Modular visual-tactile sensor positioning device

Abstract

The utility model relates to the field of sensor positioning, especially modular visual tactile sensor positioning device, including drive piece, still including sensor casing, the output end fixed mounting of drive piece has the connecting frame, the upper end fixed mounting of connecting frame has array positioning board, the upper end of array positioning board is equipped with module mounting groove, the inside of module mounting groove is equipped with the slot, the lower extreme of array positioning board is located the side fixed mounting of slot has connecting plate no.

Description

Technical Field

[0001] This utility model relates to the field of sensor positioning, and in particular to a modular visual-tactile sensor positioning device. Background Technology

[0002] Vision-tactile sensor localization is achieved through the integration of vision and touch. A vision-tactile sensor is a vision-based tactile sensing device that can simultaneously sense multi-dimensional information such as normal force, shear force, relative sliding, and object pose, similar to the tactile information dimensions of a human hand. Vision-tactile sensors have wide applications in the field of robotics, especially playing an important role in the humanoid robot industry chain. They can help robots achieve dexterous operation, provide accurate object recognition and operation control through high-density tactile information, capture the deformation caused by an object contacting an elastic gel surface, and map this deformation into precise tactile information through computer vision algorithms.

[0003] Currently, the positioning structure of visual-tactile sensor positioning devices has certain limitations when in operation. The tactile sensing area of ​​the sensor positioning structure is relatively fixed, making it difficult to set the tactile sensing area according to specific needs, which affects the ease of use of the positioning device.

[0004] Therefore, to address the above issues, a modular visual-tactile sensor positioning device can be designed that allows users to customize the tactile sensing area using a reconfigurable sensor array. Utility Model Content

[0005] To overcome the problem that the tactile sensing area of ​​the visual-tactile sensor positioning device is relatively fixed, making it difficult to set the tactile sensing area according to specific needs, thus affecting the ease of use of the positioning device.

[0006] The technical solution of this utility model is as follows: a modular visual and tactile sensor positioning device, including a driving component and a sensor housing. A connecting frame is fixedly installed at the output end of the driving component. An array positioning plate is fixedly installed at the upper end of the connecting frame. A module mounting slot is opened at the upper end of the array positioning plate. A slot is opened inside the module mounting slot. A connecting plate one is fixedly installed at the lower end of the array positioning plate on the side of the slot. A magnetic suction plate is fixedly installed at the lower end of the sensor housing. A connecting plate two is fixedly installed at the lower end of the magnetic suction plate. A connecting hole one is opened on the inner side of the connecting plate one. A connecting hole two is opened on the inner side of the connecting plate two. A connecting frame is provided at the upper end of the sensor housing. A flexible sensing module is fixedly installed at the upper end of the connecting frame. An arc-shaped groove is opened on the inner side of the connecting frame. A movable cavity is opened on the side of the sensor housing. A compression spring is fixedly installed inside the movable cavity. A locking ball is fixedly installed on the compression spring.

[0007] Preferably, the sensor housing is equipped with an illumination module, an image acquisition module, etc. The visual-tactile sensor is usually made of flexible material and has a pressure sensing element and an imaging system embedded inside. When an object comes into contact with the sensor surface, the elastic material will deform to different degrees according to the magnitude and direction of the contact force. These deformations are magnified and converted into clear images by a specially designed optical system and a high-resolution camera. After these image data are processed by deep learning algorithms, a three-dimensional pressure distribution map of the contact surface can be reconstructed, which can identify the fine texture features of the object.

[0008] Preferably, the driving component is used to move the connecting frame and the array positioning plate, and the module mounting slots are evenly distributed.

[0009] Preferably, both the sensor housing and the magnetic plate are engaged with the module mounting slot, and the magnetic plate can attract the array positioning plate.

[0010] Preferably, the connecting plate 2 is slidably connected to the slot, and the module mounting slot has a wiring groove located on the side of the slot inside.

[0011] Preferably, connecting plate one and connecting plate two are fitted together, and connecting hole one and connecting hole two are connected to each other.

[0012] Preferably, the connecting frame is snapped into the sensor housing, and the arc-shaped grooves and movable cavities are evenly distributed.

[0013] Preferably, the surface of the locking ball is slidably connected to the movable cavity, and the end of the locking ball away from the compression spring extends to the outside of the movable cavity and matches the arc-shaped groove.

[0014] The beneficial effects of this utility model are:

[0015] 1. This modular visual-tactile sensor positioning device uses arrayed modular mounting slots with modular visual-tactile sensors to allow users to customize the tactile sensing area. The modular design allows for the free addition or reduction of the number of sensing units, enabling dynamic adjustment of the tactile sensing area to meet the needs of different application scenarios. The multi-module design, combined with the system's computing power, facilitates the formation of a highly consistent tactile network. The modular architecture also facilitates the integration of machine learning models, making it suitable for harsh industrial application scenarios.

[0016] 2. This modular visual-tactile sensor positioning device facilitates the flexible assembly and disassembly of the flexible sensing module through a connecting frame and a snap-fit ​​ball structure. It also ensures the stability of the flexible sensing module during snap-fit ​​operation and allows for easy replacement of flexible sensing modules of different materials and shapes. This enables modular combination and matching of flexible sensing components and supports the replacement of modules made of different flexible materials such as silicone and conductive polymers to optimize texture recognition or high-sensitivity force detection scenarios. Attached Figure Description

[0017] Figure 1 The diagram shown illustrates the overall structure of the modular visual-tactile sensor positioning device of this utility model. Figure 1 ;

[0018] Figure 2 The diagram shown illustrates the overall structure of the modular visual-tactile sensor positioning device of this utility model. Figure 2 ;

[0019] Figure 3 The diagram shown is a schematic representation of the array positioning plate structure of the modular visual-tactile sensor positioning device of this utility model.

[0020] Figure 4 The diagram shown is a schematic representation of the sensor housing structure of the modular visual-tactile sensor positioning device of this utility model.

[0021] Figure 5 This utility model is shown. Figure 4 Enlarged structural diagram of point A in the middle.

[0022] Explanation of reference numerals in the attached drawings: 1. Driving component; 2. Sensor housing; 3. Connecting frame; 4. Array positioning plate; 5. Mounting groove; 6. Slot; 7. Connecting plate one; 8. Magnetic suction plate; 9. Connecting plate two; 10. Connecting frame; 11. Flexible sensing module; 12. Arc-shaped groove; 13. Movable cavity; 14. Compression spring; 15. Engaging ball; 16. Connecting hole one; 17. Connecting hole two; 18. Wiring groove. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Please see Figures 1-5This utility model provides an embodiment of a modular visual-tactile sensor positioning device, including a driving component 1 and a sensor housing 2. A connecting frame 3 is fixedly mounted on the output end of the driving component 1. An array positioning plate 4 is fixedly mounted on the upper end of the connecting frame 3. A module mounting slot 5 is formed on the upper end of the array positioning plate 4, and a slot 6 is formed inside the module mounting slot 5. A connecting plate 7 is fixedly mounted on the lower end of the array positioning plate 4, located on the side of the slot 6. A magnetic suction plate 8 is fixedly mounted on the lower end of the sensor housing 2, and a connecting plate 9 is fixedly mounted on the lower end of the magnetic suction plate 8. A connecting hole 16 is formed on the inner side of the connecting plate 7, and a connecting hole 17 is formed on the inner side of the connecting plate 9. A connecting frame 10 is provided on the upper end of the sensor housing 2. A flexible sensing module 11 is fixedly installed at the upper end of the frame 10. An arc-shaped groove 12 is opened on the inner side of the connecting frame 10. A movable cavity 13 is opened on the side of the sensor housing 2. A compression spring 14 is fixedly installed inside the movable cavity 13. A locking ball 15 is fixedly installed on the compression spring 14. The sensor housing 2 is inserted into the mounting slot 5 at the required position, so that the magnetic plate 8 adsorbs the array positioning plate 4. At the same time, it is connected to the first connection hole 16 and the second connection hole 17 for easy fixation. The modular mounting slots 5 distributed in the array, together with the modular visual and tactile sensor, make it convenient for users to customize the tactile sensing area. Through the modular design, the number of sensing units can be freely increased or decreased to realize the dynamic adjustment of the tactile sensing area and meet the needs of different application scenarios.

[0025] Please see Figures 1-3 In this embodiment, the driving component 1 drives the connecting frame 3 and the array positioning plate 4 to move. The module mounting slots 5 are evenly distributed. The sensor housing 2 and the magnetic plate 8 are both engaged with the module mounting slots 5. The magnetic plate 8 can attract the array positioning plate 4. The second connecting plate 9 is slidably connected to the slot 6. The module mounting slot 5 has a wiring slot 18 on the side of the slot 6. The first connecting plate 7 and the second connecting plate 9 are in contact with each other. The first connecting hole 16 and the second connecting hole 17 are connected to each other. The driving component 1 can drive the array positioning plate 4 to move. The flexible sensing module 11 can fit against the workpiece. The visual and tactile sensor can transmit data. The information is transmitted to the equipment terminal system, which facilitates the system control of the equipment for positioning. The sensor housing 2 can be inserted into the mounting slot 5 at the required position. The magnetic plate 8 can attract the array positioning plate 4. The connecting plate 2 9 can be inserted into the slot 6, so that the connecting hole 16 aligns with the connecting hole 2 17, which facilitates the fixing of the sensor housing 2 (it can be fixed by tools and bolts and other connectors). The wiring slot 18 facilitates wiring. The array-distributed modular mounting slots 5 can be used with modular visual and tactile sensors to customize the tactile sensing area. The installation position of the sensor housing 2 can be set according to specific processing requirements.

[0026] Please see Figures 4-5In this embodiment, the connecting frame 10 is engaged with the sensor housing 2. The arc-shaped groove 12 and the movable cavity 13 are evenly distributed. The surface of the engaging ball 15 is slidably connected with the movable cavity 13. The end of the engaging ball 15 away from the compression spring 14 extends to the outside of the movable cavity 13 and is adapted to the arc-shaped groove 12. The connecting frame 10 of the flexible sensing module 11 can be engaged with the sensor housing 2 (the flexible sensing module 11 is modularly designed and is made of different materials). The compression spring 14 can drive the engaging ball 15 to fit tightly against the arc-shaped groove 12, which can ensure the stability of the engagement between the connecting frame 10 and the sensor housing 2 (the flexible sensing module 11 is relatively light and is usually subjected to compression force, which meets the connection force strength). It is convenient to replace the flexible sensing module 11 with different materials and shapes, so as to realize the modular combination and matching of flexible sensing components.

[0027] During operation, the drive component 1 is installed on the processing equipment. The drive component 1 moves the array positioning plate 4, causing the flexible sensing module 11 to fit against the workpiece and transmit data information to the equipment terminal system, facilitating system control for positioning. The sensor housing 2 is inserted into the mounting slot 5 at the required position, allowing the magnetic plate 8 to adhere to the array positioning plate 4. Simultaneously, the first connecting hole 16 aligns with the second connecting hole 17, facilitating the fixation of the sensor housing 2. The modular mounting slots 5, distributed in an array, work with the modular visual and tactile sensors, allowing users to customize the tactile sensing area and set the installation position of the sensor housing 2 according to specific processing requirements. The connecting frame 10 of the flexible sensing module 11 is engaged with the sensor housing 2, and the compression spring 14 drives the engaging ball 15 to tightly fit the arc-shaped groove 12, ensuring the stability of the engagement between the connecting frame 10 and the sensor housing 2. This also allows for flexible disassembly and assembly of the flexible sensing module 11, facilitating the replacement of flexible sensing modules 11 with different materials and shapes, and enabling modular combination of flexible sensing components.

[0028] Through the above steps, the sensor housing 2 is inserted into the mounting slot 5 at the required position, allowing the magnetic plate 8 to adhere to the array positioning plate 4. Simultaneously, the connecting holes 16 and 17 facilitate fixation. The modular mounting slots 5, distributed across the array, work in conjunction with the modular visual-tactile sensor, allowing users to customize the tactile sensing area. The modular design allows for the free addition or reduction of the number of sensing units, enabling dynamic adjustment of the tactile sensing area to meet the needs of different application scenarios. The installation position of the sensor housing 2 can be set according to specific processing requirements, addressing the issue that the tactile sensing area of ​​the visual-tactile sensor positioning device is relatively fixed, making it difficult to set the tactile sensing area according to specific needs, thus affecting the ease of use of the positioning device.

Claims

1. A modular visual-tactile sensor positioning device, comprising a driving component (1), characterized in that: It also includes a sensor housing (2), a connecting frame (3) fixedly installed at the output end of the drive unit (1), an array positioning plate (4) fixedly installed at the upper end of the connecting frame (3), a module mounting slot (5) opened at the upper end of the array positioning plate (4), a slot (6) opened inside the module mounting slot (5), a connecting plate one (7) fixedly installed at the lower end of the array positioning plate (4) on the side of the slot (6), a magnetic suction plate (8) fixedly installed at the lower end of the sensor housing (2), and a connecting plate two (9) fixedly installed at the lower end of the magnetic suction plate (8). (7) has a connecting hole 1 (16) on its inner side, and a connecting hole 2 (17) is provided on the inner side of the connecting plate 2 (9). A connecting frame (10) is provided at the upper end of the sensor housing (2). A flexible sensing module (11) is fixedly installed at the upper end of the connecting frame (10). An arc-shaped groove (12) is provided on the inner side of the connecting frame (10). A movable cavity (13) is provided on the side of the sensor housing (2). A compression spring (14) is fixedly installed inside the movable cavity (13). A locking ball (15) is fixedly installed on the compression spring (14).

2. The modular visual-tactile sensor positioning device according to claim 1, characterized in that: The driving component (1) drives the connecting frame (3) and the array positioning plate (4) to move, and the module mounting slots (5) are evenly distributed.

3. The modular visual-tactile sensor positioning device according to claim 2, characterized in that: The sensor housing (2) and the magnetic plate (8) are both engaged with the module mounting slot (5), and the magnetic plate (8) can attract the array positioning plate (4).

4. The modular visual-tactile sensor positioning device according to claim 3, characterized in that: The connecting plate 2 (9) is slidably connected to the slot (6), and the module mounting slot (5) has a wiring slot (18) located on the side of the slot (6).

5. The modular visual-tactile sensor positioning device according to claim 4, characterized in that: Connecting plate 1 (7) and connecting plate 2 (9) are fitted together, and connecting hole 1 (16) and connecting hole 2 (17) are connected to each other.

6. The modular visual-tactile sensor positioning device according to claim 1, characterized in that: The connecting frame (10) is snapped into the sensor housing (2), and the arc-shaped groove (12) and the movable cavity (13) are evenly distributed.

7. The modular visual-tactile sensor positioning device according to claim 6, characterized in that: The surface of the locking ball (15) is slidably connected to the movable cavity (13), and the end of the locking ball (15) away from the compression spring (14) extends to the outside of the movable cavity (13) and is adapted to the arc-shaped groove (12).

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