Robotic vision sensor assembly with vibration damping structure

Abstract

This invention provides a robot vision sensor assembly with a vibration damping structure, including a photoelectric module, a photoelectric bracket, a vibration damping bushing, and an adapter bracket. The photoelectric module is disposed within the photoelectric bracket. The photoelectric bracket has a fixed lug, and the adapter bracket has a connecting post, the connecting post corresponding to the fixed lug. The vibration damping bushing is disposed within the fixed lug, and the connecting post passes through a hole in the vibration damping bushing, thus fixing the photoelectric bracket and the adapter bracket together. This invention offers strong vibration damping protection with high adaptability. By adding a vibration damping bushing between the fixed lug of the photoelectric bracket and the connecting post of the adapter bracket, it avoids visual blurring and data deviation caused by vibration, significantly improving the stability and accuracy of sensor data in complex usage scenarios.

Description

Technical Field

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

[0002] Robot vision sensors are core components for environmental perception and spatial positioning, and their imaging accuracy and data acquisition stability directly determine the reliability of robot operations. During robot movement and mechanism operation, continuous vibration or instantaneous impact is inevitable. If the vibration is directly transmitted to the photoelectric core components of the vision sensor, it will lead to blurred imaging, decreased ranging accuracy, and distorted data acquisition. Long-term vibration can also cause loosening of internal component connections, significantly shortening the sensor's lifespan. Therefore, vibration reduction structures are one of the core optimization directions in robot vision sensor design.

[0003] Existing binocular cameras used for robot vision generally lack internal vibration damping structures. This allows rigid vibrations between the binocular camera and the rigid support to be directly transmitted, reducing the device's vibration resistance, failing to meet the vibration resistance requirements of humanoid robots, reducing sensor accuracy and reliability, increasing the failure rate, and shortening its service life.

[0004] In view of this, the inventors of this application have designed a robot vision sensor assembly with a vibration reduction 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 defect that existing robot vision sensors do not have a vibration reduction structure, and to provide a robot vision sensor assembly with a vibration reduction 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 vibration damping structure. The vision sensor assembly includes a photoelectric module, a photoelectric bracket, a vibration damping bushing, and an adapter bracket. The photoelectric module is disposed within the photoelectric bracket. The photoelectric bracket has a fixed lug, and the adapter bracket has a connecting post, the connecting post corresponding to the fixed lug. The vibration damping bushing is disposed within the fixed lug, and the connecting post passes through a hole in the vibration damping bushing, thus fixing the photoelectric bracket to the adapter bracket.

[0007] 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.

[0008] 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.

[0009] According to one or more embodiments of the present invention, the connecting column has an internal threaded hole; by inserting a bolt through the hole of the vibration damping bushing, the bolt engages with the internal threaded hole of the connecting column, thereby clamping and fixing the photoelectric bracket and the adapter bracket.

[0010] According to one or more embodiments of the present invention, the optoelectronic module includes an RGB module, a TOF module, and an IRLED module.

[0011] 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°.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] According to one or more embodiments of the present invention, the vision sensor assembly further includes a drive board, which is installed between the photoelectric bracket and the adapter bracket, and is electrically connected to the photoelectric module.

[0016] According to one or more embodiments of this utility model, the connector of the drive board and the connector of the optoelectronic module are electrically connected via a flexible flat cable; the front surface of the adapter bracket is provided with a soft rubber plug post, the soft rubber plug is installed in the soft rubber plug post of the adapter bracket, and the plug cap of the soft rubber plug is fitted with the connector of the drive board to prevent the flexible flat cable connected to the connector of the drive board from becoming loose; 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 fitted with the connector of the optoelectronic module to prevent the flexible flat cable connected to the connector of the optoelectronic module from becoming loose.

[0017] 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.

[0018] According to one or more embodiments of the present invention, the rear side of the photoelectric bracket has heat dissipation fins.

[0019] The robot vision sensor assembly with vibration reduction structure of this invention has at least the following advantages: I. Strong adaptability of vibration reduction and protection effect: By adding a vibration damping bushing between the fixed ear of the photoelectric bracket and the connecting column of the adapter bracket, the vibration and impact generated during the operation of the robot can be directly buffered to be transmitted to the photoelectric module, avoiding the problems of blurred vision acquisition and data deviation caused by vibration, and greatly improving the stability and accuracy of sensor data in complex use scenarios. At the same time, the elasticity of the vibration damping bushing can offset the assembly tolerance and reduce the requirements for the precision of component processing.

[0020] Second, it has high assembly efficiency. It adopts a modular plug-in fixing structure in which the bushing is embedded in the fixing lug and the connecting post is inserted into the bushing hole. There is no need for additional anti-vibration accessories, glue application and other processes. The assembly process is simple and suitable for mass production needs.

[0021] Third, the structure has strong scalability. The vibration damping structure is fully integrated into the connection part between the photoelectric bracket and the adapter bracket, without occupying additional functional layout space inside the component. It is compatible with subsequent photoelectric modules and supporting circuit upgrades, which is in line with the design trend of miniaturization of robot end-side sensing components. Attached Figure Description

[0022] 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 vibration reduction structure of this utility model, along with a power board and a power support.

[0023] Figure 2 This is a three-dimensional schematic diagram of an embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, along with the installation structure of the power board and power bracket.

[0024] Figure 3 This is a three-dimensional exploded view of an embodiment of the robot vision sensor assembly with a vibration reduction structure according to this utility model.

[0025] Figure 4This is another exploded perspective view of an embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model.

[0026] 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 vibration reduction structure of this utility model.

[0027] Figure 6a This is a three-dimensional schematic diagram of the assembled photoelectric bracket, photoelectric module, and lens bracket in one embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model.

[0028] Figure 6b This is a cross-sectional view of the assembled photoelectric bracket, photoelectric module, and lens bracket in one embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model.

[0029] 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 vibration reduction structure of this utility model.

[0030] 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 vibration reduction structure of this utility model.

[0031] 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 vibration reduction structure of this utility model.

[0032] 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 vibration reduction structure of this utility model.

[0033] 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 vibration reduction structure of this utility model.

[0034] 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 vibration reduction structure according to this utility model.

[0035] 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 vibration reduction structure according to this utility model.

[0036] Figure 10This is a three-dimensional schematic diagram of a robot vision sensor assembly with a vibration reduction structure according to this utility model before lens installation.

[0037] Figure 11a This is a three-dimensional schematic diagram of a robot vision sensor assembly with a vibration reduction structure according to this utility model after the lens is installed.

[0038] Figure 11b This is a cross-sectional view of a robot vision sensor assembly with a vibration reduction structure according to this utility model after the lens is installed.

[0039] Figure 12 This is a three-dimensional schematic diagram of a robot vision sensor assembly with a vibration reduction structure according to this utility model before the installation of the vibration reduction bushing.

[0040] Figure 13 This is a three-dimensional schematic diagram of the robot vision sensor assembly with vibration reduction structure according to this utility model after the vibration reduction bushing is installed.

[0041] Figure 14a This is a side view of a vibration-damping bushing in one embodiment of the robot vision sensor assembly with a vibration-damping structure according to the present invention.

[0042] Figure 14b This is a cross-sectional schematic diagram of the vibration damping bushing in one embodiment of the robot vision sensor assembly with vibration damping structure of this utility model.

[0043] Figure 14c This is a top view schematic diagram of the vibration damping bushing in one embodiment of the robot vision sensor assembly with vibration damping structure of this utility model.

[0044] Figure 14d This is a three-dimensional schematic diagram of the vibration damping bushing in one embodiment of the robot vision sensor assembly with vibration damping structure of this utility model.

[0045] Figure 15 This is a schematic diagram of the heat dissipation structure in one embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model.

[0046] 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 vibration reduction structure of this utility model.

[0047] [Attached image labels]

[0048] 10. Optoelectronic bracket

[0049] 11. Fix the ear socket

[0050] 12. Bushing Installation Section

[0051] 13. Heat dissipation fins

[0052] 20. Thermal pads

[0053] 30. Optoelectronic Module

[0054] 31. RGB Module

[0055] 32. TOF Module

[0056] 33. IR LED Module

[0057] 40. Soft rubber stopper

[0058] 41. Soft rubber plug post

[0059] 42. Cap

[0060] 50. Lens frame

[0061] 51. Countersunk hole

[0062] 60. Driver board

[0063] 70. Vibration damping bushing

[0064] 71. Circular slot

[0065] 72. Ribs

[0066] 80. Double-sided adhesive for lenses

[0067] 90. Lenses

[0068] 91. First Lens

[0069] 92. Second lens

[0070] 100. Adapter bracket

[0071] 101. Connecting column

[0072] 110. Power Board

[0073] 120. Power Supply Bracket

[0074] 130. Outer Cover

[0075] 140. Flexible flat cable Detailed Implementation

[0076] 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.

[0077] 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.

[0078] See Figures 1-16 This utility model provides a robot vision sensor assembly with a vibration reduction structure. The vision sensor assembly includes a photoelectric module 30, a photoelectric bracket 10, a vibration reduction bushing 70, and an adapter bracket 100.

[0079] The optoelectronic module 30 is installed inside the optoelectronic bracket 10.

[0080] 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 correspondingly.

[0081] 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.

[0082] This utility model uses a vibration damping bushing 70 to isolate the rigid vibration between the photoelectric bracket 10 and the adapter bracket 100, which can effectively improve the vibration resistance of the equipment, meet the vibration resistance requirements of humanoid robots, and help improve the accuracy and reliability of sensors, reduce the failure rate and ensure service life.

[0083] See Figures 12-14d As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the vibration reduction bushing 70 is cylindrical, and the outer wall of the vibration reduction bushing 70 is provided with an annular groove 71.

[0084] 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.

[0085] 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.

[0086] See Figure 12 , Figure 13 , Figures 14a-14d As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of the present invention, the inner wall and / or outer wall of the vibration reduction bushing 70 are provided with a plurality of protruding ribs 72, which are arranged in a ring array.

[0087] 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.

[0088] 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.

[0089] As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the connecting column 101 has an internal threaded hole; by inserting a bolt into the hole of the vibration reduction bushing 70, it engages with the internal threaded hole of the connecting column 101, so that the photoelectric bracket 10 and the adapter bracket 100 are clamped and fixed.

[0090] 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.

[0091] 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 camera 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.

[0092] 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.

[0093] See Figure 5 , Figures 6a-6cAs a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the photoelectric module 30 includes an RGB module 31, a TOF module 32 (Time of Flight Module), and an IRLED module 33 (Infrared Light Emitting Diode Module).

[0094] 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.

[0095] See Figures 9a-9b In a preferred embodiment of the robot vision sensor assembly with vibration reduction 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°.

[0096] 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.

[0097] 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.

[0098] See Figure 10 , Figure 11a , Figure 11b As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, 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 photoelectric module 30, and the lens 90 is installed in the lens holder 50.

[0099] Preferably, the lens holder 50 and the lens 90 are fixed together by lens double-sided adhesive tape 80.

[0100] See Figure 10 As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, a countersunk hole 51 is opened at the position opposite to the photoelectric module 30 of the lens bracket 50, and the inclined surface of the countersunk hole 51 is a multi-level right-angle step structure.

[0101] 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.

[0102] 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.

[0103] See Figure 10 As a preferred embodiment of the robot vision sensor assembly with vibration reduction 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.

[0104] 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.

[0105] Existing vision sensors for robots generally use infrared lenses with no wavelength limitation. However, different optoelectronic modules, such as RGB and IRLED modules, and TOF modules, collect infrared light with different wavelengths. Unfiltered infrared light will cause crosstalk between different optoelectronic modules 30, affecting the normal acquisition capability and operational stability of the module's visual signal. This utility model uses filters that filter specific wavelengths, including a dual-bandpass RGB lens with 850nm wavelength and visible light wavelength, an IRLED lens, a narrow-bandpass TOF lens, double-sided adhesive 80 for camera lenses, and an optoelectronic module 30.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] The TOF sensor's transmitter and receiver are equipped with 905nm narrowband light filters to filter the effective light in the working environment.

[0111] Preferably, this invention employs a filter lens that filters specific wavelengths, including an 850nm wavelength and a visible light wavelength dual-bandpass RGB lens, an IR LED lens, a narrow-bandpass TOF lens, camera lens double-sided adhesive 80, and an optoelectronic module 30. The RGB module 31 uses a lens with 850nm wavelength and a visible light wavelength dual-bandpass optical glass, ensuring that the RGB light filters specific wavelengths of light during both day and night, effectively improving the anti-interference capability during infrared light acquisition. The TOF module 32 uses a lens with a 905nm wavelength narrow-bandpass optical glass, ensuring that the TOF transmitter and receiver can filter specific wavelengths of light, effectively improving the anti-interference capability during infrared light acquisition.

[0112] See Figure 10 As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the vision sensor assembly further includes a drive board 60, which is installed between the photoelectric bracket 10 and the adapter bracket 100, and is electrically connected to the photoelectric module 30.

[0113] See Figure 7 and Figure 16 In a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the connector of the drive board 60 and the connector of the optoelectronic module 30 are electrically connected by a flexible flat cable 140.

[0114] Preferably, the connector of the driver board 60 and the connector of the power board 110 are also electrically connected via a flexible flat cable 140.

[0115] 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 coming loose.

[0116] 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. 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 coming loose.

[0117] 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.

[0118] 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.

[0119] 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 camera 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.

[0120] 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.

[0121] 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 camera 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.

[0122] Preferably, the present invention uses a soft rubber plug 40 installed in the soft rubber plug hole post 41 of the adapter bracket 100 to achieve radial limiting, and the ZIF connector installed on the camera drive board 60 and the camera adapter bracket 100 to limit the opening direction of the ZIF connector rotation lock, preventing the FPC cable from loosening due to vibration.

[0123] See Figure 15 As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, heat-conducting pads 20 are provided on the front and rear sides of the photoelectric bracket 10.

[0124] 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.

[0125] 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 camera optoelectronic bracket 10 is installed between the optoelectronic bracket 10 and the driver chip of the driver board 60.

[0126] 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.

[0127] This invention uses a high thermal conductivity pad with a thermal conductivity greater than 18 W / (mK). 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.

[0128] 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 / mk) 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 / mk) aluminum nitride formulation. Typically, ordinary thermally conductive pads 20 often use a low thermal conductivity (3~6 W / mk) spherical alumina formulation.

[0129] See Figure 15 As a preferred embodiment of the robot vision sensor assembly with vibration reduction structure of this utility model, the photoelectric bracket 10 has heat dissipation fins 13 on the rear side.

[0130] 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.

[0131] Preferably, the robot vision sensor assembly with vibration damping structure of this invention further includes a power board 110 and a power support 120, which are mounted on the rear side of the adapter bracket 100, with the power board 110 positioned between the power support bracket 120 and the adapter bracket 100. The robot vision sensor assembly with vibration damping structure of this invention also includes an outer cover 130, which is mounted on the front of the photoelectric bracket 10.

[0132] Preferably, the robot vision sensor assembly with vibration damping structure of this invention is applied to bipedal robots, especially suitable for home-use bipedal companion robots. This vision sensor assembly can be mounted on the head or chest of the bipedal robot.

[0133] In summary, the robot vision sensor assembly with vibration reduction structure of this utility model, by setting a vibration reduction bushing 70 with an annular slot 71 and annular array ribs 72 at the connection node between the photoelectric bracket 10 and the adapter bracket 100, not only achieves full-path vibration isolation and avoids image blurring and positioning accuracy reduction caused by robot motion vibration, but also ensures the long-term fixed reliability of the bushing and can flexibly adapt to the vibration reduction requirements of different scenarios.

[0134] Meanwhile, the visual sensor component of this utility model is equipped with a large field of view RGB module 31, TOF module 32, and IRLED module 33, and with the corresponding dual bandpass / narrow bandpass optical lenses and lens holder 50 with multi-level right-angle step stray light suppression structure, it can achieve low crosstalk and low stray light multi-dimensional environmental perception in a wide field of view, and adapt to complex lighting scenes.

[0135] The visual sensor assembly of this utility model adopts a layered modular design. Combined with the soft rubber plug 40 soft flat cable anti-loosening structure that requires no additional process, it has high assembly efficiency and low maintenance cost. Furthermore, the combined heat dissipation architecture of front and rear double thermal pads 20 and heat dissipation fins 13 can ensure stable operation of the sensor under high load for a long time. The overall design takes into account vibration reduction performance, sensing accuracy, assembly convenience and long-term reliability.

[0136] 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 vibration damping structure, characterized in that, The vision sensor assembly includes an optoelectronic module, an optoelectronic bracket, a vibration damping bushing, and an adapter bracket; The optoelectronic module is disposed within the optoelectronic bracket; 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.

2. The robot vision sensor assembly with vibration damping structure as described in claim 1, 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.

3. The robot vision sensor assembly with vibration damping structure as described in claim 2, 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.

4. The robot vision sensor assembly with vibration damping structure as described in claim 1, characterized in that, The connecting column has an internal threaded hole; a bolt is inserted into the hole of the vibration damping bushing and engages with the internal threaded hole of the connecting column, so that the photoelectric bracket and the adapter bracket are clamped and fixed.

5. The robot vision sensor assembly with vibration damping structure as described in claim 1, characterized in that, The optoelectronic module includes an RGB module, a TOF module, and an IR LED module.

6. The robot vision sensor assembly with vibration damping structure as described in claim 5, 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°.

7. The robot vision sensor assembly with vibration damping structure as described in claim 5, 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.

8. The robot vision sensor assembly with a vibration damping structure as described in claim 7, 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.

9. The robot vision sensor assembly with vibration damping 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.

10. The robot vision sensor assembly with a vibration damping structure as described in claim 7, characterized in that, The vision sensor assembly also includes a driver board, which is installed between the photoelectric bracket and the adapter bracket, and is electrically connected to the photoelectric module.

11. The robot vision sensor assembly with vibration damping structure as described in claim 10, characterized in that, The connector of the driver board is electrically connected to the connector of the optoelectronic module via 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 coming loose. 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.

12. The robot vision sensor assembly with a vibration damping structure as described in claim 10, 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.

13. The robot vision sensor assembly with vibration damping structure as described in claim 1, characterized in that, The rear side of the photoelectric bracket has heat dissipation fins.

Images