CN217240752U - TOF vision module and robot - Google Patents

Abstract

The utility model discloses a TOF vision module and robot. The above-mentioned TOF vision module includes: the device comprises a lower shell, an upper shell and at least one vision sensor module; the lower shell and the upper shell are fastened to form a module shell of the TOF vision module, the at least one vision sensor module is arranged at intervals and sealed in the module shell, a sealing groove is formed in the upper shell or the lower shell at the joint surface of the upper shell and the lower shell, and a sealing ring is embedded in the sealing groove. Adopt the technical scheme provided by the utility model, TOF vision module has with low costs, the size is little and protection level is high, stable performance's characteristics.

Description

TOF vision module and robot

Technical Field

The utility model relates to an artificial intelligence field particularly, relates to a TOF vision module and robot.

Background

With the rapid development of the robot technology, the application of the robot is expanded from the traditional fixed target high-precision repeated operation to the flexible operation with variable operation objects and variable operation object positions, and the robot urgently needs the cooperation of machine vision to obtain the three-dimensional information of the operation objects.

The vision sensor is a direct source of information for the entire machine vision system, consisting primarily of one or two graphic sensors, sometimes accompanied by a light projector and other ancillary equipment. The primary function of the vision sensor is to acquire enough of the most primitive image to be processed by the machine vision system. With the development of science and technology and the improvement of detection requirements, a 3D vision technology occupies an increasingly important position in the machine vision industry, and compared with a traditional 2D camera, the 3D TOF camera can acquire three-dimensional information and can realize functions which cannot be realized or are difficult to realize by the 2D vision technology, such as height, flatness, volume and the like of a detection product, three-dimensional modeling and the like.

In the related art, the 3D TOF camera is limited by cost and size, and is sealed to bring about the influence of poor heat dissipation effect and the like, so that a higher protection level cannot be achieved. However, due to the low level of protection of the housing, the application scenarios of the 3D TOF camera are limited. Therefore, to address this issue, 3D TOF cameras typically use waterproof connectors in order to increase the level of protection, but this again results in a larger camera size and increased manufacturing costs.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at discloses a TOF vision module and robot to at least, in order to improve the protection level among the solution correlation technique, 3D TOF camera uses waterproof connector usually, but handles like this and makes the camera size great again, and improved manufacturing cost scheduling problem.

According to an aspect of the utility model, a TOF vision module is provided.

According to the utility model discloses a TOF vision module includes: the device comprises a lower shell, an upper shell and at least one vision sensor module; the lower shell and the upper shell are fastened to form a module shell of the TOF vision module, the at least one vision sensor module is arranged at intervals and sealed in the module shell, a sealing groove is formed in the upper shell or the lower shell at the joint surface of the upper shell and the lower shell, and a sealing ring is embedded in the sealing groove.

Preferably, the upper case is provided with a transparent cover plate opposite to the component of the at least one vision sensor module, wherein the transparent cover plate is tightly combined with the upper case through a connecting medium.

Preferably, the lower shell and/or the upper shell are provided with an interface hole, a sealing medium is tightly bonded to the periphery of the interface hole, one or more locking holes are further formed in the periphery of the interface hole, when an insert adapted to the interface hole is inserted into the interface hole, the locking holes lock the locking posts of the insert, and the insert presses the sealing medium to enable the module housing to form a sealing cavity.

Preferably, in the at least one vision sensor module, a protective sleeve wraps the outer layer of each vision sensor module, the vision sensor module wrapped with the protective sleeve is embedded in the module casing groove, the protective sleeve is used for preventing each vision sensor module from being in direct contact with the module casing, and the contact portion of the protective sleeve and the upper casing is in a tooth-shaped structure so as to buffer the compression stress of each vision sensor module.

Preferably, the TOF vision module further comprises: the vision sensor module clamp plate, the vision sensor module clamp plate sets up through first fixed part on the epitheca, the vision sensor module clamp plate is structurally through the spacing mode of physics in order to guarantee each vision sensor module and the compressed amount of silica gel cover, wherein, be provided with insulating conducting strip between the bottom plate of at least one vision sensor module and the vision sensor module clamp plate, insulating conducting strip through with the even atress in plane of vision sensor module clamp plate contact is by the sensor module clamp plate sticiss fixedly, the bottom plate of at least one vision sensor module through with the even atress in plane of insulating conducting strip contact is by the insulating conducting strip sticiss fixedly.

Preferably, a heat-conducting medium is arranged between the insulating heat-conducting sheet and the contact surface of the module shell, and the vision sensor module pressing plate is used for conducting heat from the vision sensor module to the module shell.

Preferably, each of the at least one vision sensor module comprises: a stereo camera and a light source device.

Preferably, the TOF vision module further comprises: the printed circuit board is fastened on the upper shell through a second fixing component, and heat conducting media are arranged on contact surfaces of the heating element and the lower shell on the printed circuit board.

Preferably, the printed circuit board is connected with the vision sensor module through a flat cable, a flexible medium is bonded to a buckle of the flat cable, and the flexible medium is tightly pressed between the printed circuit board and the camera module.

Preferably, an anti-static shielding cover is fixed on the printed circuit board.

According to another aspect of the present invention, a robot is provided.

According to the utility model discloses a robot includes: the TOF vision module of any of the above.

According to the utility model discloses, TOF vision module's epitheca and inferior valve are set up the module casing that forms TOF vision module mutually, and at least one vision sensor module interval sets up and seals in above-mentioned module casing, and wherein, at the faying face department of epitheca and above-mentioned inferior valve, above-mentioned epitheca or above-mentioned inferior valve are opened there is the seal groove, and the embedding has the sealing washer in the above-mentioned seal groove. In order to improve the protection level among the prior art, the 3D camera uses waterproof connector usually, but handles like this and make the camera size great again to improved manufacturing cost problem, used epitheca, inferior valve, seal groove and sealing washer to constitute sealing system, made TOF vision module have with low costs, the size is little and the protection level is high, stable performance's characteristics.

Drawings

Fig. 1 is an overall schematic diagram of a TOF vision module according to an embodiment of the invention;

FIG. 2 is a schematic cross-sectional view of a TOF vision module according to a preferred embodiment of the present invention;

fig. 3 is an overall schematic diagram of a TOF vision module with an insert according to a preferred embodiment of the invention.

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

According to the utility model discloses an embodiment provides a TOF vision module.

Fig. 1 is an overall schematic diagram of a TOF vision module according to an embodiment of the invention. As shown in fig. 1, the TOF vision module includes: a lower shell 1, an upper shell 2, at least one vision sensor module 4 (not shown in fig. 1, see fig. 2); the lower shell 1 and the upper shell 2 are fastened to form a module shell of the TOF vision module, the at least one vision sensor module is arranged at intervals and sealed in the module shell, wherein a sealing groove is formed in the upper shell 2 or the lower shell 1 at the joint surface of the upper shell 2 and the lower shell 1, and a sealing ring is embedded in the sealing groove.

In the TOF vision module shown in fig. 1, an upper shell and a lower shell are fastened together to form a module housing of the TOF vision module, and at least one vision sensor module is arranged at intervals and sealed in the module housing, wherein a sealing groove is formed in the upper shell or the lower shell at a joint surface of the upper shell and the lower shell, and a sealing ring is embedded in the sealing groove. In order to improve the protection level among the prior art, the 3D camera uses waterproof connector usually, but handles like this and make the camera size great again to improved manufacturing cost problem, used epitheca, inferior valve, seal groove and sealing washer to constitute sealing system, made TOF vision module have with low costs, the size is little and the protection level is high, stable performance's characteristics.

In preferred implementation, the module casing of above-mentioned TOF vision module can use aluminum alloy, and promptly, inferior valve 1 and epitheca 2 can adopt aluminum alloy, of course, also can adopt other metal material, for example, the panel beating. The lower case 1 and the upper case 2 may be fastened by screws and screw holes, but may be fastened by other methods. The joint surface of the lower shell 1 or the upper shell 2 can be provided with a sealing groove, a sealing rope 9 is embedded in the sealing groove, and the sealing rope 9 can be an o-shaped silica gel ring with the diameter of 1mm, for example. In the TOF vision module shown in fig. 2, a sealing groove is formed in the upper shell 2 at the joint surface of the lower shell 1 and the upper shell 2, and an o-shaped silica gel ring with the diameter of 1mm is embedded in the sealing groove.

Preferably, in the at least one vision sensor module, each vision sensor module includes but is not limited to: a stereo camera and a light source device.

ToF is an abbreviation of Time of flight, also known as Time-of-flight 3D imaging. The ToF technology can show higher accuracy and is very fast and economical compared to other technologies for acquiring 3D information (e.g. using scanning or stereo vision) by illuminating a scene with a light source device, for example, using infrared or near-infrared light, receiving a light signal returned by an object to be measured with a specific sensor, calculating the time of flight or phase difference of light rays back and forth to obtain 3D depth information of the object to be measured.

Preferably, the upper case 2 is provided with a transparent cover plate opposite to components (e.g., a stereo camera and a light source device) of the at least one vision sensor module 4, wherein the transparent cover plate is tightly combined with the upper case through a connection medium.

In a preferred implementation, a vision sensor module 4 is disposed in a protruding portion 13 of a module housing formed by fastening the lower case 1 and the upper case 2 of the TOF vision module, and the vision sensor module 4 includes: the upper shell 2 is provided with two transparent cover plates 3 (shown in figure 1) which are respectively opposite to the stereo camera and the light source device, wherein the transparent cover plates 3 can be tightly adhered to the upper shell 2 through media such as sealant. It is thus clear that structurally keep apart the camera of vision sensor module and the light source device of light filling, guarantee that the camera can not influenced by the light source of self light filling.

Preferably, the lower shell 1 and/or the upper shell 2 are provided with an interface hole (e.g., a USB interface hole, etc.), a sealing medium (e.g., a gasket, etc.) is tightly bonded to the periphery of the interface hole, and one or more locking holes (e.g., a threaded hole, etc.) are further provided on the periphery of the interface hole, wherein when an interface hole-adapted insert (e.g., a USB insert, etc.) is inserted into the interface hole, the locking holes (e.g., a threaded hole, etc.) lock locking posts (e.g., screws, etc.) of the insert, and the insert presses the sealing medium so that the module housing forms a sealed cavity.

In a preferred implementation process, the interface hole may be provided on the upper shell 2, or the interface hole may be provided on the lower shell 1, or of course, the interface holes may be provided on both the upper shell 2 and the lower shell 1. As shown in the embodiment of fig. 1, a USB interface hole is formed in a side surface of the lower case 1, a gasket 13 is attached to a periphery of the USB interface hole, a single-side back of the gasket 13 is sealed with an adhesive, and the gasket is attached to the lower case 1. There are 2 screw holes in USB interface hole department on inferior valve 1, can fix the USB plug-in components 14 of band screw, as shown in fig. 3, when the USB plug-in components insert inferior valve 1, behind the screw hole locking screw, the USB plug-in components 14 extrusion sealed pad for the module casing forms sealed chamber.

In the above preferred embodiment, by transparent cover plate, epitheca, inferior valve, sealing washer, sealed pad, USB plug-in components etc. can make the module casing form sealed chamber to improve the protection level of whole TOF vision module greatly, sealing performance and waterproof performance are good.

Preferably, the outer layer of each vision sensor module is wrapped with a protective sleeve (for example, a protective sleeve made of flexible materials such as silica gel), the visual sensor module wrapped with the protective sleeve is embedded into the module casing groove, the protective sleeve is used for preventing each vision sensor module from directly contacting the module casing, and the contact part of the protective sleeve and the upper casing is of a tooth-shaped structure so as to buffer the compression stress of each vision sensor module.

In preferred implementation, the inside vision sensor module that sets up of TOF vision module (for example, including the vision sensor module of three-dimensional camera and light source device), as shown in fig. 2, the outer parcel of vision sensor module has silica gel cover 5, and the parcel has the vision sensor module embedding of lag is in the module casing groove, silica gel cover 5 protection camera module is not direct and the shell hard contact, has the effect of bradyseism, location. The position that silica gel cover 5 and epitheca 2 contacted, the contact site of silica gel cover 5 is dentate structure to the compressed atress of buffering each vision sensor module guarantees that the local power that receives of vision sensor module is in safety range (for example, is less than 5N).

Preferably, the TOF vision module further comprises: the vision sensor module clamp plate, the vision sensor module clamp plate sets up through first fixed part (for example, a plurality of screws) on the epitheca, the vision sensor module clamp plate is structurally through the spacing mode of physics in order to guarantee each vision sensor module and the compressed amount of silica gel cover, wherein, be provided with insulating conducting strip (for example, heat conduction potsherd etc.) between bottom plate of at least one vision sensor module and the vision sensor module clamp plate, insulating conducting strip through with the even atress in plane of vision sensor module clamp plate contact is by the sensor module clamp plate sticiss fixedly, the bottom plate of at least one vision sensor module through with the even atress in plane of insulating conducting strip contact is by the insulating conducting strip sticiss fixedly.

Preferably, a heat conducting medium (e.g., heat conducting silicone grease or the like) is disposed between the insulating heat conducting sheet and the contact surface of the module housing, and the vision sensor module pressing plate (e.g., a rigid plate body such as an aluminum alloy or the like) is used for conducting heat from the vision sensor module to the module housing.

In preferred implementation, as shown in fig. 2, a heat conducting ceramic plate 6 is arranged under the bottom plate of the vision sensor module 4, the heat conducting ceramic plate 6 plays a role of insulation and heat conduction, protects the vision sensor module from being damaged by static electricity, and is beneficial to heat dissipation of the vision sensor module, the heat conducting ceramic plate 6 and a heat conducting medium is arranged between contact surfaces of the module shell, for example, heat conducting silicone grease is coated on two sides of the heat conducting ceramic plate 6, so that heat conduction is facilitated. A vision sensor module pressing plate 7 is arranged below the heat-conducting ceramic wafer 6, the vision sensor module pressing plate 7 is used for fixing the heat-conducting ceramic wafer 6 and the vision sensor module, and heat generated by the vision sensor module is transferred to an upper shell in the module shell. The visual sensor module pressing plate 7 is fixedly fastened on the upper shell through a plurality of screws (for example, 3 screws), and the visual sensor module pressing plate 7 is physically limited in structure so as to ensure the compressed amount of the visual sensor module and the silica gel sleeve 5; upwards sticis vision sensor module 4 through heat conduction ceramic wafer 6, fixes vision sensor module 4 in the module casing groove. Specifically, the heat-conducting ceramic plate 6 is pressed and fixed by the sensor module pressing plate 7 through the plane uniform stress contacted with the vision sensor module pressing plate 7, and the bottom plate of the vision sensor module 4 is pressed and fixed by the heat-conducting ceramic plate 6 through the plane uniform stress contacted with the heat-conducting ceramic plate 6.

Preferably, the TOF vision module may further include: the printed circuit board 10 is fastened on the upper shell 2 through a second fixing component (for example, a screw and the like), and heat-conducting media (for example, heat-conducting silicone grease, a heat-conducting silicone pad and the like) are arranged on contact surfaces of the heating element and the lower shell on the printed circuit board 10.

In a preferred implementation process, as shown in fig. 2, a Printed Circuit Board (PCB) 10 is fixed in an upper shell 2 by screws, a heating element on the PCB contacts with a lower shell, and a heat-conducting silica gel pad 11 is filled between a contact surface of the heating element on the PCB 10 and the lower shell, which is more beneficial to heat dissipation.

Preferably, the printed circuit board is connected with the vision sensor module through a flat cable, a flexible medium (for example, foam or the like) is bonded to a buckle of the flat cable, and the flexible medium is tightly pressed between the printed circuit board and the camera module.

In a preferred implementation process, as shown in fig. 2, the PCB board 10 is fixed in the upper case 2 by screws and connected with the vision sensor module 4 by a flat cable, the back of the flat cable buckle is adhered with foam 8, and the foam 8 is extruded by a protruding part on the vision sensor module pressing plate 7, so that the flat cable buckle is prevented from loosening.

Preferably, an anti-static shielding cover is fixed on the printed circuit board.

In a preferred implementation, as shown in fig. 2, an anti-static shield 12 is fixed on the PCB 10, and the anti-static shield 12 may be made of a material with good conductivity, such as cupronickel, for protecting the PCB from being damaged by static electricity.

According to the utility model discloses an embodiment provides a robot.

According to the utility model discloses a robot, including the foretell TOF vision module of above-mentioned arbitrary. The TOF vision module described above can be laid out on the robot.

The robot comprises the TOF vision module, wherein an upper shell and a lower shell in the TOF vision module of the robot are fastened to form a module shell of the TOF vision module, and at least one vision sensor module is arranged at intervals and sealed in the module shell, wherein a sealing groove is formed in the upper shell or the lower shell at the joint surface of the upper shell and the lower shell, and a sealing ring is embedded in the sealing groove. By adopting the technical scheme, the sealing system is formed by the upper shell, the lower shell, the sealing groove and the sealing ring, so that the TOF vision module has the characteristics of low cost, small size, high protection grade and stable performance.

It should be noted that, for the above-mentioned preferred embodiment in which the units of the modules in the robot are combined with each other, reference may be specifically made to the descriptions of fig. 1 to fig. 3, and details are not described here again.

To sum up, with the help of the utility model provides an above-mentioned embodiment, in the TOF vision module, use epitheca, inferior valve, sealed rope, sealed pad, transparent cover board to add external plug-in components and constitute sealing system, make whole TOF vision module promote the protection level, sealing performance and waterproof performance are good to with low costs, size are little. With the heat conduction of the device that generates heat of vision sensor module and pcb board to module casing, make the heat guide TOF vision module's outside more fast, reduced the influence that TOF vision module internal part device received because of the high temperature. Structurally keep apart the camera and the light source device of vision sensor module, guarantee that the camera can not influenced by the light source of self light filling, in addition, through using heat conduction ceramic wafer and anti-static shield cover etc. protect inside important part not by electrostatic damage.

The above disclosure is only for the specific embodiments of the present invention, however, the present invention is not limited thereto, and any changes that can be considered by those skilled in the art should fall within the protection scope of the present invention.

Claims (11)

1. A TOF vision module, comprising: the device comprises a lower shell, an upper shell and at least one vision sensor module;

the lower shell and the upper shell are fastened to form a module shell of the TOF vision module, the at least one vision sensor module is arranged at intervals and sealed in the module shell, a sealing groove is formed in the upper shell or the lower shell at the joint surface of the upper shell and the lower shell, and a sealing ring is embedded in the sealing groove.

2. The TOF vision module of claim 1, wherein the upper housing is provided with a transparent cover plate opposite to components of the at least one vision sensor module, wherein the transparent cover plate is tightly bonded to the upper housing by a connecting medium.

3. The TOF vision module according to claim 1, wherein the lower housing and/or the upper housing is provided with an interface hole, a sealing medium is tightly bonded to the periphery of the interface hole, and one or more locking holes are further provided to the periphery of the interface hole, wherein when the interface hole is inserted into the interface hole, the locking holes lock the locking posts of the plug, and the plug presses the sealing medium to form a sealed cavity in the module housing.

4. The TOF vision module of claim 1 wherein an outer layer of each of the at least one vision sensor modules is covered by a protective sleeve, the vision sensor module covered by the protective sleeve is embedded in the module housing groove, the protective sleeve is configured to prevent each vision sensor module from directly contacting the module housing, and a contacting portion of the protective sleeve and the upper housing has a tooth-like structure to buffer a compression force of each vision sensor module.

5. The TOF vision module of claim 4, further comprising: the vision sensor module clamp plate, the vision sensor module clamp plate is fastened through first fixed part on the epitheca, the vision sensor module clamp plate is structurally through the spacing mode of physics in order to guarantee each vision sensor module and the compressed volume of silica gel cover, wherein, be provided with insulating conducting strip between the bottom plate of at least one vision sensor module and the vision sensor module clamp plate, insulating conducting strip through with the even atress quilt in plane of vision sensor module clamp plate contact the sensor module clamp plate sticiss fixedly, the bottom plate of at least one vision sensor module through with the even atress quilt in plane of insulating conducting strip contact the insulating conducting strip sticiss fixedly.

6. The TOF vision module of claim 5 wherein a thermally conductive medium is disposed between the insulating thermally conductive sheet and the contact surface of the module housing, the vision sensor module platen configured to conduct heat from the vision sensor module to the module housing.

7. The TOF vision module of claim 1, wherein each of the at least one vision sensor module comprises: a stereo camera and a light source device.

8. The TOF vision module of claim 1, further comprising: the printed circuit board is fastened on the upper shell through a second fixing component, and heat conducting media are arranged on contact surfaces of the heating element and the lower shell on the printed circuit board.

9. The TOF vision module of claim 8, wherein the pcb is connected to the vision sensor module by a flex cable, and a flexible medium is adhered to a buckle of the flex cable and compressed between the pcb and the vision sensor module.

10. The TOF vision module of claim 8, wherein an anti-static shield is affixed to the printed circuit board.

11. A robot, comprising: the TOF vision module of any one of claims 1 to 10.

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