Robot vision sensor assembly with connector anti-loose structure

Abstract

The utility model provides a robot vision sensor component with connector anti -loose structure, including photoelectric module, photoelectric support, adapter support, drive board, flexible flexible flat cable, soft rubber plug, photoelectric module sets up in photoelectric support, photoelectric support is fixedly connected with adapter support, drive board is installed between photoelectric support and adapter support, and the connector of drive board is connected with the connector of photoelectric module through flexible flexible flat cable electricity, the front surface of adapter support is equipped with soft rubber plug hole post, and the soft rubber plug is installed in the soft rubber plug hole post of adapter support, and the plug cap of soft rubber plug is pasted with the connector of drive board, prevents and the flexible flexible flat cable of connector connection of drive board unfastening. Through the soft rubber plug hole post of adapter support direct positioning soft rubber plug, need not to set up anti -loose fixed structure additionally, only utilizes the elastic extrusion effect of soft rubber plug can form the lasting pasting force to drive board connector, avoids the flexible flexible flat cable and unfastening.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot vision sensor assembly with a connector anti-loosening structure. Background Technology

[0002] In robot vision sensors integrating multiple optoelectronic modules, the optoelectronic modules and the drive board are typically connected via flexible flat cables to accommodate the limited wiring space inside the sensor. During robot operation, continuous vibrations and impacts repeatedly pull on the connection points of the flexible flat cables and connectors, easily leading to cable loosening, poor contact, sensor signal interruption, and functional failure. Therefore, connector anti-loosening structures are a key technical point for ensuring the long-term operational stability of multi-module vision sensors.

[0003] Currently, most vision sensors used in robots, including BTB / ZIF connectors, lack anti-loosening structures. The absence of axial restraint between the BTB / ZIF connector and the FPC cable in the optoelectronic module makes the FPC cable prone to detachment during robot operation.

[0004] In view of this, this application designs a robot vision sensor assembly with a connector anti-loosening structure in order to overcome the above-mentioned technical problems. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the defects of low assembly efficiency, poor anti-loosening effect and large space occupation of the connector anti-loosening scheme used in the prior art for robot vision sensors, and to provide a robot vision sensor assembly with connector anti-loosening structure.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution: This utility model provides a robot vision sensor assembly with a connector anti-loosening structure. The vision sensor assembly includes a photoelectric module, a photoelectric bracket, an adapter bracket, a drive board, a flexible flat cable, and a soft rubber plug. The photoelectric module is disposed within the photoelectric bracket. The photoelectric bracket is fixedly connected to the adapter bracket. The drive board is installed between the photoelectric bracket and the adapter bracket. The connector of the drive board is electrically connected to the connector of the photoelectric module via the flexible flat cable. The front surface of the adapter bracket has a soft rubber plug hole post. The soft rubber plug is installed in the soft rubber plug hole post of the adapter bracket, and the plug cap of the soft rubber plug fits against the connector of the drive board to prevent the flexible flat cable connected to the connector of the drive board from loosening.

[0007] According to one or more embodiments of the present invention, the visual sensor assembly further includes a lens holder and a lens, the lens holder being mounted on the front of the optoelectronic module, and the lens being mounted in the lens holder.

[0008] According to one or more embodiments of the present invention, the rear surface of the lens holder is provided with a soft rubber plug post, the soft rubber plug is installed in the soft rubber plug post of the lens holder, and the plug cap of the soft rubber plug is in contact with the connector of the optoelectronic module to prevent the flexible flat cable connected to the connector of the optoelectronic module from becoming loose.

[0009] According to one or more embodiments of the present invention, the visual sensor assembly further includes a vibration damping bushing; the photoelectric bracket is provided with a fixed ear, and the adapter bracket is provided with a connecting post, the connecting post being positioned corresponding to the fixed ear; the vibration damping bushing is disposed inside the fixed ear, and the connecting post passes through the hole of the vibration damping bushing, so that the photoelectric bracket and the adapter bracket are fixedly connected.

[0010] According to one or more embodiments of the present invention, the vibration damping bushing is cylindrical, and the outer wall of the vibration damping bushing is provided with an annular groove; the fixing ear is provided with a bushing mounting part, and the bushing mounting part is engaged with the annular groove to fix the vibration damping bushing in the fixing ear.

[0011] According to one or more embodiments of the present invention, the inner wall and / or outer wall of the vibration damping bushing are provided with a plurality of protruding ribs, which are arranged in a ring array.

[0012] According to one or more embodiments of the present invention, the optoelectronic module includes an RGB module, a TOF module, and an IRLED module.

[0013] According to one or more embodiments of the present invention, the RGB module is configured with a large field-of-view lens with a diagonal field of view of 145° to 153°.

[0014] According to one or more embodiments of the present invention, a countersunk hole is formed at the position opposite to the optoelectronic module of the lens holder, and the inclined surface of the countersunk hole is a multi-level right-angle step structure.

[0015] According to one or more embodiments of the present invention, the lens installed in front of the RGB module and the IR LED module is a dual-bandpass optical lens with a wavelength of 830nm to 870nm and a visible light wavelength; the lens installed in front of the TOF module is a narrow-bandpass optical lens with a wavelength of 885nm to 925nm.

[0016] According to one or more embodiments of the present invention, thermal pads are provided on the front and rear sides of the photoelectric bracket; the thermal pad located on the front side of the photoelectric bracket is disposed between the photoelectric module and the photoelectric bracket; the thermal pad located on the rear side of the photoelectric bracket is disposed between the photoelectric bracket and the driving chip of the driving board.

[0017] According to one or more embodiments of the present invention, the rear side of the photoelectric bracket has heat dissipation fins.

[0018] The robot vision sensor assembly with connector anti-loosening structure of this utility model has at least the following advantages: 1. Strong reliability and adaptability in preventing loosening: The soft rubber plug is directly positioned through the soft rubber plug hole post on the adapter bracket, eliminating the need for additional anti-loosening fixing structures. The elastic compression of the soft rubber plug alone can form a continuous bonding force on the drive board connector. This avoids the loosening of the flexible flat cable due to robot vibration and impact without the need for additional processes such as screw tightening and glue application. At the same time, the cushioning properties of the soft rubber will not cause hard contact damage to the connector, making it suitable for the high reliability requirements of complex robot operation scenarios.

[0019] Second, the assembly efficiency is high. The soft rubber plug and the post are assembled by plug-in connection. The whole component adopts a modular stacking layout. The assembly of the connector anti-loosening structure can be completed simultaneously by assembling the photoelectric bracket, the adapter bracket and the drive board in sequence. There is no need to adjust the position of the anti-loosening component, making the mass production assembly process simpler.

[0020] Third, it has a high space utilization rate. The anti-loosening structure is fully integrated into the assembly gap between the adapter bracket and the drive board, without increasing the volume of the sensor components, which is in line with the design trend of miniaturization of robot end-side sensing components. Attached Figure Description

[0021] The above and other features, properties and advantages of this utility model will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always denote the same features, wherein: Figure 1 This is a three-dimensional exploded view of an embodiment of the robot vision sensor assembly with connector anti-loosening structure, along with a power board and power bracket.

[0022] Figure 2 This is a three-dimensional schematic diagram of the installation structure of a robot vision sensor assembly with a connector anti-loosening structure according to an embodiment of the present invention, along with a power board and a power bracket.

[0023] Figure 3 This is a three-dimensional exploded view of an embodiment of a robot vision sensor assembly with a connector anti-loosening structure according to the present invention.

[0024] Figure 4 This is another exploded perspective view of an embodiment of the robot vision sensor assembly with a connector anti-loosening structure according to the present invention.

[0025] Figure 5 This is a three-dimensional schematic diagram of the structure of the photoelectric bracket, photoelectric module, and lens bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0026] Figure 6a This is a three-dimensional schematic diagram of the assembled optoelectronic bracket, optoelectronic module, and lens bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0027] Figure 6b This is a cross-sectional view of the assembled optoelectronic bracket, optoelectronic module, and lens bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0028] Figure 6c This is a front view schematic diagram of the assembled photoelectric bracket, photoelectric module, and lens bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0029] Figure 7 This is a three-dimensional schematic diagram of the soft rubber plug on the front surface of the adapter bracket before installation in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0030] Figure 8a This is a three-dimensional schematic diagram of the soft rubber plug on the front surface of the adapter bracket after installation in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0031] Figure 8b This is a cross-sectional view of the installation position of the soft rubber plug on the front surface of the adapter bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0032] Figure 8c This is a longitudinal cross-sectional view of the installation position of the soft rubber plug on the front surface of the adapter bracket in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0033] Figure 9a This is a three-dimensional schematic diagram of the field of view of the RGB module in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0034] Figure 9b This is a top view of the field of view of the RGB module in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0035] Figure 10 This is a three-dimensional schematic diagram of a robot vision sensor assembly with a connector anti-loosening structure according to this utility model before lens installation.

[0036] Figure 11a This is a three-dimensional schematic diagram of a robot vision sensor assembly with a connector anti-loosening structure according to the present invention after the lens is installed.

[0037] Figure 11b This is a cross-sectional view of a robot vision sensor assembly with a connector anti-loosening structure according to the present invention after the lens is installed.

[0038] Figure 12 This is a three-dimensional schematic diagram of a robot vision sensor assembly with a connector anti-loosening structure according to this utility model before the installation of the vibration damping bushing.

[0039] Figure 13 This is a three-dimensional schematic diagram of the installation of the vibration damping bushing in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0040] Figure 14a This is a side view of a vibration damping bushing in one embodiment of a robot vision sensor assembly with a connector anti-loosening structure according to the present invention.

[0041] Figure 14b This is a cross-sectional schematic diagram of the vibration damping bushing in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0042] Figure 14c This is a top view schematic diagram of the vibration damping bushing in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0043] Figure 14d This is a three-dimensional schematic diagram of a vibration damping bushing in one embodiment of a robot vision sensor assembly with a connector anti-loosening structure according to the present invention.

[0044] Figure 15 This is a schematic diagram of the heat dissipation structure in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0045] Figure 16 This is a three-dimensional schematic diagram of the soft rubber plug on the rear surface of the lens holder before installation in one embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model.

[0046] [Attached image labels]

[0047] 10. Optoelectronic bracket

[0048] 11. Fix the ear socket

[0049] 12. Bushing Installation Section

[0050] 13. Heat dissipation fins

[0051] 20. Thermal pads

[0052] 30. Optoelectronic Module

[0053] 31. RGB Module

[0054] 32. TOF Module

[0055] 33. IR LED Module

[0056] 40. Soft rubber stopper

[0057] 41. Soft rubber plug post

[0058] 42. Cap

[0059] 43. First soft rubber stopper

[0060] 44. Second soft rubber stopper

[0061] 50. Lens frame

[0062] 51. Countersunk hole

[0063] 60. Driver board

[0064] 70. Vibration damping bushing

[0065] 71. Circular slot

[0066] 72. Ribs

[0067] 80. Double-sided adhesive for lenses

[0068] 90. Lenses

[0069] 91. First Lens

[0070] 92. Second lens

[0071] 100. Adapter bracket

[0072] 101. Connecting column

[0073] 110. Power Board

[0074] 120. Power Supply Bracket

[0075] 130. Outer Cover

[0076] 140. Flexible flat cable Detailed Implementation

[0077] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0078] Reference will now be made in detail to preferred embodiments of the present invention, examples of which are shown in the accompanying drawings. Wherever possible, the same reference numerals will be used in all drawings to denote the same or similar parts. Furthermore, although the terminology used in this invention is selected from commonly known and used terminology, some terms mentioned in this specification may have been chosen by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of the description herein. Moreover, the invention should be understood not only by the actual terminology used, but also by the meaning implied by each term. Also, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.

[0079] See Figures 1-16 This utility model provides a robot vision sensor assembly with a connector anti-loosening structure. The vision sensor assembly includes a photoelectric module 30, a photoelectric bracket 10, an adapter bracket 100, a drive board 60, a flexible flat cable 140, and a soft rubber plug 40.

[0080] The photoelectric module 30 is disposed within the photoelectric bracket 10.

[0081] The photoelectric bracket 10 is fixedly connected to the adapter bracket 100, the drive board 60 is installed between the photoelectric bracket 10 and the adapter bracket 100, and the connector of the drive board 60 is electrically connected to the connector of the photoelectric module 30 through a flexible flat cable 140.

[0082] The front surface of the adapter bracket 100 is provided with a soft rubber plug post 41. The soft rubber plug 40 is installed in the soft rubber plug post 41 of the adapter bracket 100. The plug cap 42 of the soft rubber plug 40 is attached to the connector of the drive board 60 to prevent the flexible flat cable 140 connected to the connector of the drive board 60 from becoming loose.

[0083] The flexible flat cable 140 can preferably be an FPC (flexible printed circuit) cable, and the connector of the driver board 60 can be a ZIF connector of the driver board 60.

[0084] The adapter bracket 100 has a soft rubber plug hole post 41 on the front. The soft rubber plug 40 is installed in the soft rubber plug hole post 41 of the adapter bracket 100. The plug cap 42 of the soft rubber plug 40 is attached to the ZIF connector of the drive board 60 to limit the opening direction of the ZIF connector rotation lock and prevent the FPC line from loosening due to vibration.

[0085] Preferably, the present invention uses a soft rubber plug 40 installed in the soft rubber plug hole 41 of the adapter bracket 100 to achieve radial limiting, and is installed between the ZIF connector of the camera drive board 60 and the adapter bracket 100 to axially limit the opening direction of the ZIF connector rotation lock, preventing the FPC cable from loosening due to vibration.

[0086] This utility model allows for the direct installation of soft rubber plugs 40 via soft rubber plug hole posts 41 integrated on the adapter bracket 100. The connection of the flexible flat cable 140 can be prevented from loosening simply by the direct contact between the plug cap 42 of the soft rubber plug 40 and the connector of the drive board 60. This eliminates the need for additional locking screws, clips, or other complex fixing structures, greatly simplifying the assembly process and reducing material costs.

[0087] Meanwhile, the flexible contact of the soft rubber plug 40 will not damage the connector and the flexible flat cable 140, adapting to the vibration conditions in robot operation scenarios, effectively avoiding visual signal interruption failures caused by loose flat cables, and improving the operational reliability of sensor components.

[0088] In addition, the structural design of the soft rubber plug 40 and the soft rubber plug hole post 41 is highly compatible with the original assembly structure of the photoelectric bracket 10 and the adapter bracket 100, without increasing the overall volume of the sensor assembly, and can be compatible with the miniaturization layout requirements of existing robot vision sensors.

[0089] See Figure 1 , Figure 3 , Figure 4 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of the present invention, the vision sensor assembly further includes a lens holder 50 and a lens 90. The lens holder 50 is installed at the front of the optoelectronic module 30, and the lens 90 is installed in the lens holder 50.

[0090] Preferably, the lens holder 50 and the lens 90 are fixed together by lens double-sided adhesive tape 80.

[0091] See Figure 4 , Figure 16 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, the rear surface of the lens holder 50 is provided with a soft rubber plug post 41, the soft rubber plug 40 is installed in the soft rubber plug post 41 of the lens holder 50, and the plug cap 42 of the soft rubber plug 40 is attached to the connector of the optoelectronic module 30 to prevent the flexible flat cable 140 connected to the connector of the optoelectronic module 30 from loosening.

[0092] By integrating a hole-post structure that adapts to the soft rubber plug 40 on the lens holder 50, the plug cap 42 of the soft rubber plug 40 directly abuts against the connector of the optoelectronic module 30, achieving the anti-loosening effect of the flexible flat cable 140 connection without the need for additional anti-loosening fasteners. This simplifies the assembly process, reduces material costs, and the flexible contact of the soft rubber can avoid damage to the connector and flat cable. It is suitable for robot vibration operation scenarios, effectively reducing signal failures caused by flat cable loosening, without increasing the component size and adapting to miniaturized layout requirements.

[0093] like Figure 7 As shown, the adapter bracket 100 has a soft rubber plug hole 41 on its front side, and the soft rubber plug 40 therein is the first soft rubber plug 43. Figure 4 , Figure 16 As shown, the rear surface of the lens holder 50 is provided with a soft rubber plug hole post 41, wherein the soft rubber plug 40 is a second soft rubber plug 44. Both the first soft rubber plug 43 and the second soft rubber plug 44 are provided with plug caps 42.

[0094] The flexible flat panel cable 140 can preferably be an FPC (flexible printed circuit) cable. The connector of the optoelectronic module 30 can be a BTB connector (board-to-board connector) of the TOF module 32, and the connector of the driver board 60 can be a ZIF connector (zero insertion force connector) of the driver board 60.

[0095] Preferably, the vision sensor assembly includes a lens holder 50, an optoelectronic module 30 and an FPC line, an optoelectronic bracket 10, a driver board 60 and an adapter bracket 100, and a soft rubber plug 40.

[0096] A soft rubber plug post 41 is opened on the back of the lens holder 50. The soft rubber plug 40 is installed in the soft rubber plug post 41 of the lens holder 50. The plug cap 42 of the soft rubber plug 40 is attached to the BTB connector of the TOF module 32 to limit the pull-out direction of the BTB connector and prevent the FPC line from loosening due to vibration.

[0097] The adapter bracket 100 has a soft rubber plug hole post 41 on the front. The soft rubber plug 40 is installed in the soft rubber plug hole post 41 of the adapter bracket 100. The plug cap 42 of the soft rubber plug 40 is attached to the ZIF connector of the drive board 60 to limit the opening direction of the ZIF connector rotation lock and prevent the FPC line from loosening due to vibration.

[0098] Preferably, the present invention uses a soft rubber plug 40 installed in the soft rubber plug hole post 41 of the lens holder 50 to achieve radial limiting, and is installed between the BTB connector of the TOF module 32 and the lens holder 50 to limit the pull-out direction of the BTB connector, prevent the FPC line from loosening due to vibration, and isolate rigid vibration.

[0099] Preferably, the present invention uses a soft rubber plug 40 installed in the soft rubber plug hole 41 of the adapter bracket 100 to achieve radial limiting, and is installed on the ZIF connector of the camera drive board 60 and the adapter bracket 100 to limit the opening direction of the ZIF connector rotation lock, preventing the FPC cable from loosening due to vibration.

[0100] See Figures 12-14d As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of the present invention, the vision sensor assembly further includes a vibration damping bushing 70.

[0101] The photoelectric bracket 10 is provided with a fixed ear seat 11, and the adapter bracket 100 is provided with a connecting post 101, the connecting post 101 and the fixed ear seat 11 are positioned corresponding to each other.

[0102] The vibration damping bushing 70 is installed inside the fixed ear seat 11, and the connecting post 101 passes through the hole of the vibration damping bushing 70, so that the photoelectric bracket 10 and the adapter bracket 100 are fixedly connected.

[0103] See Figures 12-14d As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, the vibration damping bushing 70 is cylindrical, and the outer wall of the vibration damping bushing 70 is provided with an annular groove 71.

[0104] The fixed ear seat 11 is provided with a bushing mounting part 12, which engages with the annular groove 71 to fix the vibration damping bushing 70 inside the fixed ear seat 11.

[0105] like Figure 12 As shown, the bushing mounting portion 12 is designed as an open C-shaped structure, which allows the vibration damping bushing 70 to be easily inserted. The bushing mounting portion 12 can also be designed as a closed O-shaped structure, utilizing the elasticity of the vibration damping bushing 70 to insert it into the bushing mounting portion 12.

[0106] See Figure 12 , Figure 13 , Figures 14a-14d As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of the present invention, the inner wall and / or outer wall of the vibration damping bushing 70 are provided with a plurality of protruding ribs 72, which are arranged in a ring array.

[0107] Preferably, the raised ribs 72 can be provided on the inner wall, outer wall, or both inner and outer walls of the vibration damping bushing 70. The elastic deformation of the ribs 72 reduces the vibration experienced by the photoelectric module 30.

[0108] Preferably, the fixing lug 11 of the optoelectronic bracket 10, which is locked to the adapter bracket 100, is provided with a soft rubber damping bushing 70. The inner ring of the soft rubber damping bushing is provided with raised ribs 72 in a ring array, which can reduce the contact area and increase the buffer and damping space.

[0109] Preferably, the connecting post 101 has an internal threaded hole; by inserting a bolt through the hole of the vibration damping bushing 70, it engages with the internal threaded hole of the connecting post 101, so that the photoelectric bracket 10 and the adapter bracket 100 are clamped and fixed.

[0110] Preferably, the vision sensor assembly includes a photoelectric module 30, a photoelectric bracket 10, a vibration damping bushing 70, and an adapter bracket 100. The photoelectric bracket 10 is disposed within the housing and has positioning holes. The photoelectric module 30 preferably includes an electrically connected RGB module 31, a TOF module 32, and an IR LED module 33. The RGB module 31, TOF module 32, and IR LED module 33 are disposed within the photoelectric bracket 10, and the driver board 60 is disposed on the back side of the photoelectric bracket 10.

[0111] The vibration damping structure includes a vibration damping bushing 70, a fixing lug 11, and a connecting post 101 connected to the inner hole of the vibration damping bushing 70. The connecting post 101 can preferably be a stud. The vibration damping bushing 70 is disposed on the fixing lug 11 of the photoelectric bracket 10. The stud of the adapter bracket 100 passes through the hole of the vibration damping bushing 70 so as to reduce the vibration of the photoelectric module 30 by the elastic deformation of the protruding ribs 72 in the hole of the vibration damping bushing 70.

[0112] The above-described design of this utility model can effectively improve the vibration resistance of the equipment, meet the vibration resistance requirements of humanoid robots, improve the accuracy and reliability of sensors, reduce the failure rate and ensure service life.

[0113] See Figure 5 , Figures 6a-6c As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, the photoelectric module 30 includes an RGB module 31, a TOF module 32 (Time of Flight Module), and an IR LED module 33 (Infrared Light Emitting Diode Module).

[0114] The RGB module 31 is a visual acquisition device used to capture color images; its core function is to accurately capture color image information in a scene. The RGB module 31 is positioned on the left and right sides of the visual sensor assembly, simulating binocular vision. The TOF module 32 is used for distance measurement. The IR LED module 33 enables night vision through infrared light.

[0115] In a preferred embodiment of the robot vision sensor assembly with a connector anti-loosening structure of this utility model, the RGB module 31 is equipped with a large field of view lens with a diagonal field of view of 145° to 153°. The preferred field of view is 149°.

[0116] Existing binocular cameras used for robots generally have a field of view (FOV) of less than 90°. This limits the robot's safe visual range of the environment, making it unable to effectively prevent unnecessary accidents and risks.

[0117] With the RGB module 31 positioned on the left and right sides of the vision sensor assembly, the RGB module 31 uses a large FOV (FOV-D149°) lens to improve the robot's safe visual perception range of the environment and prevent unnecessary accidents and risks.

[0118] See Figure 10 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, a countersunk hole 51 is opened at the position opposite to the photoelectric module 30, and the inclined surface of the countersunk hole 51 is a multi-level right-angle step structure.

[0119] The existing lens holder 50 for a vision sensor used in robots has a countersunk hole design with a flat bevel. When ambient light is projected onto the bevel and reflected into the photosensitive element of the photoelectric module 30, it will cause light signal interference.

[0120] Preferably, the countersunk hole 51 is located opposite to the TOF module 32. The beveled surface of the countersunk hole 51 is designed as a multi-level right-angle step, which can prevent ambient light from being projected onto the beveled surface and reflected into the photosensitive element of the photoelectric module 30, so as to avoid optical signal interference.

[0121] See Figure 10 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, the lens 90 installed in front of the RGB module 31 and the IR LED module 33 adopts a dual bandpass optical lens with wavelengths of 840nm to 860nm and visible light wavelengths; the lens 90 installed in front of the TOF module 32 adopts a narrow bandpass optical lens with wavelengths of 895nm to 915nm.

[0122] It should be noted that the lens 90 installed in front of the RGB module 31 and the IR LED module 33 is the first lens 91, and the lens 90 installed in front of the TOF module 32 is the second lens 92.

[0123] Existing vision sensors for robots generally use infrared lenses with no wavelength limitation. However, different optoelectronic modules, such as RGB and IR LED modules and TOF modules, collect infrared light with different wavelengths. Unfiltered infrared light will cause crosstalk between different optoelectronic modules, affecting the normal acquisition capability and operational stability of the module's visual signal. This invention uses filters that filter specific wavelengths, including dual-bandpass optical lenses with 850nm wavelength and visible light wavelength for RGB and IR LED modules, and a narrow-bandpass optical lens for TOF modules.

[0124] Preferably, the lenses used in the RGB module 31 and the IR LED module 33 are made of optical glass with dual bandpass of 850nm wavelength and visible light wavelength, so as to ensure that the RGB module 31 can filter out specific wavelengths of light during the day and night in order to improve the anti-interference capability when collecting infrared light.

[0125] The IR LED module 33's fill light is equipped with an 850nm wavelength and a visible light dual-band transparent filter to filter the effective light in the working environment, enabling nighttime detection.

[0126] The RGB module 31's sensor lens is equipped with an 850nm wavelength and a dual-band transparent filter for visible light to filter out effective light in the working environment, enabling all-weather detection.

[0127] Preferably, the lens used in the TOF module 32 is made of 905nm wavelength narrow-bandpass optical glass to ensure that the TOF transmitter and receiver can filter out specific wavelengths of light in order to improve the anti-interference capability when collecting infrared light.

[0128] The TOF sensor's transmitter and receiver are equipped with 905nm narrowband light filters to filter the effective light in the working environment.

[0129] Preferably, this invention employs a filter lens that filters specific wavelengths, including a dual-bandpass optical lens with 850nm wavelength and visible light wavelength for the RGB module and IR LED module, and a narrow-bandpass optical lens for the TOF module. The lens for the RGB module 31 uses dual-bandpass optical glass with 850nm wavelength and visible light wavelength, ensuring that the RGB module can filter specific wavelengths of light during both day and night, effectively improving anti-interference capabilities during infrared light acquisition. The lens for the TOF module 32 uses narrow-bandpass optical glass with 905nm wavelength, ensuring that the TOF transmitter and receiver can filter specific wavelengths of light, effectively improving anti-interference capabilities during infrared light acquisition.

[0130] See Figure 15 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of this utility model, heat-conducting pads 20 are provided on the front and rear sides of the photoelectric bracket 10.

[0131] A thermal pad 20 located on the front side of the photoelectric bracket 10 is disposed between the photoelectric module 30 and the photoelectric bracket 10; a thermal pad 20 located on the rear side of the photoelectric bracket 10 is disposed between the photoelectric bracket 10 and the driving chip of the driving board 60.

[0132] Preferably, the vision sensor assembly includes a lens holder 50, an optoelectronic module 30, a high thermal conductivity pad, an optoelectronic bracket 10, and a driver board 60. The high thermal conductivity pad on the front side of the optoelectronic bracket 10 is installed between the RGB module 31, the TOF module 32, and the optoelectronic bracket 10, and the high thermal conductivity pad on the rear side of the optoelectronic bracket 10 is installed between the optoelectronic bracket 10 and the driver chip of the driver board 60.

[0133] The optoelectronic module 30 will heat up during long-term operation. If the heat cannot be dissipated and conducted into the air in time, the prolonged high temperature will cause the optoelectronic module 30 to fail, increasing the failure rate and reducing its service life.

[0134] This invention uses a high thermal conductivity pad with a thermal conductivity greater than 18 W / (m·K). The high thermal conductivity pad on the front side of the optoelectronic bracket 10 is installed between the RGB module 31, the TOF module 32 and the optoelectronic bracket 10, and the high thermal conductivity pad on the rear side of the optoelectronic bracket 10 is installed between the optoelectronic bracket 10 and the driver chip of the driver board 60.

[0135] Preferably, efficient heat dissipation is achieved between the photoelectric bracket 10 and the metal sheet on the back of the photoelectric module 30 by bonding a thermally conductive pad 20 with a high thermal conductivity (18.6 W / (m·K)) aluminum nitride formulation. Efficient heat dissipation is also achieved between the photoelectric bracket 10 and the driver chip of the driver board 60 by bonding a thermally conductive pad 20 with a high thermal conductivity (18.6 W / (m·K)) aluminum nitride formulation. Typically, ordinary thermally conductive pads 20 often use a low thermal conductivity (3~6 W / (m·K)) spherical alumina formulation.

[0136] See Figure 15 As a preferred embodiment of the robot vision sensor assembly with connector anti-loosening structure of the present invention, the photoelectric bracket 10 has heat dissipation fins 13 on the rear side.

[0137] Preferably, the vision sensor assembly is made of aluminum alloy with high thermal conductivity. The back side of the sensor mounting surface is designed with heat dissipation fins 13, which can effectively conduct and diffuse the high heat near the photoelectric module 30 into the air, avoiding local heat concentration. The fins are preferably arranged vertically, which is more conducive to heat rising and diffusion.

[0138] Preferably, the robot vision sensor assembly with connector anti-loosening structure of this invention further includes a power board 110 and a power bracket 120, which are mounted on the rear side of the adapter bracket 100, with the power board 110 positioned between the power bracket 120 and the adapter bracket 100. The robot vision sensor assembly with connector anti-loosening structure of this invention also includes an outer cover 130, which is mounted on the front of the photoelectric bracket 10.

[0139] Preferably, the robot vision sensor assembly with connector anti-loosening structure of this invention is applied to bipedal robots, especially suitable for home-use bipedal companion robots. This vision sensor assembly can be installed on the head or chest of the bipedal robot.

[0140] In summary, the robot vision sensor assembly of this utility model has significant advantages. In terms of connection reliability, by installing the soft rubber plug 40 through the soft rubber plug hole post 41 on the adapter bracket 100 or lens bracket 50, the plug cap 42 of the soft rubber plug 40 can directly fit the corresponding connector, which can effectively prevent the flexible flat cable 140 from becoming loose, greatly reduce the risk of electrical connection failure, and adapt to the stability requirements of complex robot operation scenarios.

[0141] In terms of vibration reduction and protection, a vibration-damping bushing 70 with an annular groove 71 and ribs 72 is set in the fixing ear seat 11 of the photoelectric bracket 10. The connecting column 101 of the adapter bracket 100 passes through the vibration-damping bushing 70 to fix the two. This not only improves the ease of assembly, but also buffers the interference of external vibration on the internal photoelectric module 30, ensuring the accuracy of visual acquisition.

[0142] In terms of optical performance, it adopts a multi-sensor combination of RGB module 31, TOF module 32 and IR LED module 33, paired with a 145° to 153° wide field of view RGB lens, as well as corresponding dual bandpass and narrow bandpass optical lenses. At the same time, the countersunk hole 51 of the lens bracket 50 adopts a multi-level right-angle step structure to reduce stray light interference, which can take into account the wide field of view coverage, accurate depth detection and optical anti-interference capabilities, and the data acquisition quality is better.

[0143] In terms of heat dissipation reliability, thermal pads 20 are set on the front and rear sides of the optoelectronic bracket 10 to conduct heat to the optoelectronic module 30 and the driving chip of the driver board 60. Combined with the heat dissipation fins 13 on the rear side, the heat dissipation efficiency is enhanced, which can avoid the overheating failure of components under high load operation and extend the service life of the components.

[0144] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A robot vision sensor assembly with a connector anti-loosening structure, characterized in that, The vision sensor assembly includes an optoelectronic module, an optoelectronic bracket, an adapter bracket, a driver board, a flexible flat cable, and a soft rubber plug; The optoelectronic module is disposed within the optoelectronic bracket; The photoelectric bracket is fixedly connected to the adapter bracket, the drive board is installed between the photoelectric bracket and the adapter bracket, and the connector of the drive board is electrically connected to the connector of the photoelectric module through a flexible flat cable. The front surface of the adapter bracket is provided with a soft rubber plug hole post. The soft rubber plug is installed in the soft rubber plug hole post of the adapter bracket. The plug cap of the soft rubber plug is in contact with the connector of the drive board to prevent the flexible flat cable connected to the connector of the drive board from becoming loose.

2. The robot vision sensor assembly with connector anti-loosening structure as described in claim 1, characterized in that, The visual sensor assembly also includes a lens holder and a lens, the lens holder being mounted on the front of the optoelectronic module and the lens being mounted in the lens holder.

3. The robot vision sensor assembly with connector anti-loosening structure as described in claim 2, characterized in that, The rear surface of the lens holder is provided with a soft rubber plug post. The soft rubber plug is installed in the soft rubber plug post of the lens holder. The plug cap of the soft rubber plug is in contact with the connector of the optoelectronic module to prevent the flexible flat cable connected to the connector of the optoelectronic module from becoming loose.

4. The robot vision sensor assembly with connector anti-loosening structure as described in claim 1, characterized in that, The vision sensor assembly also includes a vibration damping bushing; The photoelectric bracket is provided with a fixed ear seat, and the adapter bracket is provided with a connecting post, the connecting post being positioned corresponding to the fixed ear seat; The vibration damping bushing is disposed inside the fixed lug, and the connecting post passes through the hole of the vibration damping bushing, so that the photoelectric bracket and the adapter bracket are fixedly connected.

5. The robot vision sensor assembly with connector anti-loosening structure as described in claim 4, characterized in that, The vibration damping bushing is cylindrical, and an annular groove is provided on the outer wall of the vibration damping bushing; The fixed ear seat is provided with a bushing mounting part, which engages with the annular groove to fix the vibration damping bushing inside the fixed ear seat.

6. The robot vision sensor assembly with connector anti-loosening structure as described in claim 5, characterized in that, The inner and / or outer walls of the vibration damping bushing are provided with a number of raised ribs, which are arranged in a ring array.

7. The robot vision sensor assembly with connector anti-loosening structure as described in claim 2, characterized in that, The optoelectronic module includes an RGB module, a TOF module, and an IR LED module.

8. The robot vision sensor assembly with connector anti-loosening structure as described in claim 7, characterized in that, The RGB module is equipped with a large field-of-view lens with a diagonal field of view of 145° to 153°.

9. The robot vision sensor assembly with connector anti-loosening structure as described in claim 2, characterized in that, A countersunk hole is formed at the position opposite to the optoelectronic module of the lens holder, and the inclined surface of the countersunk hole has a multi-level right-angle step structure.

10. The robot vision sensor assembly with connector anti-loosening structure as described in claim 7, characterized in that, The lenses installed in front of the RGB module and IR LED module are dual-bandpass optical lenses with wavelengths of 830nm to 870nm and visible light wavelengths; the lenses installed in front of the TOF module are narrow-bandpass optical lenses with wavelengths of 885nm to 925nm.

11. The robot vision sensor assembly with connector anti-loosening structure as described in claim 1, characterized in that, Thermal pads are provided on the front and rear sides of the photoelectric bracket; The thermal pad located on the front side of the photoelectric bracket is disposed between the photoelectric module and the photoelectric bracket; A thermally conductive pad located on the rear side of the photoelectric bracket is disposed between the photoelectric bracket and the driving chip of the driving board.

12. The robot vision sensor assembly with connector anti-loosening structure as described in claim 1, characterized in that, The rear side of the photoelectric bracket has heat dissipation fins.

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