Sensor structure with dimming assembly

Abstract

The utility model discloses a sensor structure with light adjusting assembly, including casing, touch subassembly, imaging subassembly and light adjusting assembly. Touch subassembly is located in the installation cavity, including the light -transmitting plate, and the elastic body that is attached to the light -transmitting plate one side surface, and the elastic body at least partial self opening and setting in the casing outside. Imaging subassembly is located in the installation cavity, is used to gather the image of elastic body. Light adjusting assembly is located in the installation cavity, and light adjusting assembly can detachable installation in the light -transmitting plate, and be located in the light -transmitting plate side away from the elastic body. Light adjusting assembly includes light source and light guide portion, and the light emitting part of light source sets up one side to the light -transmitting plate, and is annularly set up in the outer edge of elastic body. The one end of light guide portion corresponds with the light emitting part, and the other end is movably inserted in the light -transmitting plate, and is set up close to the outer edge of light -transmitting plate, to with the light of light source from the light -transmitting plate edge position conduction to the middle part of light -transmitting plate.

Description

Technical Field

[0001] This utility model relates to the field of sensor technology, and in particular to a sensor structure with a dimming component. Background Technology

[0002] When robots perceive external objects, they rely on visual-tactile sensors. A visual-tactile sensor is a sensor that can convert visual images into tactile information. It can sense information such as the shape and texture of an object's surface, and at the same time measure the contact force during interaction.

[0003] The housing of the visual-tactile sensor includes a silicone block and a transparent plate to support it. Inside the housing are a light source and a camera. The light source provides illumination for the camera to ensure effective image capture. However, in existing technologies, the light source still suffers from insufficient light intensity, failing to significantly improve the image capture results. Utility Model Content

[0004] The main purpose of this invention is to propose a sensor structure with a dimming component, which aims to solve the problem that the existing sensor structure with a dimming component affects the shooting effect of visual images due to insufficient light intensity.

[0005] To achieve the above objectives, this utility model proposes a sensor structure with a dimming component, comprising:

[0006] A housing having an internal mounting cavity, and an opening on one side of the housing communicating with the mounting cavity;

[0007] A touch component, disposed within the mounting cavity, includes a light-transmitting plate and an elastomer attached to one side surface of the light-transmitting plate, wherein the elastomer protrudes at least partially from the opening onto the outside of the housing;

[0008] An imaging element, disposed within the mounting cavity, is used to acquire images of the elastomer; and,

[0009] A dimming assembly is disposed within the mounting cavity. The dimming assembly is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastic body. The dimming assembly includes a light source and a light guide. The light-emitting part of the light source is disposed facing the light-transmitting plate and is arranged around the outer edge of the elastic body. One end of the light guide corresponds to the light-emitting part, and the other end is movably inserted into the light-transmitting plate and disposed near the outer edge of the light-transmitting plate, so as to conduct the light emitted by the light source from the edge of the light-transmitting plate to the center of the light-transmitting plate.

[0010] Optionally, the imaging assembly includes an imaging element and a reflector. The reflector is located on the side of the dimming assembly away from the touch assembly. The mirror surface of the reflector faces the light-transmitting plate and is positioned corresponding to the elastomer to reflect the deformation image of the elastomer. The imaging element is located on the reflection path of the reflector to acquire the image reflected by the reflector.

[0011] Optionally, the light guide portion has a first side facing away from the light source and a second side away from the center of the light-transmitting plate, and a reflective surface is formed between the first side and the second side, the reflective surface being disposed towards the center of the light-transmitting plate.

[0012] Optionally, the reflective surface and the extended surface of the second side have a first included angle, the first included angle being 30° to 45°; and / or,

[0013] The light-transmitting plate has a groove at the position corresponding to the light-emitting part, the other end of the light guide part is inserted into the groove, and the reflective surface does not extend beyond the groove opening.

[0014] Optionally, the light guide portion has a third side opposite to the second side;

[0015] The dimming component also includes a light-diffusing section, which is disposed on the third side surface.

[0016] Optionally, the light-diffusing section includes a frosted surface disposed on the third side.

[0017] Optionally, the sensor structure with dimming components further includes a support frame, which is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastomer. The inner core area of ​​the support frame is provided corresponding to the elastomer to expose the elastomer.

[0018] The light source is located on the side of the support frame away from the touch component and is positioned corresponding to the edge of the support frame. The light guide is movably inserted into the edge of the support frame and penetrates part of the light-transmitting plate.

[0019] Optionally, on the side away from the light-transmitting plate, the end face of the light guide is flush with the surface of the frame edge, and the support frame has a limiting protrusion at the periphery of the inner core area;

[0020] The light source includes an annular back plate and LED beads. The annular back plate is sleeved around the periphery of the limiting protrusion and locked and fixed to the support frame. The LED beads are disposed on the side surface of the annular back plate facing the support frame.

[0021] Optionally, the sensor structure with dimming components further includes a pressure plate, which is disposed on the end face of the limiting protrusion away from the light-transmitting part, and a protrusion protrudes from the side of the pressure plate facing the annular back plate, the protrusion being attached to the annular back plate;

[0022] The pressure plate has a window at the position corresponding to the core area inside the support frame to expose the elastomer.

[0023] Optionally, the support frame is attached to the surface of the light-transmitting plate;

[0024] The support frame has mounting holes on its frame edge, and the light-transmitting plate has grooves at positions corresponding to the mounting holes. The grooves are connected to the mounting holes and form a four-sided enclosed mounting groove.

[0025] The light guide is movably inserted into the mounting slot.

[0026] Optionally, the sensor structure with dimming components further includes a fastening structure, which is disposed between the support frame and the light-transmitting plate to fasten and fix the support frame and the light-transmitting plate.

[0027] Optionally, the light-transmitting plate has a first slot on one side in the first direction and a fastener on the other side;

[0028] The support frame has a locking strip protruding from the inner wall of one frame side in the first direction and an elastic locking post protruding from the outer wall of the other frame side. The locking strip is inserted into the first locking groove, and the elastic locking post is engaged with the buckle.

[0029] The fastening structure includes the first card slot and the card strip, as well as the buckle and the elastic card post.

[0030] Optionally, an annular groove is formed on the inner wall of the mounting cavity at a position corresponding to the periphery of the opening to form a countersunk hole structure;

[0031] The elastomer passes through the opening and the annular protrusion is accommodated in the annular groove. On the side facing the light-transmitting plate, the surface of the elastomer, the surface of the annular protrusion, and the inner wall of the mounting cavity are flush.

[0032] The light-transmitting plate is attached to the surface of the elastomer, the surface of the annular convex edge, and the inner wall of the mounting cavity.

[0033] Optionally, the housing includes a first outer shell and a second outer shell that are mated together, wherein the first outer shell has the opening;

[0034] The touch component, the imaging component, and the dimming component are disposed within the first housing;

[0035] The inner wall of the second outer shell is provided with a limiting rib, and when the first outer shell and the second outer shell are connected, the limiting rib presses against the light-transmitting plate.

[0036] Optionally, the mounting cavity has a first inner wall for providing the opening and a second inner wall opposite to the opening, wherein the first inner wall and the second inner wall are arranged at an angle.

[0037] The light-transmitting plate is attached to the first inner wall;

[0038] The imaging assembly further includes a reflector disposed on the second inner wall, with its mirror surface facing the light-transmitting plate and corresponding to the elastic body. The imaging element is disposed on the reflection path of the reflector.

[0039] Optionally, the light source includes a back plate and a plurality of LEDs, the back plate being disposed on the side of the light-transmitting plate away from the elastomer, and the plurality of LEDs being disposed on the surface of the back plate facing the light-transmitting plate;

[0040] The plurality of LEDs are configured as at least one of monochrome LEDs, dual-color LEDs, or multi-color LEDs.

[0041] The technical solution provided by this utility model has at least the following advantages:

[0042] This invention provides a sensor structure with a dimming component, including a touch component, an imaging component, and a dimming component. The elastic body of the touch component deforms under contact force, and its deformation state is visible through a light-transmitting plate and captured by the imaging element of the imaging component. By placing the light source of the dimming component around the outer edge of the elastic body, not only is it possible to prevent the light source from obstructing the elastic body, allowing the imaging component to acquire a clear and complete image, but the surrounding light supply also avoids the directional limitations of traditional single-point light sources, ensuring sufficient and uniform incident light to the edge area of ​​the elastic body. Simultaneously, the dimming component is detachably mounted on the light-transmitting plate, thus forming a modular integrated unit with the touch component, rather than separate independent parts. This reduces the layout complexity of internal components and facilitates the miniaturization design of the sensor structure with the dimming component. One end of the light guide portion of the dimming component corresponds to the light-emitting portion, and the other end is movably inserted into the light-transmitting plate and positioned near its outer edge. In this way, a light transmission path can be established between the light source and the light-transmitting plate, guiding sufficient light from the edges to the center of the plate, achieving full-area illumination coverage from the edge to the center. This not only ensures that the light intensity in all areas of the light-transmitting plate reaches the threshold required for imaging, avoiding problems such as excessive image noise and blurred edges caused by insufficient light intensity, but also ensures that the imaging element can capture the details of minute deformations of the elastic body, improving the accuracy of image acquisition. Furthermore, it ensures uniform light intensity in all areas of the light-transmitting plate, avoiding interference with image analysis caused by uneven illumination, reducing errors in the tactile information conversion process, and improving the sensor's accuracy in judging contact force and object shape. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 A schematic diagram of an embodiment of a sensor structure with a dimming component provided by this utility model;

[0045] Figure 2 for Figure 1 An exploded view of the structure of the sensor with dimming components;

[0046] Figure 3 for Figure 1 The sensor structure with dimming components is shown in a cross-sectional view along AA.

[0047] Figure 4 for Figure 1The schematic diagram of the sensor structure with dimming component regarding the assembly of the dimming component and the light-transmitting plate is shown below.

[0048] Figure 5 for Figure 4 Another structural diagram of the assembly of the dimming component and the light-transmitting plate;

[0049] Figure 6 for Figure 5 The dimming component and the light-transmitting plate are assembled along the cross-sectional view of BB;

[0050] Figure 7 for Figure 4 A schematic diagram of the sensor structure with dimming components with respect to the light-transmitting plate;

[0051] Figure 8 for Figure 4 A schematic diagram of the structure of the dimming component with respect to the light guide section;

[0052] Figure 9 for Figure 4 A schematic diagram of the sensor structure with dimming components relative to the support frame;

[0053] Figure 10 for Figure 1 A cross-sectional view along CC of the sensor structure with dimming components.

[0054] Explanation of icon numbers:

[0055] 100 Sensor structure with dimming assembly; 1 Touch assembly; 11 Light-transmitting plate; 111 Groove; 112 Clearance groove; 113 Guide hole; 12 Elastomer; 13 Annular protrusion; 2 Imaging assembly; 21 Imaging element; 22 Reflector; 3 Dimming assembly; 31 Light source; 311 Annular back plate; 312 Lamp bead; 32 Light guide; 321 First side surface; 322 Second side surface; 323 Third side surface; 324 Reflective surface; 4 Support frame; 41 Mounting hole; 42 Limiting protrusion; 43 Extension; 44 Guide post; 5 Pressure plate; 51 Window; 6 Mounting groove; 7 Fastening structure; 71 First slot; 72 Locking strip; 73 Fastening part; 74 Elastic locking post; 8 Housing; 81 Mounting cavity; 811 First inner wall; 812 Second inner wall; 82 Opening; 83 Annular groove; 84 First outer shell; 85 Second outer shell; 86 Limiting rib; 87 Step structure; 9 Locking assembly; 91 Locking buckle; 92 Locking part; 93 Mating part; 200 Connecting piece.

[0056] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0057] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0058] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0059] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0060] When a robot perceives external objects, it relies on a sensor structure with a dimming component. This type of sensor converts visual images into tactile information, sensing information such as the shape and texture of an object's surface, while simultaneously measuring the contact force during interaction.

[0061] The sensor structure with dimming components has a housing with a silicone block and a transparent plate for supporting the silicone block. Inside the housing, there is also a light source and a camera. The light source is used to provide lighting conditions for the camera to ensure the shooting effect of the visual image.

[0062] To improve the light intensity at the corresponding tactile element position of the sensor structure 100 with a dimming component, this invention improves the sensor structure 100 with a dimming component. The structure of the sensor structure 100 with a dimming component will be described in detail below with reference to the accompanying drawings.

[0063] Please see Figure 1 and Figure 2The sensor structure 100 with a dimming component includes a touch component 1, an imaging component 2, and a dimming component 3. The touch component 1 includes a light-transmitting plate 11 and an elastomer 12 attached to one side surface of the light-transmitting plate 11. The elastomer 12 deforms when subjected to a contact force, and its deformation state can be displayed through the light-transmitting plate 11.

[0064] Imaging assembly 2 includes an imaging element 21 for acquiring images of the elastomer 12. When the elastomer 12 deforms, its deformation state is captured by the imaging element 21 through the light-transmitting plate 11. In some embodiments, the imaging element 21 may be a device with image acquisition capabilities, such as a CCD camera or a CMOS camera.

[0065] The dimming component 3 is detachably installed on the light-transmitting plate 11 and located on the side of the light-transmitting plate 11 away from the elastomer 12, so that the dimming component 3 and the touch component 1 form a modular integrated unit, rather than separate independent parts, which reduces the layout complexity of the internal components and makes it easier to realize the miniaturized design of the sensor structure 100 with the dimming component.

[0066] The dimming assembly 3 includes a light source 31. The light-emitting part of the light source 31 is positioned facing the light-transmitting plate 11 and is arranged around the outer edge of the elastic body 12. Arranging the light source 31 around the outer edge of the elastic body 12 not only prevents the light source 31 from obstructing the elastic body 12, allowing the imaging assembly 2 to capture a clear and complete image, but also provides surround lighting, avoiding the directional limitations of traditional single-point light sources 31 and ensuring that the edge area of ​​the elastic body 12 receives sufficient and uniform incident light.

[0067] Meanwhile, the dimming assembly 3 also includes a light guide 32, one end of which corresponds to the light-emitting part, and the other end is inserted into the light-transmitting plate 11 and positioned near the outer edge of the light-transmitting plate 11. This establishes a light transmission path between the light source 31 and the light-transmitting plate 11, guiding sufficient light from the edge to the center of the light-transmitting plate 11, achieving full-area illumination coverage from the edge to the center. This not only ensures that the light intensity in each area of ​​the light-transmitting plate 11 reaches the threshold required for imaging, avoiding problems such as excessive image noise and blurred edges due to insufficient light intensity, but also ensures that the imaging element 21 can capture the details of the minute deformation of the elastic body 12, improving the accuracy of image acquisition. Furthermore, it ensures uniform light intensity in each area of ​​the light-transmitting plate 11, avoiding interference with image analysis due to uneven illumination, reducing errors in the tactile information conversion process, and improving the sensor's accuracy in judging contact force and object shape.

[0068] Furthermore, the light source 31 is arranged around the edge of the elastic body 12, and the light guide 32 is inserted into the edge of the light-transmitting plate 11. Both of them utilize the edge redundancy space of the sensor, avoiding the occupation of the installation space of the imaging element 21 and the deformation space of the elastic body 12, thereby enabling the miniaturization design of the sensor structure 100 with dimming components.

[0069] This invention does not impose specific limitations on the placement of the imaging element 21. In some applications, the imaging element 21 is positioned directly opposite the elastic body 12 to acquire images.

[0070] Applications such as robot end effectors and precision equipment often impose strict limitations on the size of sensors. In some applications, the miniaturized sensor structure 100 with dimming components has insufficient internal space to provide installation space for the imaging element 21 at the position directly opposite the elastic body 12, or the position directly opposite the elastic body 12 cannot meet the installation requirements.

[0071] To address this issue, in one embodiment, please refer to... Figure 2 and Figure 3 The imaging component 2 also includes a reflector 22. The reflector 22 is located on the side of the dimming component 3 away from the touch component 1. The mirror surface of the reflector 22 faces the light-transmitting plate 11 and is positioned corresponding to the elastic body 12 to reflect the deformation image of the elastic body 12. The imaging element 21 is located on the reflection path of the reflector 22 to acquire the image reflected by the reflector 22.

[0072] In this embodiment, by setting a reflector 22 to change the direction of the light path, the imaging element 21 does not need to be directly facing the elastic body 12. It only needs to be placed on the reflection path of the reflector 22 to complete image acquisition. In this way, the installation position of the imaging element 21 is not restricted by the elastic body 12. The imaging element 21 can be flexibly installed in non-directly facing spaces such as the side wall and bottom of the sensor, which greatly optimizes the layout density of internal components and meets the practical requirements of sensor miniaturization and lightweighting. It is especially suitable for narrow installation scenarios such as robot end joints.

[0073] Meanwhile, since the installation position of the imaging element 21 is no longer restricted by the elastomer 12, there is no need to repeatedly adjust the coaxiality of the imaging element 21 and the elastomer 12 during assembly. It is only necessary to ensure that it is aligned with the reflection path of the reflector 22, which reduces the positioning accuracy requirements during assembly and improves assembly efficiency.

[0074] Furthermore, the reflector 22 can directionally reflect the deformation image of the elastomer 12 to the preset position of the imaging element 21, avoiding obstruction or light interference from other components inside the sensor. The reflector 22 is fixed by a mechanical structure, and once its position and angle are determined, the light path remains stable, preventing image defocusing due to slight sensor vibration or minor component displacement, thus ensuring the stability of the imaging element 21.

[0075] Specifically, the mirror surface of the reflector 22 can be coated, such as with an anti-reflective coating or a reflective coating, to optimize the reflection effect, reduce light loss, and ensure that the image signal received by the imaging element 21 is more stable and clearer.

[0076] To improve the installation stability of the light guide 32, in one embodiment, please refer to... Figure 2 and Figure 4 The sensor structure 100 with dimming components also includes a support frame 4. The support frame 4 is detachably mounted on the light-transmitting plate 11 and is located on the side of the light-transmitting plate 11 opposite to the elastomer 12. The inner core area of ​​the support frame 4 is provided corresponding to the elastomer 12 to expose the elastomer 12. By directly and detachably mounting the support frame 4 to the light-transmitting plate 11, the dimming component 3 and the touch component 1 form a modular integrated unit, rather than separate independent parts, reducing the layout complexity of the internal components and making it easier to achieve a miniaturized design of the sensor structure 100 with dimming components.

[0077] Meanwhile, the light source 31 is located on the side of the support frame 4 away from the touch component 1 and is positioned corresponding to the edge of the support frame 4. The light guide 32 is inserted into the edge of the support frame 4 and penetrates the light-transmitting plate 11 in part. By using the edge area of ​​the support frame 4 to install the light source 31 and the light guide 32, the dimming component 3 avoids occupying the deformation space of the elastomer 12 or the optical path space of the imaging component 2.

[0078] Furthermore, the light source 31 and the light guide 32 are the core components of the dimming assembly 3, and their relative positional accuracy directly determines the light transmission efficiency. By setting a support frame 4 on the side of the light-transmitting plate 11 away from the elastic body 12, the light source 31 is positioned on the side of the support frame 4 away from the touch assembly 1 and corresponding to the frame edge. The frame edge structure of the support frame 4 provides a clear installation boundary for the light source 31, preventing light from being unable to effectively enter the light guide 32 due to installation misalignment of the light source 31.

[0079] The light guide 32 is inserted into the frame edge of the support frame 4 and passes through the partial light-transmitting plate 11. The frame edge and the light-transmitting plate together form a circumferential limit on the light guide 32, preventing the light guide 32 from loosening or shifting due to external force during use, ensuring that it always maintains a corresponding relationship with the light source 31, and stably realizing the light transmission function from the edge to the center.

[0080] In one embodiment, the sensor structure 100 with dimming components further includes a fastening structure 7, which is disposed between the support frame 4 and the light-transmitting plate 11 to fasten and fix the support frame 4 and the light-transmitting plate 11.

[0081] Specifically, please refer to Figures 4 to 6 The light-transmitting plate 11 has a first slot 71 on one side in the first direction F1 and a fastener 73 on the other side. The support frame 4 has a retaining strip 72 protruding from the inner wall of one frame side in the first direction F1 and an elastic retaining post 74 protruding from the outer wall of the other frame side. The retaining strip 72 is inserted into the first slot 71, and the elastic retaining post 74 is engaged with the fastener 73. The fastening structure 7 includes the first slot 71 and the retaining strip 72, as well as the fastener 73 and the elastic retaining post 74.

[0082] In this embodiment, the support frame 4 and the light-transmitting plate 11 are fixed by the first slot 71, the locking strip 72, the fastener 73, and the elastic locking post 74. During assembly, the locking strip 72 is first inserted into the first slot 71, and then the support frame 4 is pressed towards the light-transmitting plate 11, thereby causing the elastic locking post 74 and the fastener 73 to engage. In this way, the assembly between the support frame 4 and the light-transmitting plate 11 is completed, which is simple in structure and easy to operate.

[0083] During assembly, the clip 72 of the support frame 4 is directly inserted into the first slot 71 of the light-transmitting plate 11. By utilizing the shape matching of the first slot 71 and the clip 72, the support frame 4 and the light-transmitting plate 11 are quickly aligned in the first direction F1, avoiding the alignment difficulties of traditional screw fixing and greatly shortening the assembly time.

[0084] The engagement of the locking strip 72 and the first locking slot 71 restricts the relative displacement of the support frame 4 and the light-transmitting plate 11 in the direction perpendicular to the first direction F1. The locking of the elastic locking post 74 and the buckle 73 restricts the separation of the two in the first direction F1. The double constraint makes the connection more stable and more resistant to vibration or impact during sensor use compared to a single screw fixation.

[0085] Furthermore, the deformation characteristics of the elastic locking post 74 can absorb the impact force on the sensor, reducing the deformation of the support frame 4 or the light-transmitting plate 11 caused by the rigid connection. This not only protects the sealing of the mating surfaces of the two, preventing light leakage due to gaps caused by deformation, but also prevents the light-transmitting plate 11 from cracking due to stress concentration.

[0086] Continuing from the above, a first slot 71 is formed on one side of the light-transmitting plate 11 in the first direction F1, and a retaining strip 72 protrudes from the inner wall of one side of the support frame 4 in the first direction F1. The retaining strip 72 is inserted into the first slot 71. In one embodiment, a portion of the frame edge is bent outward to form a protruding extension 43, and the retaining strip 72 protrudes from the inner wall of the extension 43. A relief groove 112 is formed on the surface of the light-transmitting plate 11 facing the support frame 4. The relief groove 112 is located near the side to accommodate the extension 43. The relief groove 112 is connected to the first slot 71, and when the extension 43 is accommodated in the relief groove 112, the retaining strip 72 can be inserted into the first slot 71.

[0087] In this embodiment, during assembly, the extension 43 of the support frame 4 must first be aligned with the clearance groove 112 of the light-transmitting plate 11 and embedded. This process can achieve the initial alignment of the support frame 4 and the light-transmitting plate 11 in the first direction F1 and the vertical direction by matching the shape of the extension 43 and the clearance groove 112. This provides a clear guiding reference for the subsequent insertion of the clip 72 into the first slot 71, avoids assembly jamming caused by positional deviation between the clip 72 and the first slot 71, and shortens the alignment time.

[0088] The extension 43 is formed by a partial bend in the frame edge, and it has a certain structural rigidity, which can serve as a reinforcing base for the clip 72. When the clip 72 is inserted into the first slot 71 and subjected to tension, the tension will be transmitted through the clip 72 to the extension 43, and then distributed to the frame edge body of the support frame 4, preventing the clip 72 from breaking due to excessive stress at a single point.

[0089] If there are protrusions on the surface of the light-transmitting plate 11 facing the support frame 4, the two will not fit tightly together, forming an air gap. When light enters the light-transmitting plate 11 from the light guide 32, the gap will cause interface reflection, reducing the light transmission efficiency. By setting the avoidance groove 112 to avoid the embedded design, the mating surfaces are fully in contact, eliminating gap interference and ensuring the optical performance of the dimming component 3.

[0090] To facilitate the installation and alignment of the support frame 4 and the light-transmitting plate 11, in one embodiment, the light-transmitting plate 11 is provided with a guide hole 113 near the side; a guide post 44 protrudes from the surface of the frame facing the light-transmitting plate 11, and the guide post 44 is inserted into the guide hole 113.

[0091] During assembly, simply align the guide post 44 on the edge of the support frame 4 with the guide hole 113 of the light-transmitting plate 11 and insert it. This automatically achieves precise horizontal alignment between the two, avoiding support frame misalignment caused by visual judgment errors. Furthermore, the first slot 71 and the locking strip 72 match in shape, enabling rapid alignment of the support frame 4 and the light-transmitting plate 11 in the first direction F1. The locking of the elastic locking post 74 and the buckle 73 restricts separation in the first direction F1. By setting the insertable guide post 44 and guide hole 113, the support frame 4 and the light-transmitting plate 11 can be positioned in the first direction F1 and the second direction F2, further ensuring the installation stability of the support frame 4 and the light-transmitting plate 11.

[0092] In one embodiment, on the side facing away from the light-transmitting plate 11, the end face of the light guide 32 is flush with the surface of the frame edge. If the end face of the light guide 32 protrudes from the frame edge surface, light is likely to leak from the gap between the light guide 32 and the frame edge, reducing light utilization. If the end face of the light guide 32 is recessed, a shadow area may be formed, interfering with the alignment accuracy between the light source 31 and the light guide 32. The flush arrangement ensures a tight connection between the light guide 32 and the frame edge, reduces ineffective light loss at the transmission starting point, and improves the energy utilization of the light source 31.

[0093] Moreover, please see Figure 6 and Figure 7 The flush end face design ensures that the surface of the support frame 4 away from the light-transmitting plate 11 remains continuously flat, providing a planar reference for the installation of the light source 31. This avoids the light source 31 from tilting due to the protrusion or retraction of the light guide 32, ensuring that the lamp bead 312 and the incident end of the light guide 32 are accurately aligned, and guaranteeing efficient light incidence.

[0094] Meanwhile, the support frame 4 has a limiting protrusion 42 protruding at the periphery of the inner core area; the light source 31 includes an annular back plate 311 and a lamp bead 312. The annular back plate 311 is sleeved on the periphery of the limiting protrusion 42 and locked and fixed with the support frame 4. The lamp bead 312 is located on the side surface of the annular back plate 311 facing the support frame 4.

[0095] By fitting the annular backplate 311 around the limiting protrusion 42, the outer peripheral wall of the limiting protrusion 42 forms a radially outward constraint on the annular backplate 311, preventing radial displacement of the annular backplate 311 during installation or use. This ensures that the LED beads 312 on the annular backplate 311 always correspond one-to-one with the light guide part 32 inside the frame of the support frame 4, preventing light from being unable to effectively enter the light guide part 32 due to misalignment of the LED beads 312.

[0096] The limiting protrusion 42 is arranged around the periphery of the inner core area, and its axis is consistent with the central axis of the elastomer 12 and the light-transmitting plate 11. The annular back plate 311 is sleeved on the periphery of the limiting protrusion 42, so that the annular back plate 311 and the elastomer 12 are coaxial, thereby making the surrounding layout of the lamp beads 312 more uniform, further improving the illumination symmetry of the annular light source 31, and avoiding the difference in illumination at the edge of the elastomer 12 caused by uneven distribution of the lamp beads 312.

[0097] More specifically, the sensor structure 100 with dimming components also includes a pressure plate 5, which is located on the end face of the limiting protrusion 42 away from the light-transmitting portion. A protrusion is provided on the side of the pressure plate 5 facing the annular back plate 311, and the protrusion is attached to the annular back plate 311. A window 51 is opened in the pressure plate 5 at the position corresponding to the inner core area of ​​the support frame 4 to expose the elastomer 12.

[0098] By placing the pressure plate 5 on the side of the limiting protrusion 42 away from the light-transmitting plate 11, its protrusion is directly attached to the annular back plate 311. The pressure plate 5 itself presses the annular back plate 311 towards the support frame 4 to offset the axial gap caused by vibration, and prevents the annular back plate 311 from being slightly displaced due to loosening, ensuring that the lamp bead 312 is always accurately aligned with the incident end of the light guide 32.

[0099] Meanwhile, the window 51 on the pressure plate 5 corresponds to the area of ​​the elastomer 12, ensuring that the optical path of the imaging component 2 can completely cover the deformation area of ​​the elastomer 12 and will not be blocked by the pressure plate 5, thus ensuring the integrity of image acquisition. The non-window 51 area of ​​the pressure plate 5 can block stray light from the light source 31 towards the imaging optical path, reducing interference from stray light on the imaging element 21, improving image contrast and clarity, and providing more reliable raw data for tactile information conversion.

[0100] Continuing from the above, the light guide 32 is inserted into the frame edge of the support frame 4 and penetrates the partial light-transmitting plate 11. In order to achieve stable installation of the light guide 32, in one embodiment, Figure 5 , Figure 6 , Figure 7 and Figure 9 The support frame 4 is attached to the surface of the light-transmitting plate 11. During the light transmission process of the light guide 32, if there is a gap between the support frame 4 and the light-transmitting plate 11, some of the light emitted by the light source 31 will leak out directly from the gap without being transmitted through the light guide 32, resulting in light intensity loss. Through the attached design, light leakage from the gap between the two can be blocked, allowing more light to be confined within the light guide 32 for transmission, thus improving light utilization.

[0101] Combined with the above-mentioned "detachable connection between support frame 4 and light-transmitting plate 11", the surface-fitting design makes support frame 4 and light-transmitting plate 11 form a rigid connection unit, reducing the relative displacement caused by vibration, avoiding fluctuations in light leakage caused by gap changes, ensuring the stability of light intensity, and providing a continuous and uniform light source 31 environment for imaging component 2.

[0102] Meanwhile, mounting holes 41 are opened on the frame edge of the support frame 4, and a groove 111 is opened on the light-transmitting plate 11 at the position corresponding to the mounting hole 41. The groove 111 is connected to the mounting hole 41 and forms a four-sided enclosed mounting groove 6. The light guide part 32 is inserted into the mounting groove 6.

[0103] In this embodiment, mounting holes 41 are formed on the edge of the support frame 4, and grooves 111 are formed on the light-transmitting plate 11 at the corresponding positions of the mounting holes 41, together forming a mounting groove 6 for the insertion of the light guide 32. This provides mechanical restraint for the light guide 32, preventing it from shifting radially or axially, ensuring that the incident end of the light guide 32 is always precisely aligned with the lamp bead 312 of the light source 31, and that the emitting end is stably guided to the preset path in the middle of the light-transmitting plate 11, thus guaranteeing the directionality and efficiency of light transmission.

[0104] The walls of the four-sided enclosed mounting groove 6 can absorb external impacts, weakening the force of the impact on the light guide 32, thereby reducing the risk of breakage or surface wear caused by direct force on the light guide 32. In particular, the use of optical-grade materials such as PC and quartz glass for the light guide 32, when inserted into the four-sided enclosed mounting groove 6, can more effectively protect its optical performance, such as surface flatness or light transmittance.

[0105] Meanwhile, the light guide 32 is inserted into the groove 111 of the light-transmitting plate 11, resulting in a larger contact area and a tighter connection between the two. This reduces interface reflection when light enters the light-transmitting plate 11 from the light guide 32, allowing more light to be efficiently transmitted through the light guide 32 to the center of the light-transmitting plate 11, thus enhancing the light intensity in the area of ​​the elastomer 12. Furthermore, the tight fit of the mounting groove 6 constrains the directional transmission of light within the light guide 32 and the light-transmitting plate 11, reducing stray light interference with the imaging element 21 and improving the image signal-to-noise ratio.

[0106] As described above, the light from the light source 31, after passing through the light guide 32, can be transmitted from the edge of the light-transmitting plate 11 to the center of the light-transmitting plate 11. In one embodiment, please refer to... Figure 8 The light guide portion 32 has a first side 321 facing away from the light source 31 and a second side 322 away from the middle of the light-transmitting plate 11. A reflective surface 324 is formed between the first side 321 and the second side 322, and the reflective surface 324 is disposed toward the middle of the light-transmitting plate 11.

[0107] When the elastomer 12 comes into contact with an object, the central region is usually the core area where deformation is most significant, such as the center of the indentation when pressed, which requires higher image clarity. After the light emitted by the light source 31 enters the light guide 32, some of the light will be conducted along the interior of the light guide 32 towards the edge of the light-transmitting plate 11. Although the ring light source 31 achieves surrounding lighting for the elastomer 12, the light will still attenuate as the distance increases during the transmission from the edge to the center, forming a gradient where the edge is bright and the center is dark. By adding a reflective surface 324, the light originally transmitted towards the edge is redirected and reflected to the center of the light-transmitting plate 11 using specular reflection, thereby supplementing the light in the central region, making the illumination intensity more uniform in all areas of the surface of the elastomer 12, and thus ensuring clearer image details in the core deformation area.

[0108] Specifically, there is a first included angle between the reflective surface 324 and the extended surface of the second side surface 322, the first included angle being 30° to 45°.

[0109] Understandably, if the first angle is too small, such as less than 30°, the reflected light will be too flat and tend to concentrate in the edge area of ​​the light-transmitting plate 11, failing to effectively reach the central area. If the first angle is too large, such as greater than 45°, the reflected light will be too steep and may cross the central area to directly hit the imaging light path, causing glare interference.

[0110] Setting the angle range of 30° to 45° not only ensures that the light reflected by the reflective surface 324 covers the central area of ​​the light-transmitting plate 11 at an oblique incident angle, but also ensures that the light only needs to be reflected once by the reflective surface 324 within the light guide section 32 to reach the central part of the light-transmitting plate 11, avoiding multiple reflections caused by improper angles, thereby improving the effective utilization rate of light.

[0111] Furthermore, the light guide 32 is typically made of optical-grade materials, such as PC or acrylic. The reflective surface 324 formed on the surface of the light guide 32 by silver plating or polishing exhibits optimal reflection efficiency within the incident angle range of 30° to 45°, which can minimize energy loss during reflection and ensure that more light is guided to the center of the light-transmitting plate 11.

[0112] Specifically, in the above structure, the light-transmitting plate 11 has a groove 111 for inserting the light guide 32. The reflective surface 324 does not extend beyond the opening of the groove 111.

[0113] The groove 111 is a recessed structure on the light-transmitting plate 11. Its inner wall is usually a vertical or inclined surface enclosed on all four sides, forming a relatively enclosed space. If the groove 111 is not provided, when the light reflected by the reflective surface 324 does not directly hit the center of the light-transmitting plate 11, this part of the light may directly exit from the edge surface of the light-transmitting plate 11 and become invalid stray light, or it may be scattered randomly inside the light-transmitting plate 11. This stray light may interfere with the image acquisition of the imaging component 2.

[0114] By confining the reflective surface 324 within the groove 111, when the light reflected by the reflective surface 324 does not directly strike the center of the light-transmitting plate 11, the light will first come into contact with the inner wall of the groove 111. The inner wall of the groove 111 provides a bounce interface for these deviated light rays, forcing them to change their propagation direction instead of escaping directly, thereby confining the light within the light-transmitting plate 11.

[0115] It is understandable that the light-transmitting plate 11 is usually made of transparent optical materials such as acrylic and glass, and its inner wall has a high reflectivity. In particular, when light is incident at a small angle, it is easy to cause specular reflection or total internal reflection.

[0116] When light rays deviating from their path strike the inner wall of the tank 111, since the inner wall is part of the light-transmitting plate 11 and made of the same material, there is no air gap interference. The light is reflected internally rather than refracted. Furthermore, the inner wall of the tank 111 is typically angled or perpendicular to the center of the light-transmitting plate 11, so after secondary reflection, the light is closer to the center and ultimately guided to the target area. This reduces energy loss and improves light utilization.

[0117] Furthermore, the edges of the light-transmitting plate 11 are typically high-incidence areas for light scattering. The rough surfaces at the edges, or differences in the interface with the air, can cause diffuse reflection of light at these locations. By embedding the reflective surface 324 and part of the light guide 32 within the light-transmitting plate 11 using the groove 111, the main propagation path of light is diverted away from the outer edge of the light-transmitting plate 11, reducing the chance of light contacting the rough edge surface. Simultaneously, the inner wall of the groove 111 can be precision-machined, such as polished, to maximize the surface smoothness of the inner wall, thereby reducing diffuse reflection loss during the reflection process and ensuring that the light from the secondary reflection maintains its directionality and efficiently reaches the central area.

[0118] As a carrier for light transmission, the light propagation inside the light-transmitting plate 11 must follow the laws of refraction and reflection. The light guide 32 is inserted into the groove 111 and the reflective surface 324 is concealed therein, making the interface transition when light enters the light-transmitting plate 11 from the light guide 32 smoother, reducing reflection loss at the interface between the air and the light-transmitting plate 11, and the reflected light from the reflective surface 324 can also be transmitted more smoothly inside the light-transmitting plate 11 to the center, improving the overall light utilization efficiency.

[0119] It should be noted that the two technical features mentioned above, "first angle" and "reflective surface 324 not exceeding the opening of groove 111", can be set individually or simultaneously. In one embodiment, both technical features are set simultaneously.

[0120] In one embodiment, the light guide portion 32 has a third side surface 323 opposite to the second side surface 322. The dimming assembly 3 also includes a light homogenizing portion disposed on the third side surface 323.

[0121] Specifically, the light-diffusing section includes a frosted surface provided on the third side surface 323.

[0122] During the light transmission process, the light guide 32 is easily affected by the light-emitting characteristics of the light source 31 or slight differences in the material of the light guide 32, causing localized dense areas of light to form inside, resulting in uneven brightness of the light reflected to the center of the light-transmitting plate 11. By setting the third side surface 323 as a frosted surface, the micro-rough structure of the frosted surface will scatter the concentrated light incident on the third side surface 323 in multiple directions, making the originally dense light in the light guide 32 more dispersed, thereby making the light emitted from the third side surface 323 more uniform, and thus making the light entering the light-transmitting plate 11 more uniform. This makes the light intensity that finally illuminates the surface of the elastomer 12 more uniform, which can improve the overall consistency of the image.

[0123] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 10 The sensor structure 100 with a dimming component also includes a housing 8, in which a mounting cavity 81 is formed, and an opening 82 communicating with the mounting cavity 81 is formed on one side of the housing 8. The touch component 1, the imaging component 2, and the dimming component 3 are disposed in the mounting cavity 81, and the elastic body 12 of the touch component 1 protrudes at least partially from the opening 82 on the outside of the housing 8.

[0124] By placing the touch component 1, imaging component 2, and dimming component 3 inside the mounting cavity 81, the housing 8 can absorb external vibrations or impact loads, reducing the impact on internal precision components and ensuring optical path stability and structural reliability.

[0125] The inner wall contour of the mounting cavity 81 can be designed according to the dimensions of the touch component 1, imaging component 2, and dimming component 3, so that each component is arranged in an orderly manner according to the preset functional logic, avoiding spatial conflicts between components. At the same time, the outer contour of the housing 8 can be designed according to the actual use scenario. For example, when the sensor structure 100 with dimming component is located on the distal phalanx, the outer contour of the housing 8 can be designed as a fingertip-shaped structure.

[0126] Furthermore, the housing 8 has an opening 82, and the elastic body 12 of the touch component 1 protrudes at least partially from the opening 82 onto the outside of the housing 8. The elastic body 12 is the component that directly contacts the sensor with external objects. Its partial protrusion from the housing 8 prevents the housing 8 from obstructing the contact area, ensuring that the elastic body 12 can completely conform to the object surface and accurately sense shape, texture, and contact force. The protruding part of the elastic body 12 is an effective deformation zone. The edge of the opening 82 of the housing 8 can restrain the excessive deformation of the elastic body 12, preventing permanent damage to the elastic body 12 due to excessive external force, while ensuring that the deformation always occurs within the imaging range of the imaging component 2, thus guaranteeing the effectiveness of image acquisition.

[0127] Specifically, an annular groove 83 is formed on the inner wall of the mounting cavity 81 at the position corresponding to the periphery of the opening 82 to form a countersunk hole structure. The elastic body 12 passes through the opening 82, and the annular protrusion 13 is accommodated in the annular groove 83.

[0128] The annular protrusion 13 is housed in the annular groove 83. The inner wall of the groove 111 forms a surrounding constraint on the annular protrusion 13, preventing the elastic body 12 from shifting horizontally due to lateral force when in contact with an object. This ensures that the deformation center of the elastic body 12 is always aligned with the field of view center of the light-transmitting plate 11 and the imaging component 2, thus guaranteeing the spatial consistency of the deformed image.

[0129] The depth of the annular groove 83 matches the thickness of the annular protrusion 13, preventing the elastomer 12 from excessively concave inward or convex outward after passing through the opening 82, thus ensuring a tight fit between it and the light-transmitting plate 11. If there is a gap between the elastomer 12 and the light-transmitting plate 11, the transmission of contact force will be delayed or distorted. The tight fit design ensures that the minute deformations of the elastomer 12 can be transmitted to the light-transmitting plate 11 side in real time and captured by the imaging component 2.

[0130] The elastomer 12 is disposed inside the mounting cavity 81 and extends from inside the mounting cavity 81 through the opening 82 to the outside of the housing 8. In this way, compared with directly placing the elastomer 12 on the outer wall of the housing 8, this installation method can improve the installation stability of the elastomer 12 and prevent the elastomer 12 from falling off the housing 8.

[0131] When the sensor is working, the elastomer 12 may come into contact with external objects and become contaminated with dust or liquid. The tight fit between the annular protrusion 13 and the annular groove 83 can prevent these contaminants from entering the mounting cavity 81 through the gap between the opening 82 and the elastomer 12, thus avoiding contamination of the imaging element 21 lens, short circuit of the light source 31, or degradation of the optical performance of the light guide 32.

[0132] The sealed structure can reduce the interference of airflow in the mounting cavity 81 on the optical path. For example, airflow can cause dust to float and form imaging noise. At the same time, it can protect the mating surface of the elastomer 12 and the light-transmitting plate 11 from water vapor erosion, prevent fogging from affecting light transmission, and ensure the performance stability of the sensor for long-term use.

[0133] Meanwhile, on the side facing the light-transmitting plate 11, the surface of the elastomer 12, the surface of the annular protrusion 13, and the inner wall of the mounting cavity 81 are flush. The light-transmitting plate 11 is in contact with the surface of the elastomer 12, the surface of the annular protrusion 13, and the inner wall of the mounting cavity 81.

[0134] If there are differences in height between the surfaces, the deformation of the elastomer 12 under pressure will be blocked by the steps, resulting in distortion of the contact force distribution detection. The flush design allows the deformation of the elastomer 12 to be transmitted evenly to the light-transmitting plate 11, ensuring that the deformation image captured by the imaging component 2 can truly reflect the mechanical characteristics of the object contact.

[0135] The light-transmitting plate 11 is tightly attached to the flush surface, eliminating air gaps between components. When light enters adjacent components from the elastomer 12 or the light-transmitting plate 11, air gaps can cause interface reflection due to differences in refractive index, leading to attenuation of light intensity. The flush attachment allows light to be transmitted in a continuous medium, reducing reflection loss and ensuring that the light from the dimming component 3 can act efficiently on the surface of the elastomer 12.

[0136] This utility model does not impose specific restrictions on the structure of the shell 8. The shell 8 can be integrally formed or it can be spliced ​​together from at least two shells.

[0137] In one embodiment, the housing 8 includes a first outer shell 84 and a second outer shell 85 that are mated together. The first outer shell 84 has an opening 82. The touch component 1, the imaging component 2, and the dimming component 3 are disposed inside the first outer shell 84. The inner wall of the second outer shell 85 has a limiting rib 86 protruding from it, and when the first outer shell 84 and the second outer shell 85 are mated together, the limiting rib 86 presses against the light-transmitting plate 11.

[0138] In this embodiment, the first outer shell 84 serves as the main assembly carrier, allowing for the independent pre-assembly of the touch component 1, imaging component 2, and dimming component 3. Since the first outer shell 84 only needs to support the components and does not require overall enclosure, the alignment of each component can be directly observed during assembly, reducing the difficulty of installing precision components. After the internal components are debugged, the second outer shell 85 is then connected to the first outer shell 84 to complete the overall encapsulation. If internal components need to be replaced, only the first outer shell 84 and the second outer shell 85 need to be separated to directly access all components without damaging the shell structure 8.

[0139] Continuing from the above, the light-transmitting plate 11 is attached to the surface of the elastomer 12, the surface of the annular protrusion 13, and the inner wall of the mounting cavity 81. During assembly, when the light-transmitting plate 11 is installed on the first housing 84, it is attached to the surface of the elastomer 12, the surface of the annular protrusion 13, and the inner wall of the first housing 84. When the second housing 85 is mated with the first housing 84, the limiting ribs 86 on the second housing 85 press the light-transmitting plate 11, thereby applying uniform pressure to the light-transmitting plate 11. In this way, the light-transmitting plate 11 can be tightly pressed against the flush surface of the first housing 84, avoiding gaps between the light-transmitting plate 11 and the elastomer 12 due to vibration and impact, ensuring no lag in deformation transmission and no loss in light transmission.

[0140] By using raised ribs on the second housing 8 to achieve compression, there is no need for an additional large-area pressing plate, which reduces the material usage of the second housing 85, lowers the overall weight of the sensor, and is more suitable for weight-sensitive applications such as robot end effectors. At the same time, the limiting ribs 86 occupy little space and can avoid the imaging area in the middle of the light-transmitting plate 11, thus avoiding obstruction of the deformation transmission of the elastomer 12 and the light path of the imaging component 2.

[0141] During assembly, the mating surfaces of the first housing 84 and the second housing 85 are typically sealed using methods such as sealing strips or stepped structures 87. A limiting rib 86 protrudes from the inner wall of the second housing 85 to press the light-transmitting plate 11 together when the first housing 84 and the second housing 85 are mated. The limiting rib 86 further seals the gap between the light-transmitting plate 11 and the inner wall of the mounting cavity 81, effectively preventing dust, liquids, and external stray light from entering the mounting cavity 81 and protecting the internal optical components.

[0142] Furthermore, the sealing structure can maintain a dry and clean environment inside the mounting cavity 81, preventing the contact surface between the elastomer 12 and the light-transmitting plate 11 from fogging due to moisture, ensuring long-term stable light transmission efficiency, and extending the service life of the sensor.

[0143] Continuing from the above, by setting the reflector 22 to change the direction of the light path, the imaging element 21 does not need to be directly facing the elastic body 12. In one embodiment, the mounting cavity 81 has a first inner wall 811 with an opening 82 and a second inner wall 812 opposite to the opening 82, the first inner wall 811 and the second inner wall 812 being set at an angle. The light-transmitting plate 11 is attached to the first inner wall 811.

[0144] The imaging assembly 2 also includes a reflector 22, which is disposed on the second inner wall 812, with its mirror surface facing the light-transmitting plate 11 and corresponding to the elastic body 12. The imaging element 21 is disposed on the reflection path of the reflector 22.

[0145] In this embodiment, the first inner wall 811 and the second inner wall 812 are arranged at an angle. The touch component 1 is installed on the first inner wall 811, and the reflector 22 is installed on the second inner wall 812. In this way, the two are assembled independently, and there is no interference between the components. At the same time, directly assembling the reflector 22 onto the second inner wall 812 can ensure the installation stability of the reflector 22, thereby ensuring the stability of the reflected light path.

[0146] In one embodiment, the light source 31 includes a back plate and a plurality of lamp beads 312. The back plate is disposed on the side of the light-transmitting plate 11 away from the elastic body 12, and the plurality of lamp beads 312 are disposed on the side surface of the back plate facing the light-transmitting plate 11.

[0147] This invention does not specifically limit the color of the LED beads 312. Multiple first LED beads 312 can be configured as monochrome, dual-color, or multi-color LED beads. Multiple LED beads 312 can be configured as at least one of monochrome, dual-color, or multi-color LED beads. That is, multiple LED beads 312 can be set as monochrome LED beads, for example, white LED beads, or a single colored LED bead. Multiple LED beads 312 can be set as dual-color LED beads, for example, two different colored LED beads. Multiple LED beads 312 can also be set as multi-color LED beads, for example, three-color LED beads, with each group of three-color LED beads forming a set.

[0148] In one embodiment, among the plurality of LED beads 312, every three LED beads 312 form a group, and the three LED beads 312 in a group are respectively configured as red LED beads, green LED beads and blue LED beads.

[0149] Understandably, in some applications, a sensor structure 100 with a dimming component is typically mounted on the mechanical finger. However, existing sensor structures 100 with dimming components are usually fixed to a connector 200 and connected to external components via the connector 200. When the sensor structure 100 with dimming component fails due to damage or decreased sensitivity, the entire mechanical finger needs to be disassembled for repair or replacement, which is a complex operation.

[0150] To address the aforementioned issues, in one embodiment, the mechanical finger further includes a connector 200, which is connected to an external component, and the sensor structure 100 with a dimming assembly is detachably mounted on the connector 200.

[0151] Specifically, the sensor structure 100 with a dimming component also includes a housing 8 and a locking component 9. A mounting cavity 81 is formed within the housing 8, and the touch component 1, imaging component 2, and dimming component 3 are housed within the mounting cavity 81, with the elastomer 12 partially extending through the housing 8. The locking component 9 is located between the housing 8 and the connector 200, allowing the housing 8 and the connector 200 to be detachably connected.

[0152] When the sensor fails due to damage or decreased sensitivity, it is not necessary to disassemble the entire mechanical finger. The sensor can be removed separately for repair or replacement simply by separating the housing 8 and the connector 200 through the locking assembly 9, thus reducing maintenance difficulty.

[0153] For more details, please refer to Figure 2 The locking assembly 9 includes a latch 91, a locking part 92, and a mating part 93. The latch 91 is rotatably mounted on the housing 8. One of the locking part 92 and the mating part 93 is located on the latch 91, and the other is located on the connector 200. During the rotation of the latch 91, the locking part 92 and the mating part 93 can lock or unlock, so that the housing 8 and the connector 200 can be relatively fixed or unlocked.

[0154] In this embodiment, maintenance personnel only need to manually rotate the latch 91 to fix or unlock the device by engaging or disengaging the locking part 92 and the mating part 93, thus avoiding the need to carry tools such as screwdrivers and wrenches, making it particularly suitable for rapid maintenance in industrial settings.

[0155] Meanwhile, the locking part 92 and the mating part 93 can be designed with a structure with bevels or barbs. For example, the protrusion on the latch 91 and the groove on the connector 200 form an interference fit. After the latch 91 is rotated into place, the two will achieve self-locking due to the friction of the contact surfaces or the interlocking of their shapes. Even if the mechanical finger is under vibration or impact conditions, it will not automatically unlock due to external force, ensuring the relative position of the sensor and the connector 200 is stable.

[0156] Multiple latches 91 can be provided along the periphery of the housing 8, for example, two symmetrically distributed. When rotated, each locking part 92 engages synchronously with the mating part 93, so that the force on the contact surface between the sensor housing 8 and the connector 200 is uniform, avoiding deformation of the housing 8 caused by local stress concentration.

[0157] Furthermore, when the latch 91 is rotated to the locked position, a clicking or clicking sound will be produced due to the complete engagement of the locking part 92 and the mating part 93. Operators can determine whether the installation is correct by touch or sound, reducing sensor malfunctions caused by loose connections. The rotation angle of the latch 91 also corresponds to a specific state, such as horizontal for unlocked and vertical for locked. By observing the orientation of the latch 91, the current connection status can be quickly determined, avoiding the risk of the sensor falling off due to forgetting to lock it after maintenance.

[0158] The latch 91 can also be designed as a thin structure attached to the surface of the housing 8, which occupies only space in the direction of its own axis when rotating, and will not protrude too much outward, thus avoiding interference with other parts of the mechanical fingers.

[0159] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A sensor structure with a light adjusting assembly, characterized in that, include: A housing having an internal mounting cavity, and an opening on one side of the housing communicating with the mounting cavity; A touch component, disposed within the mounting cavity, includes a light-transmitting plate and an elastomer attached to one side surface of the light-transmitting plate, wherein the elastomer protrudes at least partially from the opening onto the outside of the housing; An imaging component, disposed within the mounting cavity, is used to acquire images of the elastomer; as well as, A dimming assembly is disposed within the mounting cavity. The dimming assembly is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastic body. The dimming assembly includes a light source and a light guide. The light-emitting part of the light source is disposed facing the light-transmitting plate and is arranged around the outer edge of the elastic body. One end of the light guide corresponds to the light-emitting part, and the other end is movably inserted into the light-transmitting plate and disposed near the outer edge of the light-transmitting plate, so as to conduct the light emitted by the light source from the edge of the light-transmitting plate to the center of the light-transmitting plate.

2. The sensor structure with light adjusting assembly of claim 1, wherein, The imaging assembly includes an imaging element and a reflector. The reflector is located on the side of the dimming assembly away from the touch assembly. The mirror surface of the reflector faces the light-transmitting plate and is positioned corresponding to the elastomer to reflect the deformation image of the elastomer. The imaging element is located on the reflection path of the reflector to acquire the image reflected by the reflector.

3. The sensor structure with light adjusting assembly of claim 1, wherein, The light guide portion has a first side facing away from the light source and a second side away from the center of the light-transmitting plate. A reflective surface is formed between the first side and the second side, and the reflective surface is disposed facing the center of the light-transmitting plate.

4. The sensor structure with light adjusting assembly of claim 3, wherein, The reflective surface and the extended surface of the second side have a first included angle, the first included angle being 30° to 45°; and / or, The light-transmitting plate has a groove at the position corresponding to the light-emitting part, the other end of the light guide part is inserted into the groove, and the reflective surface does not extend beyond the groove opening.

5. The sensor structure with light adjusting assembly of claim 3, wherein, The light guide portion has a third side opposite to the second side; The dimming component also includes a light-diffusing section, which is disposed on the third side surface.

6. The sensor structure with light adjusting assembly of claim 5, wherein, The light-diffusing section includes a frosted surface located on the third side.

7. The sensor structure with light tuning assembly of claim 1, wherein, The sensor structure with dimming components also includes a support frame, which is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastic body. The inner core area of ​​the support frame is provided corresponding to the elastic body to expose the elastic body. The light source is located on the side of the support frame away from the touch component and is positioned corresponding to the edge of the support frame. The light guide is movably inserted into the edge of the support frame and penetrates part of the light-transmitting plate.

8. The sensor structure with light adjusting assembly of claim 7, wherein, On the side away from the light-transmitting plate, the end face of the light guide is flush with the surface of the frame edge, and the support frame has a limiting protrusion at the periphery of the inner core area; The light source includes an annular back plate and LED beads. The annular back plate is sleeved around the periphery of the limiting protrusion and locked and fixed to the support frame. The LED beads are disposed on the side surface of the annular back plate facing the support frame.

9. The sensor structure with light adjusting assembly of claim 8, wherein, The sensor structure with dimming components also includes a pressure plate, which is located on the side of the limiting protrusion away from the light-transmitting part. A protrusion protrudes from the side of the pressure plate facing the annular back plate, and the protrusion is attached to the annular back plate. The pressure plate has a window at the position corresponding to the core area inside the support frame to expose the elastomer.

10. The sensor structure with light tuning assembly of claim 7, wherein, The support frame is attached to the surface of the light-transmitting plate; The support frame has mounting holes on its frame edge, and the light-transmitting plate has grooves at positions corresponding to the mounting holes. The grooves are connected to the mounting holes and form a four-sided enclosed mounting groove. The light guide is movably inserted into the mounting slot.

11. The sensor structure with light tuning assembly of claim 7, wherein, The sensor structure with dimming components also includes a fastening structure, which is disposed between the support frame and the light-transmitting plate to fasten and fix the support frame and the light-transmitting plate.

12. The sensor structure with light tuning assembly of claim 11, wherein, The light-transmitting plate has a first slot on one side in the first direction and a fastener on the other side; The support frame has a locking strip protruding from the inner wall of one frame side in the first direction and an elastic locking post protruding from the outer wall of the other frame side. The locking strip is inserted into the first locking groove, and the elastic locking post is engaged with the buckle. The fastening structure includes the first card slot and the card strip, as well as the buckle and the elastic card post.

13. The sensor structure with light tuning assembly of claim 1, wherein, The inner wall of the mounting cavity has an annular groove at the position corresponding to the periphery of the opening to form a countersunk hole structure; The elastomer passes through the opening and the annular protrusion is accommodated in the annular groove. On the side facing the light-transmitting plate, the surface of the elastomer, the surface of the annular protrusion, and the inner wall of the mounting cavity are flush. The light-transmitting plate is attached to the surface of the elastomer, the surface of the annular convex edge, and the inner wall of the mounting cavity.

14. The sensor structure with light tuning assembly of claim 13, wherein, The housing includes a first outer shell and a second outer shell that are joined together, wherein the first outer shell has the opening; The touch component, the imaging component, and the dimming component are disposed within the first housing; The inner wall of the second outer shell is provided with a limiting rib, and when the first outer shell and the second outer shell are connected, the limiting rib presses against the light-transmitting plate.

15. The sensor structure with light tuning assembly of claim 13, wherein, The mounting cavity has a first inner wall for providing the opening and a second inner wall opposite to the opening, wherein the first inner wall and the second inner wall are arranged at an angle. The light-transmitting plate is attached to the first inner wall; The imaging assembly further includes a reflector disposed on the second inner wall, with its mirror surface facing the light-transmitting plate and corresponding to the elastic body. The imaging element is disposed on the reflection path of the reflector.

16. The sensor structure with a dimming component according to claim 1, characterized in that, The light source includes a back plate and a plurality of LED beads. The back plate is disposed on the side of the light-transmitting plate away from the elastic body, and the plurality of LED beads are disposed on the surface of the back plate facing the light-transmitting plate. The plurality of LEDs are configured as at least one of monochrome LEDs, dual-color LEDs, or multi-color LEDs.

Images