the visual-touch sensor 500, without causing distortion or failure of the detection results.

[0118] like Figures 4 to 7 As shown, in one embodiment, the test module 200 further includes a rigid connector 270. One end of the connector 270 is detachably connected and fixed to one end of the mounting plate 260 opposite to the pressure sensor 230, and the other end of the connector 270 is recessed with a mounting groove 272. The contact body 240 is spherically shaped and is partially installed in the mounting groove 272, and the shape of the groove 272 matches the shape of the corresponding position of the contact body 240.

[0119] The mounting plate 260 and the connector 270 may each have a connecting protrusion 261 and a connecting recess 271. The mounting plate 260 and the connector 270 are detachably connected through the mating of the connecting protrusion 261 and the connecting recess 271. The connecting protrusion 261 and the connecting recess 271 can be directly fixed by a rigid connection. Alternatively, the connecting protrusion 261 and the connecting recess 271 can be fixed by a snap-fit ​​structure. Or, the connecting protrusion 261 and the connecting recess 271 can be fixed by a threaded connection of internal and external threads.

[0120] For example, when the mounting plate 260 has a connecting protrusion 261, a ring-shaped limiting step 262 can be further formed on the lateral protrusion of the connecting protrusion 261 near the mounting plate 260. The limiting step 262 can limit the insertion depth of the connecting protrusion 261 and the connecting recess 271 when they are inserted, which helps to ensure accurate insertion.

[0121] Another section of the connector 270 may be partially expanded to form an expanded structure. The aforementioned mounting groove 272 is formed at the end of the expanded structure. When the contact body 240 is specifically a sphere, the mounting groove 272 may be specifically configured as a spherical groove. When the contact body 240 is assembled into the mounting groove 272, at least a portion of the contact body 240 protrudes outward from the opening of the mounting groove 272.

[0122] The specific fixing method between the contact body 240 and the mounting groove 272 is not limited, and can be, for example, an interference fit as described above. Alternatively, the contact body 240 and the mounting groove 272 can be bonded together with adhesive. In this case, the outer wall of the connector 270 is provided with through holes 273 communicating with the mounting groove 272. Multiple through holes 273 are distributed. For example, the through holes 273 can be distributed around the center of the sphere. The through holes 273 are used to inject external adhesive into the mounting groove 272 so that the contact body 240 is fixed by adhesive bonding. The adhesive is, for example, a structural adhesive such as AB component epoxy resin, and is not limited.

[0123] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A pressure testing device applied to a visual tactile sensor, characterized by, The device includes a base and a test module and an adjustment module disposed on the base. The visual-tactile sensor and the test module are movably disposed relative to each other. The adjustment module is driven to be connected to the movably disposed visual-tactile sensor and / or the test module so that the orientation of the test module relative to the visual-tactile sensor is adjustable. The test module includes: Mounting base; A connector is movably mounted on the mounting base in the test direction, both near and away from the visual-tactile sensor; A pressure sensor is disposed on one side of the connector in the test direction, and the force-bearing surface of the pressure sensor is facing or away from the connector. The contact body is connected to the side of the pressure sensor opposite to the connector; and, A feeding mechanism is provided on the mounting base and drivenly connected to the connecting base so that the feed amount of the contact body along the test direction is adjustable.

2. The pressure testing device for a visio-tactile sensor according to claim 1, wherein The test direction is vertical or diagonally intersecting the vertical direction; wherein, The visual-tactile sensor and / or the mounting base are respectively movably mounted on the base in the lateral and longitudinal directions; or, The visual-tactile sensor and / or the mounting base are respectively translatably mounted on the base in the lateral and longitudinal directions and rotatably about an axis extending vertically.

3. The pressure testing device for a visio-tactile sensor according to claim 1, wherein The visual-tactile sensor is fixed relative to the base; the adjustment module includes: The first fixing seat is connected and fixed to the base; The first movable seat is longitudinally and can be translatably mounted on the first fixed seat; A first driving mechanism is disposed on the first fixed base and is drivingly connected to the first movable base; The second fixed seat is connected and fixed to the first movable seat; The second movable seat is installed laterally and translationally on the second fixed seat; and, The second drive mechanism is located on the second fixed base and is drivenly connected to the second movable base; The mounting base is installed on the second movable base.

4. The pressure testing device for a visio-tactile sensor according to claim 3, wherein The mounting base is fixedly installed on the second movable base so that the test direction is vertical; or, The mounting base is rotatably mounted on the second movable base about an axis extending laterally and / or longitudinally, so that during its rotation, the connecting base is driven to a first state in which the test direction is vertical, and a second state in which the test direction of the connecting base is obliquely arranged to intersect the vertical direction.

5. The pressure testing device for a visio-tactile sensor according to claim 4, wherein The mounting base includes: A first unit is fixedly mounted on the second movable base. The first unit has a circular hole extending longitudinally, and the circular hole is provided with a plurality of first half-holes spaced circumferentially therearound. The second unit is rotatably mounted in the circular hole about a longitudinally extending axis. The second unit has a plurality of second half holes spaced apart along its circumference. After being rotated to align any second half hole with any first half hole, the two together form a second threaded hole. The second threaded hole can be locked and fixed by a screw fastener so that the connecting seat can be maintained in the current first state or the second state.

6. The pressure testing device for a visio-tactile sensor according to claim 3, wherein The first movable seat, the second movable seat, and the connecting seat are each provided with threaded holes; The first drive mechanism, the second drive mechanism, and the feed mechanism each include a motor and a lead screw, and the lead screw is threadedly connected to the corresponding threaded hole.

7. The pressure testing device for a visio-tactile sensor according to claim 3, wherein The pressure testing device applied to the visual-tactile sensor also includes: A slide rail mechanism, which may be selectively disposed between the first fixed seat and the first movable seat, between the second fixed seat and the second movable seat, and / or between the connecting seat and the mounting seat; and / or, A limit switch is selectively disposed at the first fixed seat, the second fixed seat, and / or the connecting seat, and at the extreme positions of the first movable seat, the second movable seat, or the mounting seat. The limit switch can trigger a sensing signal when the corresponding first movable seat, the second movable seat, or the mounting seat moves closer to each other, so that the first movable seat, the second movable seat, or the mounting seat can be controlled to stop moving according to the sensing signal.

8. The pressure testing device applied to a visual-tactile sensor as described in claim 1, characterized in that, The connector includes: A first seat body is movably and adjustably mounted on the mounting base; and, The second seat is detachably connected to the first seat, and a receiving groove is recessed on one side of the second seat; The test module further includes a mounting plate, on which the pressure sensor is mounted and housed within the receiving groove. The force-bearing surface of the pressure sensor faces the bottom wall of the receiving groove. The area of ​​the mounting plate is not less than the opening area of ​​the receiving groove, and the mounting plate and the second base body are spaced apart.

9. The pressure testing device applied to a visual-tactile sensor as described in claim 1, characterized in that, The surface of the contact body facing away from the connecting seat is convex arc-shaped; or, The contact body is spherically shaped.

10. The pressure testing device for a visual-tactile sensor as described in claim 8, characterized in that, The test module also includes a rigid connector, one end of which is detachably connected and fixed to the end of the mounting plate opposite to the pressure sensor, and the other end of which is recessed with a mounting groove. The contact body is spherical and partially installed in the mounting groove. The shape of the mounting groove matches the shape of the contact body at the corresponding position.

11. The pressure testing device applied to a visual-tactile sensor as described in claim 10, characterized in that, The outer wall of the connector is provided with through holes that communicate with the mounting groove. Multiple through holes are provided and are used to inject external adhesive into the mounting groove to bond and fix the contact body.

Images