A tactile sensor

Abstract

The utility model relates to a kind of tactile sensor, belong to robot sensor technical field.The utility model is cooperated by setting spacing piece, elastic steel sheet and the detection groove and ranging sensor on pedestal, forms a kind of only elastic steel sheet contact part is pressed to carry out the data detection of the relative position of contact object tactile sensor equipment, overall structure is compact and with contact part with steel material as main, robust, not only can cope with high temperature, high humidity environment, but also can greatly save cost, simultaneously, the utility model each component manufacturing production difficulty is lower, suitable for mass production, also suitable for in multiple scene use such as outdoor construction site.

Description

Technical Field

[0001] This utility model relates to a tactile sensor and belongs to the field of robot sensor technology. Background Technology

[0002] Tactile sensors are sensors used in robots to mimic the function of touch. They can be classified according to function into contact sensors, force-torque sensors, pressure sensors, and slip sensors, etc.

[0003] Currently, the main technologies used in robot tactile sensors on the market include visual tactile technology, which converts tactile signals into visual signals using the principle of light field deformation; piezoresistive technology; and force sensing technology. Among these, visual tactile technology is too expensive and not easy to mass-produce; while the flexible materials such as PDMS and PVA used in piezoresistive technology (electronic skin) also have limited lifespan when in contact with rough and hard objects such as reinforced concrete, and cannot work in high temperature and high humidity environments. Although the cost is lower than that of visual tactile sensors, it still reaches several thousand yuan per hand (with mature production lines), which is still a certain cost burden; and force sensing technology cannot accurately sense the relative position of the object and the sensor, but can only identify the magnitude and direction of the force, which is relatively limited in its detection capabilities.

[0004] Therefore, there is an urgent need to find a tactile sensor that can save costs and detect distance in high temperature and high humidity environments. Utility Model Content

[0005] To address the aforementioned issues, this invention proposes a tactile sensor that is extremely inexpensive (below 500 yuan) and simple to manufacture (no mature production line required). The part that contacts the pressure is made of steel, resulting in a long service life. It can also function normally in environments with high temperature and high humidity, exhibiting strong robustness and making it suitable for use in outdoor construction sites and other similar scenarios.

[0006] This utility model provides a tactile sensor, including:

[0007] The base has a detection slot and a laser rangefinder connected to one end;

[0008] The limiting component is fixed to the base;

[0009] An elastic steel sheet is hinged to the limiting member. The elastic steel sheet has a light-blocking protrusion that can cooperate with the detection groove and a contact portion located above the light-blocking protrusion. The elastic steel sheet is also provided with an elastic element that abuts against the surface of the base.

[0010] When the contact portion of the elastic steel sheet is pressed, it pushes the light-blocking protrusion into the detection groove and compresses the elastic element. The laser rangefinder can emit a laser to the part of the light-blocking protrusion that enters the detection groove and receive feedback to measure the relative position data of the contact object. After the pressure on the contact portion is released, the elastic steel sheet will reset under the elastic action of the elastic element.

[0011] Furthermore, the upper surface of the base is provided with two ear seats, and the limiting member is disposed between the two ear seats.

[0012] Furthermore, the limiting member is a rod that passes between the two ear seats.

[0013] Furthermore, one or more elastic steel sheets are hinged to the limiting member; when multiple elastic steel sheets are hinged, the multiple elastic steel sheets are sequentially connected in series to the limiting member to form a straight arrangement.

[0014] Furthermore, the elastic steel sheet has a triangular sheet structure with a first angle, a second angle, and a third angle. The first angle is located above the second and third angles. The first angle is an acute angle and is set as a contact part. The third angle is provided with the light-blocking protrusion.

[0015] Furthermore, the second angle is an acute angle and is provided with a limiting hole, through which the limiting member is hinged.

[0016] Furthermore, the light-blocking protrusion has a first protrusion and a second protrusion connected in sequence to the third corner. The width of the first protrusion is greater than the width of the second protrusion and the width of the detection groove. The second protrusion can cooperate with the detection groove.

[0017] Furthermore, both the first and second corners are rounded; and a smooth transition is provided at the connection between the first and second protrusions.

[0018] Furthermore, the elastic element is an arc-shaped strip elastic structure connecting the second corner, and the arc-shaped bottom of the elastic element abuts against the upper surface of the base.

[0019] The beneficial effects of this utility model are:

[0020] This invention, through the combination of a limiting component, an elastic steel sheet, a detection groove on the base, and a distance sensor, forms a tactile sensor device that can detect the relative position of a contacting object simply by applying pressure to the contact part of the elastic steel sheet. The overall structure is compact, with the contact part mainly made of steel, resulting in strong robustness. It can not only cope with high temperature and high humidity environments but also greatly save costs. Furthermore, the manufacturing difficulty of each component of this invention is relatively low, making it suitable for mass production and application in various scenarios such as outdoor construction sites. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure in one embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram illustrating the cooperation between a single elastic steel sheet and a detection groove in one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the laser path of the laser ranging sensor in one embodiment of the present invention;

[0024] In the diagram: 1. Base; 2. Limiting component; 3. Elastic steel sheet; 4. Laser rangefinder sensor; 11. Detection groove; 12. Ear seat; 31. First corner; 32. Second corner; 33. Third corner; 331. First protrusion; 332. Second protrusion; 34. Elastic component; 41. Laser emission port; 42. Laser receiving port. Detailed Implementation

[0025] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Specifically, the terms "first position" and "second position" refer to two different positions.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] like Figures 1-3As shown, this utility model provides a tactile sensor, including a base 1, a limiting member 2, and an elastic steel sheet 3 mounted on the base 1, wherein:

[0029] exist Figures 1-2 In the example, the base 1 is a rectangular block structure, and a detection groove 11 is provided on one side of its upper surface. A laser rangefinder 4 is connected to one end of the detection groove 11 along its length. The upper surface of the base 1 is also provided with two ear seats 12. Preferably, the detection groove 11 is a rectangular groove structure that runs through both sides of the base.

[0030] exist Figures 1-2 In the example, the limiting member 2 is a rod that passes between the two ear seats 12, serving as the hinge axis of the elastic steel sheet 3.

[0031] In some embodiments, one or more elastic steel sheets 3 can be hinged to the limiting member 2 in an interlocking manner. Figure 1 and Figure 3 In the example, multiple elastic steel sheets 3 are hinged to the limiting member 2 in an interlocking manner. The multiple elastic steel sheets 3 are connected in series to the limiting member 2 to form a straight arrangement, which allows for a larger pressure contact range to touch the object.

[0032] An elastic steel sheet 3, hinged to the limiting member 2, has a light-blocking protrusion that can cooperate with the detection groove 11 and a contact portion located above the light-blocking protrusion. The elastic steel sheet 3 is also provided with an elastic element that abuts against the surface of the base. Figure 2 In the example, the elastic steel sheet is a triangular sheet structure with a first angle 31, a second angle 32, and a third angle 33. The first angle 31 is located above the second angle 32 and the third angle 33. The first angle 31 is an acute angle and is set as a contact part. The third angle 33 is provided with the light-blocking protrusion.

[0033] Furthermore, the light-blocking protrusion has a first protrusion 331 and a second protrusion 332 connected sequentially to the third corner 33. Both the first protrusion 331 and the second protrusion 332 are irregular curved surface structures. The width of the first protrusion 331 is greater than the width of the second protrusion 332 and the width of the detection groove 11. With this arrangement, the first protrusion 331 cannot enter the detection groove 11, only the second protrusion 332 can enter the detection groove 11, and the second protrusion 332 can cooperate with the detection groove 11. The first protrusion 331 also serves to limit the cooperation depth of the entire light-blocking protrusion, preventing the light-blocking protrusion from sinking too deeply into the detection groove 11 and becoming difficult to reset. The second corner 32 is an acute angle and is provided with a limiting hole, through which the limiting member 2 is hinged.

[0034] Preferably, both the first corner 31 and the second corner 32 are rounded. The rounded corner 31 facilitates contact with curved surfaces and prevents the contact area from being too small when encountering curved surfaces. The rounded corner 32 facilitates the rotation of the entire elastic steel sheet 3 and prevents interference between the rotation and the upper surface of the base 1. The connection between the first protrusion 331 and the second protrusion 332 is provided with a smooth transition. Since the first protrusion 331 can limit the mating depth of the light-blocking protrusion in the detection groove 11, when the second protrusion 332 is fully inserted into the detection groove 11, the connection between the first protrusion 331 and the second protrusion 332 will slightly collide with the upper surface of the base 1 and then abut, thus forming a restriction. The smooth transition can reduce the wear on this connection.

[0035] Furthermore, the elastic element 34 is an arc-shaped strip elastic structure connecting the second corner, and the arc-shaped bottom of the elastic element 34 abuts against the upper surface of the base 1.

[0036] exist Figure 3 In the example, the laser rangefinder 4 has a laser emission port 41 and a laser receiving port 42, with the laser emission port 41 located above the laser emission port 42. When the contact portion of the elastic steel sheet 3 is pressed, it pushes the second protrusion 332 of the light-blocking protrusion into the detection groove 11 and simultaneously compresses the elastic element 34. After the elastic element 34 is deformed under pressure, it accumulates elastic potential energy. The laser rangefinder 4 can emit laser light through the laser emission port 41 to the second protrusion 332 of the light-blocking protrusion. The part of the second protrusion 332 that enters the detection groove receives and feeds back the laser light to the laser receiving port 42 to measure the relative position data of the contacting object. After the pressure on the contact portion is released, the elastic steel sheet 3 will reset under the elastic action of the elastic element 34.

[0037] Preferably, the elastic steel sheet 3 is made of stainless steel, which can effectively cope with high temperature and high humidity environments.

[0038] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the claims.

Claims

1. A tactile sensor, characterized in that, include: The base has a detection slot and a laser rangefinder connected to one end; The limiting component is fixed to the base; An elastic steel sheet is hinged to the limiting member. The elastic steel sheet has a light-blocking protrusion that can cooperate with the detection groove and a contact portion located above the light-blocking protrusion. The elastic steel sheet is also provided with an elastic element that abuts against the surface of the base. When the contact portion of the elastic steel sheet is pressed, it pushes the light-blocking protrusion into the detection groove and compresses the elastic element. The laser rangefinder can emit a laser to the part of the light-blocking protrusion that enters the detection groove and receive feedback to measure the relative position data of the contact object. After the pressure on the contact portion is released, the elastic steel sheet will reset under the elastic action of the elastic element.

2. The tactile sensor according to claim 1, characterized in that, The upper surface of the base is provided with two ear seats, and the limiting member is disposed between the two ear seats.

3. The tactile sensor according to claim 2, characterized in that, The limiting member is a rod that passes between the two ear seats.

4. The tactile sensor according to claim 3, characterized in that, One or more elastic steel sheets are hinged to the limiting member; when multiple elastic steel sheets are hinged, the multiple elastic steel sheets are connected in series to the limiting member to form a straight arrangement.

5. The tactile sensor according to claim 4, characterized in that, The elastic steel sheet has a triangular sheet structure with a first angle, a second angle, and a third angle. The first angle is located above the second and third angles. The first angle is an acute angle and is set as a contact part. The third angle is provided with the light-blocking protrusion.

6. The tactile sensor according to claim 5, characterized in that, The second angle is an acute angle and is provided with a limiting hole, through which the limiting member is hinged.

7. The tactile sensor according to claim 6, characterized in that, The light-blocking protrusion has a first protrusion and a second protrusion connected in sequence to the third corner. The width of the first protrusion is greater than the width of the second protrusion and the width of the detection groove. The second protrusion can fit into the detection groove.

8. The tactile sensor according to claim 7, characterized in that, Both the first and second corners are rounded; the connection between the first and second protrusions is provided with a smooth transition.

9. The tactile sensor according to claim 8, characterized in that, The elastic element is an arc-shaped strip elastic structure connecting the second corner, and the arc-shaped bottom of the elastic element abuts against the upper surface of the base.

Images