Installation structure, visual-tactile sensing unit, dexterous hand fingers, and robot

Abstract

This utility model discloses an image acquisition module mounting structure, a visual-tactile sensing unit, a dexterous hand finger, and a robot. The image acquisition module mounting structure includes a base, a flexible contact element, and an image acquisition module. The base has a mounting portion extending along a first direction, with a longer first extension section on a first side and a shorter second extension section on a second side. The flexible contact element is mounted on the first side of the base, including a main contact portion and two side portions. The camera of the image acquisition module is mounted in a mounting hole in the mounting portion, and a flexible circuit board is located on the second side of the base. By adopting an asymmetrical design at the bottom of the structure, the object distance of the camera is appropriately increased, allowing the imaging range to completely cover the main contact portion and the two side areas without changing the field of view. Simultaneously, the use of a flexible circuit board improves wiring flexibility and better adapts to the narrow space inside the sensor, thus solving the problem of insufficient field of view caused by space constraints in existing visual-tactile sensors.

Description

Technical Field

[0001] This utility model relates to the field of sensor technology, and in particular to an image acquisition module mounting structure, a visual-tactile sensing unit, a dexterous hand finger, and a robot. Background Technology

[0002] Visor-tactile sensors capture images of the deformation of flexible contact parts under pressure using a built-in camera, enabling the perception of the shape and force distribution of the contact area. They are widely used in precision manipulation scenarios such as robotic dexterity hands. To ensure image quality, the camera needs a sufficient field of view to cover the entire effective contact area. However, in the confined space of a finger, the camera is typically mounted close to the back of the flexible contact part, resulting in a short object distance, a limited field of view, and difficulty in simultaneously covering the center and both sides of the fingertip.

[0003] Some designs attempt to increase the camera's field of view or use a wide-angle lens, but this easily introduces image distortion, affecting the accuracy of deformation measurement. Other solutions increase the object distance by raising the camera's position, but this is difficult to implement due to the limited overall thickness of the finger, and may even sacrifice structural rigidity or assembly reliability. Furthermore, the placement of the camera and its circuit modules must also consider the spatial coordination of other functional components (such as light sources and cables), further compressing the layout freedom. Therefore, how to rationally arrange the camera within a limited thickness to achieve a sufficiently wide field of view while maintaining image clarity remains a key technical challenge in the current design of visual-tactile sensing structures. Utility Model Content

[0004] The main purpose of this invention is to propose an image acquisition module installation structure, a visual-tactile sensing unit, a dexterous hand finger, and a robot, aiming to solve the problem of insufficient imaging field of view caused by the limited installation position of the camera in the narrow space of the finger-like area of ​​the existing visual-tactile sensor.

[0005] To achieve the above objectives, the installation structure of the image acquisition module proposed in this utility model includes:

[0006] The base includes a mounting portion extending in a first direction, the mounting portion having a first side and a second side disposed opposite to each other in a second direction, the first side of the mounting portion extending outward in the second direction to form a first extension segment, the second side of the mounting portion extending outward in the second direction to form a second extension segment, and the mounting portion having a mounting hole penetrating its first side and second side.

[0007] A flexible contact element includes a main contact portion and side portions disposed on both sides of the main contact portion. The main contact portion and the two side portions together enclose a cavity with an opening. The opening faces the mounting portion and the first extension section. The open end of the flexible contact element covers a first side of the base.

[0008] An image acquisition module includes a camera and a flexible circuit board. The flexible circuit board is mounted on the second side of the base and located on the second side of the mounting portion. The camera is mounted in the mounting hole.

[0009] The length of the first extension segment is greater than the length of the second extension segment, so that the imaging field of the camera covers the main contact portion and the two sides.

[0010] In one embodiment, the flexible circuit board extends and bends along the first direction, and has a connecting plate segment, a first mounting plate segment, and a second mounting plate segment;

[0011] The second mounting plate segment includes a first bent segment extending from the connecting plate segment toward the mounting portion and a second bent segment extending from the first bent segment toward the distance from the mounting portion, wherein the camera is mounted on the second bent segment.

[0012] In one embodiment, the first mounting plate segment is arranged in parallel with the mounting portion and defines a first mounting space between itself and the rear cover for accommodating electronic components.

[0013] In one embodiment, a second mounting space is defined between the first bending segment, the second bending segment, and the connecting plate segment for accommodating another portion of electronic components.

[0014] In one embodiment, the image acquisition module further includes a first reinforcing plate and a second reinforcing plate, the first reinforcing plate and the second reinforcing plate being fixedly connected to the base respectively;

[0015] The connecting plate segment is attached to the first reinforcing plate, and the second bending segment is attached to the second reinforcing plate.

[0016] In one embodiment, the optical axis of the camera extends along the second direction, and the distance from the imaging reference surface of the camera to the inner wall surface of the flexible contact along the optical axis is d, where 10mm≤d≤27mm.

[0017] In one embodiment, the mounting structure further includes a rear cover, which is mounted on the second side of the base and forms a second mounting cavity with the base, and the image acquisition module is disposed in the second mounting cavity.

[0018] In one embodiment, one of the back cover and the base is provided with a buckle, and the other is provided with a slot that engages with the buckle.

[0019] In one embodiment, the second extension section is provided with a through hole for the signal lines of the flexible circuit board to pass through.

[0020] This utility model also provides a visual-tactile sensing unit, the visual-tactile sensing unit comprising:

[0021] The installation structure of the image acquisition module described above; and,

[0022] A light source assembly is disposed inside the flexible contact member to illuminate the main contact portion and the two side portions.

[0023] This utility model also provides a dexterous hand finger, characterized in that it includes a knuckle body and an installation structure for an image acquisition module as described above, which is installed at the end of the knuckle body.

[0024] This invention also provides a robot, which further includes the dexterous hand fingers as described above.

[0025] The technical solution provided by this utility model has at least the following advantages:

[0026] This application separates the camera in the image acquisition module from the flexible circuit board and sets the length of the first extension segment to be greater than the length of the second extension segment. By utilizing the asymmetrical extension design at the bottom of the base, the camera can obtain a larger effective object distance without changing the original field of view, thereby achieving complete coverage of the main contact part and the areas on both sides of the flexible contact. At the same time, the use of a flexible circuit board can improve wiring flexibility and adapt to the narrow space inside the finger, balancing image quality, structural compactness and assembly reliability, and solving the contradiction between insufficient field of view and limited space in the prior art. Attached Figure Description

[0027] 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.

[0028] Figure 1 An exploded view of an embodiment of the installation structure of the image acquisition module provided by this utility model;

[0029] Figure 2 for Figure 1 Side view of the central base;

[0030] Figure 3 for Figure 1 Schematic diagram of the central base;

[0031] Figure 4 for Figure 1 A schematic diagram of the structure of the image acquisition module;

[0032] Figure 5 for Figure 1 Side view of the image acquisition module;

[0033] Figure 6 A schematic diagram of the structure of an embodiment of the visual-tactile sensing unit provided by this utility model;

[0034] Figure 7 for Figure 6 A cross-sectional schematic diagram of the central vision tactile sensing unit.

[0035] Explanation of icon numbers:

[0036] 100. Visual-tactile sensing unit;

[0037] 10. Mounting structure; 11. Base; 111. Mounting part; 111a. Mounting hole; 111b. Slot; 111c. Cable hole; 112. First extension section; 113. Second extension section; 12. Flexible contact; 121. Main contact part; 122. Side part; 13. Image acquisition module; 131. Camera; 132. Flexible circuit board; 1321. Connecting plate section; 1322. First mounting plate section; 1323. Second mounting plate section; 13231. First bending section; 13232. Second bending section; 133. First reinforcing plate; 134. Second reinforcing plate; 14. Rear cover; 141. Buckle;

[0038] 20. Light source assembly; 21. LED strip; 22. Light guide.

[0039] 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

[0040] 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 scope of protection of the present utility model.

[0041] 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 specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0042] 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 use of "and / or" or "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.

[0043] This invention proposes an installation structure for an image acquisition module, aiming to solve the problem of insufficient imaging field of view caused by the limited installation position of the camera in the narrow space of the finger area of ​​the existing visual tactile sensor.

[0044] Specifically, in precision manipulation scenarios such as dexterity, flexible contact components typically take the form of fingertips, with an array of markers on their surface for deformation recognition. The camera needs to capture images of the deformation of this flexible contact component under pressure to perceive the shape and force distribution of the contact area. However, due to the compact internal space of the finger, traditional designs often mount the camera close to the back of the flexible contact component, resulting in a short object distance. This makes it difficult to simultaneously cover the center and both sides of the fingertip, even with a wide-angle lens, and easily introduces distortion. Raising the camera, on the other hand, is limited by the overall thickness, affecting structural rigidity or assembly reliability.

[0045] For this purpose, please refer to Figures 1 to 3In one embodiment of this utility model, the mounting structure 10 of the image acquisition module 13 includes a base 11, a flexible contact 12, and an image acquisition module 13. The base 11 includes a mounting portion 111 extending along a first direction. The mounting portion 111 has a first side and a second side disposed opposite each other in a second direction. The first side of the mounting portion 111 extends outward along the second direction as a first extension segment 112, and the second side of the mounting portion 111 extends outward along the second direction as a second extension segment 113. The mounting portion 111 is provided with a mounting hole 111a penetrating its first and second sides. The flexible contact 12 includes a main contact portion 121 and side portions 122 disposed on both sides of the main contact portion 121. The main contact portion 121 and the two side portions 122 together enclose a cavity with an opening facing the mounting portion 111 and the first extension segment 112, and the open end of the flexible contact 12 covers the first side of the base 11. The image acquisition module 13 includes a camera 131 and a flexible circuit board 132. The flexible circuit board 132 is mounted on the second side of the base 11 and located on the second side of the mounting portion 111. The camera 131 is mounted in the mounting hole 111a. The length of the first extension 112 is greater than the length of the second extension 113, so that the imaging field of the camera 131 covers the main contact portion 121 and the two side portions 122.

[0046] Specifically, the mounting portion 111 extends along a first direction, such as a vertical direction, and has a first side and a second side disposed opposite to each other in a second direction, such as a front-rear direction. The base 11 includes a bottom extending along the second direction. The mounting portion 111 has mounting holes 111a extending through its first and second sides for fixing the camera 131.

[0047] It should be noted that the bottom has a first extension section 112 on the first side of the mounting part 111 and a second extension section 113 on the second side, and the length of the first extension section 112 is greater than the length of the second extension section 113. Through the asymmetrical design, the mounting part 111 is arranged to be biased towards the second side of the base 11, thereby reserving a larger object distance space for the camera 131 on the first side.

[0048] The flexible contact element 12 is mounted on the first side of the mounting portion 111. The flexible contact element 12 is generally shaped like a biomimetic fingertip, including a main contact portion 121 in the middle and two side portions 122 located on the left and right sides of the main contact portion 121. It should be noted that the surface of the flexible contact element 12 may be provided with regularly or irregularly arranged visual markers (such as micro-bumps, color blocks, or texture patterns) for identifying local deformation in subsequent image processing. When an external object contacts the flexible contact element 12, its surface undergoes local deformation. The camera 131 can reconstruct the shape and pressure distribution of the contact area by capturing the positional changes of these markers.

[0049] The image acquisition module 13 includes a camera 131 and a flexible circuit board 132. The flexible circuit board 132 is mounted on the second side of the base 11 and located on the second side of the mounting portion 111. The camera 131 is embedded in the aforementioned mounting hole 111a, with its photosensitive surface facing the first side of the flexible contact member 12. Because a flexible circuit board 132 is used instead of a traditional rigid printed circuit board, the installation of the camera 131 is no longer limited by the size and rigid structure of the circuit board itself, allowing for more flexible adaptation to confined spaces. The flexible circuit board 132 can be bent and routed according to actual wiring requirements, making full use of the limited space on the second side of the mounting portion 111 while avoiding interference with other functional components.

[0050] It should be noted that this specification does not limit the specific model or optical parameters of the camera 131, as long as it has basic imaging capabilities; the material and number of layers of the flexible circuit board 132 can also be selected according to actual electrical performance requirements. In addition, the material of the flexible contact 12 can be silicone, polyurethane, or other polymer materials with good elasticity and light transmittance. The specific hardness, thickness, and surface texture can be adjusted according to the application scenario, and this specification does not limit these aspects in the embodiments.

[0051] Furthermore, in the dexterous hand finger structure, the first side of the base 11 corresponds to the fingertip side, and the second side corresponds to the back of the hand (i.e., the side where the nail is located). Therefore, the above structure not only meets the functional requirements, but also matches the bionic shape better, making it easier to integrate into the humanoid robot finger.

[0052] This application separates the camera 131 in the image acquisition module 13 from the flexible circuit board 132, and sets the length of the first extension 112 to be greater than the length of the second extension 113. By utilizing the asymmetrical extension design of the base 11, the camera 131 can obtain a larger effective object distance without changing the original field of view, thereby achieving complete coverage of the main contact portion 121 and the areas on both sides of the flexible contact member 12. At the same time, the use of the flexible circuit board 132 can improve wiring flexibility and adapt to the narrow space inside the finger, taking into account imaging quality, structural compactness and assembly reliability, and solving the contradiction between insufficient field of view and limited space in the prior art.

[0053] To further optimize the layout of the flexible circuit board 132, the limited space on the second side of the base 11 is utilized, while ensuring the stability of the camera 131 mounting position and the reliability of the electrical connection. Please refer to... Figures 4 to 5In this embodiment, the flexible circuit board 132 extends and bends along a first direction, and has a connecting plate segment 1321, a first mounting plate segment 1322, and a second mounting plate segment 1323. The second mounting plate segment 1323 includes a first bent segment 13231 extending from the connecting plate segment 1321 toward the mounting portion 111, and a second bent segment 13232 extending from the first bent segment 13231 toward the distance from the mounting portion 111. The camera 131 is mounted on the second bent segment 13232.

[0054] It should be noted that the electronic components on the connecting board segment 1321 are used for electrical connection with an external control system or power module. They are located at the lower end of the flexible circuit board 132 to facilitate the downward routing of signal cables. The first mounting board segment 1322 can be arranged in the non-interference area on the second side of the base 11 for mounting auxiliary electronic components (such as driver chips, filter capacitors, etc.), or it can be left empty to simplify the structure; the specific arrangement can be determined according to the actual circuit requirements.

[0055] The second mounting plate segment 1323 is used to mount the camera 131. The second mounting plate segment 1323 includes a first bent segment 13231 extending from the connecting plate segment 1321 toward the mounting portion 111, and a second bent segment 13232 extending from the first bent segment 13231 toward the distance from the mounting portion 111. The camera 131 is mounted on the second bent segment 13232 and aligned with the mounting hole 111a on the mounting portion 111, so that its photosensitive surface faces the first side of the flexible contact member 12.

[0056] Through the two bending processes described above, an approximately triangular three-dimensional structure is formed between the second mounting plate segment 1323 and the connecting plate segment 1321. This ensures that the camera 131 is stably positioned at the mounting hole 111a, and utilizes the longitudinal space on the second side of the mounting portion 111 to prevent the flexible circuit board 132 from being excessively stacked in a confined area or interfering with other components. Simultaneously, it enhances the local structural rigidity of the flexible circuit board 132, reducing camera 131 positional shifts caused by vibration or assembly stress, thereby ensuring imaging stability.

[0057] It should be noted that the specific bending angle, length, and thickness of each segment of the flexible circuit board 132 can be adjusted according to the actual internal space dimensions of the finger. Furthermore, although the second mounting segment 1323 in this embodiment has a triangular layout, other multi-segment bending forms can be used as needed, as long as accurate positioning of the camera 131 and good electrical connection can be achieved. This specification does not limit this embodiment.

[0058] Specifically, please refer to Figure 1 and Figure 4In this embodiment, the first mounting plate segment 1322 is arranged in parallel with the mounting part 111, and defines a first mounting space between it and the rear cover 14 for accommodating electronic components.

[0059] The first mounting plate segment 1322 is configured to be arranged parallel to the mounting portion 111 on the base 11, meaning that the two are essentially parallel in space, and the first mounting plate segment 1322 is arranged as close as possible to the second side surface of the mounting portion 111. This arrangement reduces the space occupied by the flexible circuit board 132 in the lateral direction, i.e., the second direction, and also forms a relatively regular and continuous cavity area between the first mounting plate segment 1322 and the rear cover 14, i.e., the structural shell covering the second side of the base 11. This area is defined as the first mounting space.

[0060] The first mounting space is mainly used to accommodate various electronic components, such as LED light source driver modules, signal amplifiers, power management chips, or miniature connectors. Because the first mounting plate segment 1322 is in close contact with the mounting part 111, space utilization is maximized in the thickness direction, making it suitable for applications such as dexterous hands that are highly sensitive to internal space.

[0061] It should be noted that the specific structural form of the back cover 14 can be adjusted according to the design requirements of the overall finger shell. It can be a one-piece or separate cover made of metal, plastic, or other engineering materials. The fixing method between it and the base 11 can be by means of clips 141, screws, or adhesive, etc., which are not limited in this specification. In addition, the degree of fit between the first mounting plate segment 1322 and the mounting part 111 can be appropriately adjusted according to the actual wiring and heat dissipation requirements. For example, a small gap can be reserved for wiring or ventilation, but in general, a parallel and close relative position relationship is still maintained. As for the type and quantity of electronic components housed, they can also be flexibly configured according to functional requirements. This embodiment does not limit their specific types.

[0062] Specifically, please refer to Figure 4 and Figure 5 In this embodiment, a second mounting space is defined between the first bending segment 13231, the second bending segment 13232 and the connecting plate segment 1321 for accommodating another part of the electronic components.

[0063] Since the first bending segment 13231 extends from the connecting plate segment 1321 toward the direction close to the mounting part 111, and the second bending segment 13232 extends from the first bending segment 13231 toward the direction away from the mounting part 111, a closed or semi-closed three-dimensional area can be formed between the direction of the two bends and the connecting plate segment 1321, which is the second mounting space.

[0064] The second mounting space is located inside the bending structure of the flexible circuit board 132 itself, and can be used to accommodate another part of smaller electronic components, such as miniature capacitors, resistors, filter components, flexible connection terminals or small sensor signal conditioning chips.

[0065] This design not only avoids taking up extra space in other areas of the base 11 and is compact, but also shortens the electrical connection path between the base 11 and the camera 131, thereby improving signal integrity and reducing noise interference.

[0066] It should be noted that the specific shape and size of the second mounting space depend on the length, bending angle, and thickness of each bent segment of the flexible circuit board 132, and can be adaptively adjusted according to the actual electronic components to be accommodated. Furthermore, although the second mounting space in this embodiment is formed by three board segments, its boundaries can be open, for example, one side may not be completely closed, as long as a stable area for device placement can be provided. As for the type, quantity, and fixing method of the accommodated electronic components, such as dispensing, clips 141, or soldering, these can be flexibly determined according to the actual circuit design, and this specification does not impose any limitations on them.

[0067] Further, please refer to Figure 4 In this embodiment, the image acquisition module 13 further includes a first reinforcing plate 133 and a second reinforcing plate 134, which are respectively fixedly connected to the base 11. A connecting plate segment 1321 is attached to the first reinforcing plate 133, and a second bent segment 13232 is attached to the second reinforcing plate 134.

[0068] Specifically, the first reinforcing plate 133 is fixed to the bottom of the base 11 near the connecting plate segment 1321, and the connecting plate segment 1321 is attached to and fixed to the surface of the first reinforcing plate 133. Through the attachment structure, the connecting plate segment 1321 is not easily deformed or displaced when subjected to external force pulling or vibration.

[0069] The second reinforcing plate 134 is fixed to the base 11 in the area near the second side of the mounting portion 111. The second bent section 13232, i.e., the part where the camera 131 is mounted, is attached to and fixed to the second reinforcing plate 134. This arrangement can limit the slight shaking of the camera 131 during operation, improve imaging stability, and prevent solder joint fatigue or breakage caused by excessive bending of the flexible circuit board 132.

[0070] It should be noted that the first reinforcing plate 133 and the second reinforcing plate 134 mentioned above can be made of metal, such as stainless steel, aluminum alloy or high-strength engineering plastics and other rigid materials, and their shapes can be adapted to the local contours of the base 11. The fixing method may include screw connection, snap-fit ​​141, bonding or integral molding, etc., which are not limited in this specification.

[0071] It should also be noted that although two reinforcing plates are provided in this embodiment to correspond to the connecting plate segment 1321 and the second bending segment 13232 respectively, only one of them may be provided or more reinforcing structures may be added according to actual needs. The specific number, position and size of the reinforcing plates can be flexibly adjusted according to the internal space and mechanical performance requirements of the finger. This embodiment of the specification does not limit this.

[0072] Furthermore, in order to ensure effective coverage of the entire area of ​​the flexible contact 12 within a limited space, in this embodiment, the optical axis of the camera 131 extends along the second direction, and the distance from the imaging reference surface of the camera 131 to the inner wall surface of the flexible contact 12 along the optical axis direction is d, where 10mm≤d≤27mm.

[0073] It should be noted that the object distance d refers to the vertical distance from the imaging reference plane of the camera 131 lens, typically the front surface of the sensor or the effective focal plane, to the inner wall surface of the flexible contact 12, i.e., the reference plane directly opposite the back of the flexible contact 12. The setting of this distance needs to be considered in conjunction with the optical performance of the camera 131. For example, in a preferred embodiment, the camera 131 module used is an OV9734 (CSP) sensor, with an effective focal range of 10.5mm to 26.1mm, corresponding to a field of view of 115° horizontally, 80.5° vertically, and 141° diagonally. Therefore, controlling the object distance d within the range of 10mm to 27mm allows the camera 131 to operate within its optimal focusing range, ensuring image clarity while fully utilizing its large field of view.

[0074] Because the flexible contact 12 has a fingertip-like structure, including a central main contact portion 121 and two side portions 122, it is difficult to simultaneously cover the center and edge areas if only a camera with a small object distance or narrow field of view is used. However, by setting the object distance within the aforementioned range and cooperating with the large horizontal field of view (115°) of the camera 131, the imaging field of view can extend beyond the boundary of the main contact portion 121 in the left and right directions to the two side portions 122, thereby completely capturing the deformation of the entire contact surface.

[0075] It should be noted that although the OV9734 sensor is used as an example in this embodiment, this specification does not limit the specific model or optical specifications of the camera 131, as long as it has the corresponding field of view and adjustable focus capability. In addition, the specific value of the object distance d can be matched and adjusted according to the optical parameters of the actually selected camera 131, or it can be adapted to the size and shape of the flexible contact 12. This specification does not limit this aspect.

[0076] By arranging the optical axis of the camera 131 along the second direction and setting the object distance d within the range of 10mm to 27mm, the camera 131 can achieve full coverage of the main contact portion 121 and the two side portions 122 of the flexible contact member 12 by utilizing its large field of view while maintaining good imaging quality, thus avoiding the loss of information in the edge area due to insufficient field of view.

[0077] Further, please refer to Figure 6 and Figure 7 In this embodiment, the mounting structure 10 of the image acquisition module 13 also includes a rear cover 14, which is mounted on the second side of the base 11 and forms a second mounting cavity with the base 11. The image acquisition module 13 is disposed in the second mounting cavity.

[0078] Once the back cover 14 is installed, the space formed between its inner surface and the second side of the base 11 is the second mounting cavity. The second mounting cavity not only accommodates the camera 131 and the flexible circuit board 132, but can also integrate other auxiliary components (such as light source, filter, shielding cover, etc.) to achieve modular packaging.

[0079] Placing the image acquisition module 13 inside the second mounting cavity can prevent external dust, liquids, or mechanical impacts from damaging the precision electronic components and improve the reliability of the sensor under complex working conditions. On the other hand, it can also make the overall structure closer to the natural shape of a bionic finger, making it easier to assemble with other finger components.

[0080] Specifically, to ensure stable assembly between the rear cover 14 and the base 11, please refer to... Figure 1 and Figure 3 In this embodiment, one of the back cover 14 and the base 11 is provided with a buckle 141, and the other is provided with a slot 111b that engages with the buckle 141.

[0081] It should be noted that the specific number, shape and setting position of the buckle 141 and the slot 111b can be adjusted according to the actual structural size and design requirements; the buckle 141 can also be set on the base 11 and the slot 111b can be set on the back cover 14, and the same function can be achieved by interchangeing the two.

[0082] In one embodiment, an elastic buckle 141 is integrally formed on the inner edge of the back cover 14. The front end of the buckle 141 has a guide slope and a limiting boss. The second periphery of the base 11 is provided with a corresponding slot 111b, which has an open end and a limiting shoulder. During assembly, the back cover 14 is aligned with the base 11 and pressed down. The buckle 141 slides into the slot 111b along the guide slope, and elastically resets after passing the limiting shoulder, thus achieving self-locking fixation.

[0083] Thus, the snap-fit ​​structure not only simplifies the assembly process and avoids the use of screws or adhesives, but also facilitates later maintenance or replacement of internal modules.

[0084] Specifically, please refer to Figure 3 and Figure 4 The second extension 113 is provided with a through hole 111c for the signal lines of the flexible circuit board 132 to pass through. The through hole 111c passes through the upper and lower surfaces or side walls of the second extension 113 along the second direction (i.e., the front-to-back direction) for the signal lines of the flexible circuit board 132 to pass through and be led out to the external control system.

[0085] Specifically, the flexible circuit board 132 is mounted on the second side of the base 11 and located on the second side of the mounting part 111. One end of the board is connected to the camera 131, and the other end is required to transmit the acquired image signal to the processing unit outside the finger. By providing a wire through hole 111c, the signal line can pass down or to the side from the end of the flexible circuit board 132 and be led out through the wiring path inside or at the bottom of the base 11, avoiding interference, wear, or affecting the overall shape and outline caused by the signal line directly winding around the outer edge of the base 11.

[0086] It should be noted that although the cable pass-through hole 111c is located in the second extension section 113 in this embodiment, auxiliary cable pass-through structures can also be added to other parts of the base 11 according to actual wiring requirements; the number of cable pass-through holes 111c can be one or more, and can be flexibly arranged according to the grouping of the signal harness. This specification does not limit this.

[0087] This utility model also proposes a visual-tactile sensing unit 100, please refer to [link / reference]. Figure 6 and Figure 7 The visual-tactile sensing unit 100 includes a mounting structure 10 for an image acquisition module 13 and a light source assembly 20 disposed inside the flexible contact member 12. The light source assembly 20 is used to illuminate the main contact portion 121 and the two side portions 122. The specific structure of the mounting structure 10 for the image acquisition module 13 is as described in the above embodiments. Since this visual-tactile sensing unit 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0088] In one specific embodiment, the flexible contact 12 is finger-shaped, with its open end covering the first side of the base 11. The base 11 has an annular mounting groove recessed on the first side corresponding to the inner periphery of the opening, and this annular mounting groove extends continuously along the circumference of the opening of the flexible contact 12. The light source assembly 20 includes a light strip 21 and a light guide 22, wherein the light strip 21 is installed within the annular mounting groove and arranged along the periphery of the opening to form a surround lighting layout.

[0089] The light guide portion 22 is disposed between the light strip 21 and the flexible contact member 12. Its outer periphery covers and closes the opening of the annular mounting groove, serving the dual functions of light shielding and light guiding. The inner surface contour of the light guide portion 22 is adapted to the inner wall surface of the flexible contact member 12, which can uniformly conduct and diffuse the light emitted by the light strip 21 to the entire inner wall area of ​​the main contact portion 121 and the two side portions 122 of the flexible contact member 12, avoiding local bright spots or lighting dead angles.

[0090] Through the above structure, the light source assembly 20 can achieve uniform backlight illumination of the internal marking point array of the flexible contact 12, improving the image contrast and recognition accuracy of the camera 131 under different contact states. It should be noted that the light strip 21 can be in the form of LED bead strings, flexible LED strips, or micro OLED light sources; the shape of the light guide 22 can also be adjusted according to the curvature of the flexible contact 12, for example, by adopting an arc shape, a stepped shape, or a multi-segment splicing structure. The specific implementation scheme can be flexibly determined according to actual optical requirements and assembly conditions, and this specification does not limit it.

[0091] This utility model also proposes a dexterous hand finger, which includes a finger joint body and a visual-tactile sensing unit 100. The specific structure of the visual-tactile sensing unit 100 is as described in the above embodiments. Since this dexterous hand finger adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0092] This utility model also proposes a robot, which includes a palm and dexterous hand fingers. The specific structure of the dexterous hand fingers is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0093] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An installation structure (10) for an image acquisition module, characterized in that, include: The base (11) includes a mounting portion (111) extending in a first direction. The mounting portion (111) has a first side and a second side arranged opposite to each other in a second direction. The first side of the mounting portion (111) extends outward in the second direction to form a first extension segment (112), and the second side of the mounting portion (111) extends outward in the second direction to form a second extension segment (113). The mounting portion (111) is provided with a mounting hole (111a) penetrating through its first side and second side. The flexible contact element (12) includes a main contact portion (121) and side portions (122) disposed on both sides of the main contact portion (121). The main contact portion (121) and the two side portions (122) together enclose a cavity with an opening. The opening is disposed towards the mounting portion (111) and the first extension section (112). The opening end of the flexible contact element (12) covers the first side of the base (11); and, The image acquisition module (13) includes a camera (131) and a flexible circuit board (132). The flexible circuit board (132) is installed on the second side of the base (11) and located on the second side of the mounting part (111). The camera (131) is installed in the mounting hole (111a). The length of the first extension segment (112) is greater than the length of the second extension segment (113), so that the imaging field of the camera (131) covers the main contact portion (121) and the two side portions (122).

2. The installation structure (10) of the image acquisition module as described in claim 1, characterized in that, The flexible circuit board (132) extends and bends along the first direction, and has a connecting plate segment (1321), a first mounting plate segment (1322), and a second mounting plate segment (1323). The second mounting plate segment (1323) includes a first bent segment (13231) extending from the connecting plate segment (1321) toward the mounting portion (111) and a second bent segment (13232) extending from the first bent segment (13231) toward the distance from the mounting portion (111), wherein the camera (131) is mounted on the second bent segment (13232).

3. The installation structure (10) of the image acquisition module as described in claim 2, characterized in that, The first mounting plate segment (1322) is arranged in parallel with the mounting part (111) and defines a first mounting space between itself and the rear cover (14) for accommodating electronic components.

4. The installation structure (10) of the image acquisition module as described in claim 2, characterized in that, A second mounting space is defined between the first bending segment (13231), the second bending segment (13232), and the connecting plate segment (1321) for accommodating another part of the electronic components.

5. The installation structure (10) of the image acquisition module as described in claim 2, characterized in that, The image acquisition module (13) further includes a first reinforcing plate (133) and a second reinforcing plate (134), which are fixedly connected to the base (11). The connecting plate segment (1321) is attached to the first reinforcing plate (133), and the second bending segment (13232) is attached to the second reinforcing plate (134).

6. The installation structure (10) of the image acquisition module as described in claim 1, characterized in that, The optical axis of the camera (131) extends along the second direction, and the distance from the imaging reference surface of the camera (131) to the inner wall surface of the flexible contact (12) along the optical axis direction is d, where 10mm≤d≤27mm.

7. The installation structure (10) of the image acquisition module as described in claim 1, characterized in that, The mounting structure (10) also includes a rear cover (14), which is mounted on the second side of the base (11) and forms a second mounting cavity with the base (11). The image acquisition module (13) is located in the second mounting cavity.

8. The mounting structure (10) of the image acquisition module as described in claim 7, characterized in that, The back cover (14) and the base (11) are provided with a buckle (141) on one of them, and a slot (111b) is provided on the other to engage with the buckle (141).

9. The installation structure (10) of the image acquisition module as described in claim 1, characterized in that, The second extension section (113) is provided with a through hole (111c) for the signal lines of the flexible circuit board (132) to pass through.

10. A visual-tactile sensing unit, characterized in that, include: The mounting structure (10) of the image acquisition module as described in any one of claims 1 to 9; as well as, A light source assembly (20) is disposed inside the flexible contact member (12) for illuminating the main contact portion (121) and the two side portions (122).

11. A dexterous hand finger, characterized in that, It includes a knuckle body and a visual-tactile sensing unit as described in claim 10, which is mounted on the end of the knuckle body.

12. A robot, characterized in that, Including the dexterous hand fingers as described in claim 11.

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