A tactile robot finger structure

Abstract

The utility model discloses a kind of visual tactile robot finger structure, including shell, through-hole is provided on the shell, tactile module is fixedly arranged in the through-hole, the tactile module includes transparent support pad, silicone block being set on transparent support pad and coating unit being set on the surface of silicone block;Camera module is arranged in the shell, and the camera module is used to collect the image information of tactile module.In the utility model, by improving the structure of tactile module, and using camera module to collect the image information of tactile module to judge the stress condition of finger, direct perception to finger deformation is realized, product structure is greatly simplified, manufacturing cost is reduced, and the reliability and stability of system are improved simultaneously;Direct perception to finger deformation is realized, product structure is greatly simplified, manufacturing cost is reduced, and reliability and stability of system are improved simultaneously, and the perception ability and adaptability of robot finger are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of robot tactile perception, and in particular relates to a visual-tactile robot finger structure. Background Technology

[0002] Tactile perception is crucial for robots to achieve precise grasping, dexterous manipulation, and natural human-computer interaction. Inspired by the structure, material properties, and function of human fingertips, bionic tactile fingers can be designed by combining multiple sensing principles, significantly improving the tactile sensitivity of robots. During tactile perception, robots need to simultaneously identify multiple physical attributes such as shape, force, and texture, which places high demands on tactile sensing technology.

[0003] Currently, the mainstream methods for acquiring tactile signals include piezoelectric and optical sensors. Piezoelectric sensors have advantages such as no external power supply, high sensitivity, fast response, and good reliability. However, their output voltage gradually decays under continuous static force, making them unsuitable for static force measurement. They also suffer from low spatial resolution and poor temperature stability. Optical sensors have a compact structure and high spatial resolution, and are sensitive to static and low-frequency contact. However, existing optical sensing solutions are relatively large in size and have certain performance limitations, requiring further optimization. Utility Model Content

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by this utility model is to provide a visual-tactile robot finger structure.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A visual-tactile robot finger structure includes a shell with a through hole. A tactile module is fixedly disposed in the through hole. The tactile module includes a transparent support pad, a silicone block disposed on the transparent support pad, and a coating unit disposed on the surface of the silicone block. A camera module is disposed inside the shell for acquiring image information of the tactile module.

[0006] Furthermore, the coating unit includes a marking coating, a background coating, and a protective coating sequentially formed on the surface of the silicone block. The marking coating includes a dotted array coated on the surface of the silicone block, and the background coating is formed by coating with a non-transparent material.

[0007] Furthermore, the dot array is a rectangular array formed by arranging multiple dot patterns in rows and columns.

[0008] Furthermore, the dot pattern consists of black dots with a diameter of 0.5 mm or less.

[0009] Furthermore, the transparent support pad is made of transparent polycarbonate material with a thickness of 2mm to 3mm, and the silicone block is made of silicone material with a thickness of 1mm to 2mm.

[0010] Furthermore, the transparent support pad and the silicone block are integrally injection molded into a single unit.

[0011] Furthermore, a supplementary lighting system is provided along the edge of the transparent support pad. The supplementary lighting system is a COB light strip or a plurality of white LED point light sources arranged sequentially along a predetermined direction.

[0012] Furthermore, a hardware PCB board is also provided in the housing, and the camera module is electrically connected to the hardware PCB board.

[0013] Furthermore, the camera module is tilted and arranged on one side of the tactile module, and a reflector is tilted and arranged inside the housing below the tactile module. The reflector is located in the optical axis direction of the camera module and forms an angle with the optical axis of the camera module.

[0014] Furthermore, the outer casing includes an upper casing and a lower casing disposed opposite to each other. The bottom surface of the lower casing includes a first inclined surface and a second inclined surface, and the first inclined surface and the second inclined surface form an included angle. The reflector is disposed above the first inclined surface and is disposed parallel to the first inclined surface. The camera module is disposed above the second inclined surface, and the optical axis of the camera module is parallel to the second inclined surface.

[0015] In this invention, by improving the structure of the tactile module and using a camera module to collect image information from the tactile module to determine the force applied to the finger, direct perception of finger deformation is achieved, greatly simplifying the product structure, reducing manufacturing costs, and improving the reliability and stability of the system. The use of a reflector optimizes the internal layout of the finger structure and reduces the product's size. The tactile module is integrally injection molded from silicone and PC materials, effectively solving the problem of easy damage to traditional sensors. An integrated supplementary lighting system improves visual imaging quality and reduces the impact of ambient light interference. The addition of a hardware PCB board improves the system's response speed and accuracy, effectively overcoming the shortcomings of optical motion capture being easily interfered with, and significantly enhancing the robot's finger's perception and adaptability. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of an embodiment of the visual-tactile robot finger structure of this utility model.

[0017] Figure 2 for Figure 1 Exploded view.

[0018] Figure 3 This is an exploded view of the haptic module.

[0019] The diagrams in the instruction manual are labeled as follows: Outer shell - 100; Upper shell - 110; Through hole - 111; Lower shell - 120; First inclined surface - 121; Second inclined surface - 122; First bolt - 130; Tactile module - 200; Transparent support pad - 210; Silicone block - 220; Marking coating - 231; Background coating - 232; Protective coating - 233; Dot pattern - 240; Lighting system - 250; Pressure block - 260; Second bolt - 270; Camera module - 300; Third bolt - 310; Reflector - 400; Hardware PCB board - 500; Fourth bolt - 510. Detailed Implementation

[0020] The following specific examples illustrate the implementation of this utility model. The illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] Please see Figure 1 , Figure 1 This is a schematic diagram of an embodiment of a visual-tactile robot finger structure according to the present invention. The visual-tactile robot finger structure of this embodiment includes a shell 100. A through hole 111 is formed on the shell 100 corresponding to the tactile sensing area of ​​the finger structure. A tactile module 200 is fixedly disposed in the through hole 111, and the tactile module 200 is used to undergo corresponding deformation when subjected to force.

[0022] Please see Figure 2 An image module 300 is disposed inside the housing 100. The image module 300 is used to acquire image information from the tactile module 200. The image module 300 can be tilted and disposed to one side of the tactile module 200. In this embodiment, the image module 300 uses a 1080P high-definition camera with a frame rate of 30fps, automatic exposure control balance, and macro imaging functions. A reflector 400 is tilted and disposed inside the housing 100 below the tactile module 200. The reflector 400 can be made of specular reflective material. The reflector 400 is located in the optical axis direction of the image module 300 and forms an angle with the optical axis of the image module 300, thereby reflecting light from the tactile module 200 to the image module 300.

[0023] In this embodiment, the outer casing 100 includes an upper casing 110 and a lower casing 120 disposed opposite to each other. The through hole 111 is disposed on the upper casing 110. The upper casing 110 and the lower casing 120 can be connected into a whole by a first bolt 130. The bottom surface of the lower casing 120 includes a first inclined surface 121 and a second inclined surface 122, which form an included angle, thereby making the bottom surface of the lower casing 120 "V" shaped.

[0024] The reflector 400 can be fixedly mounted above the first inclined surface 121 by adhesive or snap-fit, and the reflector 400 can be arranged parallel to the first inclined surface 121. The camera module 300 is mounted above the second inclined surface 122, and the optical axis of the camera module 300 can be parallel to the second inclined surface 122. The tactile module 200 can be limited and fixed in the through hole 111 by the pressure block 260, and the pressure block 260 can be fixedly connected to the upper housing 110 by the second bolt 270. The camera module 300 can be connected and fixed to the lower housing 120 by the third bolt 310.

[0025] In this embodiment, the reflector 400 is used to reflect the incident light into the camera module 300, thereby reflecting the shape changes of the tactile module 200 into the camera module 300 in real time. This can optimize the setting position of the camera module 300, thereby optimizing the shape design of the outer shell 100 and reducing the product size of the finger structure.

[0026] Please see Figure 3 The tactile module 200 may include a transparent support pad 210, a silicone block 220 disposed on the transparent support pad 210, and a coating unit disposed on the surface of the silicone block 220. The transparent support pad 210 is made of a transparent material and has high light transmittance, serving as a light guide system. Combined with a reflective sheet, it can reflect changes in the shape of the tactile module 200 to the visual system in real time. For example, the transparent support pad 210 may be a PC block made of transparent polycarbonate (PC) material. The silicone block 220 is generally made of transparent silicone material. The thickness ratio of the transparent support pad 210 to the silicone block 220 is preferably 2:1, the thickness of the transparent support pad 210 is preferably 2mm to 3mm, and the thickness of the silicone block 220 is preferably 1mm to 2mm.

[0027] In this embodiment, the transparent support pad 210 and the silicone block 220 are integrally injection molded into a single unit. The tactile module 200 is integrally injection molded from silicone and transparent polycarbonate materials, resulting in a compact structure that ensures both the softness and flexibility of the fingers while enhancing the accuracy and durability of the sensing, effectively solving the problem of traditional sensors being easily damaged.

[0028] The coating unit includes a marking coating 231, a background coating 232, and a protective coating 233 sequentially formed on the surface of the silicone block 220. The marking coating 231 comprises a dotted array coated on the surface of the silicone block 220. The background coating 232 is formed by coating with a non-transparent material to facilitate the acquisition of image information from the dotted array by the camera module 300. The protective coating 233 protects the background coating 232 from scratches or other damage. The dotted array is a rectangular array formed by arranging multiple dotted patterns 240 in rows and columns. In this embodiment, the dotted array is a 17×11 rectangular array, and the dotted patterns 240 are black dots with a diameter less than or equal to 0.5 mm. For example, the diameter of the black dots can be 0.5 mm, 0.4 mm, 0.3 mm, etc.

[0029] To improve the imaging quality of the camera module 300, a supplementary lighting system 250 is provided along the edge of the transparent support pad 210 in this embodiment. The supplementary lighting system 250 can be selected as a COB light strip or multiple white LED point light sources arranged sequentially along a predetermined direction, as needed. By internally integrating the supplementary lighting system 250 surrounding the transparent support pad 210, this embodiment can provide sufficient illumination for the camera module 300, thereby improving visual imaging quality and reducing the impact of ambient light interference on the imaging of the camera module 300.

[0030] The video information captured by the camera module 300 can be output to an external source for processing, but this results in low response speed and susceptibility to interference. In this embodiment, a hardware PCB board 500 is also provided in the outer casing 100. The hardware PCB board 500 can be fixed to the lower casing 120 by a fourth bolt 510, and the camera module 300 is electrically connected to the hardware PCB board 500. The hardware PCB board 500 is used to perform image processing and feature extraction on the image information captured by the camera module 300. By changing the relative position of the dot array, the deformation information of the finger is obtained, thereby achieving accurate judgment of the force state of the finger. Of course, the supplementary lighting system 250 can also be electrically connected to the hardware PCB board 500 to control the supplementary lighting system 250 to turn on or off.

[0031] By equipping the finger structure with a hardware PCB board 500, the video information collected by the camera module 300 can be processed in real time through the hardware PCB board 500, and the force state of the finger can be judged directly on the finger structure, thereby improving the system's response speed and accuracy, and effectively overcoming the problem that optical motion capture is easily interfered with.

[0032] The working principle of this embodiment is as follows: Please see Figures 1 to 3When the robot's finger structure is subjected to force, the silicone block 220 deforms, causing a change in the relative positions of the dot patterns 240 in the dot array coated on the surface of the silicone block 220. The camera module 300 acquires image information of the dot array through the reflection of the reflector 400 and transmits it to the hardware PCB board 500. The light emitted by the supplementary light is guided by the transparent support pad 210 to enhance the imaging effect of the camera module 300. The hardware PCB board 500 performs image processing and feature extraction on the image information sent by the camera module 300, thereby obtaining the finger deformation information based on the relative positions of each dot pattern 240 in the dot array, thus achieving accurate judgment of the finger's force state.

[0033] In this embodiment, a tactile module 200 is formed by combining a silicone block 220 and a PC block. By coating a dotted array on the silicone block 220, direct sensing of finger deformation is achieved, eliminating the need for a complex sensor array, greatly simplifying the product structure, reducing manufacturing costs, and improving the system's reliability and stability. The transparent support pad 210 is made of transparent PC material with high light transmittance and can be used as a light guide system. Combined with the reflector 400, changes in the tactile module 200 can be reflected in real time to the camera module 300, thereby optimizing the internal layout of the finger structure and reducing the product's size. The tactile module 200 is integrally injection molded from silicone and PC materials, resulting in a compact structure that ensures the softness and flexibility of the finger while enhancing the accuracy and durability of sensing, effectively solving the problem of easy damage to traditional sensors. An integrated supplementary lighting system within the finger structure provides sufficient illumination for the camera module 300, improving visual imaging quality and reducing the impact of ambient light interference. The finger structure is equipped with a hardware PCB board 500, which can process the acquired image information in real time, improve the system's response speed and accuracy, effectively overcome the shortcomings of optical motion capture being easily interfered with, and greatly enhance the robot finger's perception and adaptability.

[0034] The above embodiments only illustrate preferred implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A visual-tactile robot finger structure, characterized in that: The device includes a housing with a through hole, in which a tactile module is fixedly disposed. The tactile module includes a transparent support pad, a silicone block disposed on the transparent support pad, and a coating unit disposed on the surface of the silicone block. Inside the housing, a camera module is disposed for acquiring image information from the tactile module.

2. The visual-tactile robot finger structure as described in claim 1, characterized in that: The coating unit includes a marking coating, a background coating, and a protective coating formed sequentially on the surface of the silicone block. The marking coating includes a dotted array coated on the surface of the silicone block, and the background coating is formed by coating with a non-transparent material.

3. The visual-tactile robot finger structure as described in claim 2, characterized in that: The dot array is a rectangular array formed by arranging multiple dot patterns in rows and columns.

4. The visual-tactile robot finger structure as described in claim 3, characterized in that: The dot pattern consists of black dots with a diameter of 0.5 mm or less.

5. The visual-tactile robot finger structure as described in claim 1, characterized in that: The transparent support pad is made of transparent polycarbonate material with a thickness of 2mm to 3mm, and the silicone block is made of silicone material with a thickness of 1mm to 2mm.

6. The visual-tactile robot finger structure as described in claim 1, characterized in that: The transparent support pad and the silicone block are formed into a single unit through injection molding.

7. The visual-tactile robot finger structure as described in claim 1, characterized in that: A supplementary lighting system is provided along the edge of the transparent support pad. The supplementary lighting system is a COB light strip or a plurality of white LED point light sources arranged sequentially along a predetermined direction.

8. The visual-tactile robot finger structure as described in claim 1, characterized in that: The housing also contains a hardware PCB board, and the camera module is electrically connected to the hardware PCB board.

9. A visual-tactile robot finger structure as described in any one of claims 1 to 8, characterized in that: The camera module is tilted and arranged on one side of the tactile module. Inside the housing, a reflector is tilted and arranged below the tactile module. The reflector is located in the optical axis direction of the camera module and forms an angle with the optical axis of the camera module.

10. The visual-tactile robot finger structure as described in claim 9, characterized in that: The outer casing includes an upper casing and a lower casing arranged opposite to each other. The bottom surface of the lower casing includes a first inclined surface and a second inclined surface, and the first inclined surface and the second inclined surface form an included angle. The reflector is arranged above the first inclined surface and parallel to the first inclined surface. The camera module is arranged above the second inclined surface, and the optical axis of the camera module is parallel to the second inclined surface.

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