A visual inspection device for spraying industrial robots

Abstract

The present invention relates to the technical field of industrial robot visual inspection, and specifically to a spraying industrial robot visual inspection device, which is used for visual inspection of workpieces that need to be sprayed, and the visual inspection device includes: an inspection table, the top of which is fixedly connected to an inspection frame, and a visual inspection probe is arranged in the inspection frame; and an inspection mechanism, which is arranged at the inner bottom end of the inspection frame. Through the plane printing component in the detection mechanism, the plane contour of the workpiece is mapped onto a second transparent plate, and the photomagnetic effect of the optically variable magnetic powder is utilized to make the optically variable magnetic powder that is not blocked by the shadow printed by the workpiece be adsorbed by the electromagnetic plate, and the shadow printed by the workpiece is fixed by the center positioning component, and further, the visible light spotlight reduces the angle between the top plane of the detection frame when rotating, so as to realize the automatic positioning of the final center point of the workpiece.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot visual detection, and in particular to a visual detection device for a spraying industrial robot. Background Art

[0002] Spraying industrial robots are robotic devices used to automate spraying processes. They are often used to apply paint or coatings during the manufacturing process to improve efficiency and quality consistency. These robots can accurately control the spraying position and thickness at each location after visual inspection.

[0003] When performing visual inspection on a workpiece that needs to be sprayed, if the visual inspection device and the center point of the workpiece are not focused, the image will be blurred and distorted, making it difficult for the visual inspection system to accurately analyze the position and shape of the workpiece, thereby affecting the positioning accuracy of the spraying equipment and the accuracy of the spraying path. Therefore, it is necessary to focus the center of the workpiece with the visual inspection device. The premise of focusing is to find the center point of the workpiece first. Most of the existing methods for finding the center point rely on manual labor, and after finding the center point, the center point of the workpiece needs to be placed at the fixed center point of the inspection table, which may lead to the accumulation of human errors and make the operation complicated and time-consuming. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a visual inspection device for a spraying industrial robot, which can effectively solve the problem that the prior art cannot automatically find the center point of a workpiece and enable the robot to perform visual inspection.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] The present invention provides a visual inspection device for a spraying industrial robot, which is used for visual inspection of a workpiece to be sprayed. The visual inspection device comprises:

[0007] An inspection platform, the top of which is fixedly connected to a detection frame, wherein a visual inspection probe is arranged in the detection frame;

[0008] A detection mechanism, wherein the detection mechanism is arranged at the inner bottom end of the detection frame, and the detection mechanism is used to project light and shadow on the shape of the workpiece to be detected. The detection mechanism includes a plane printing component and a center positioning component. The plane printing component includes light-variable magnetic powder and an electromagnetic plate. The plane printing component can display the projected workpiece shape through the unabsorbed light-variable magnetic powder through the properties of the light-variable magnetic powder encountering light-variable magnetism and the adsorption force of the electromagnetic plate on the light-variable magnetic powder. The center positioning component includes two symmetrically arranged visible light spotlights, the two visible light spotlights rotate in a circle, and the angle between the visible light spotlight and the top plane of the detection frame gradually decreases during the circular rotation. The center positioning component is used to find the center point of the plane shape of the printed workpiece.

[0009] Preferably, the detection mechanism further comprises a visible light lamp board fixed on the inner wall of the detection frame at a lower position, and the inner wall of the detection frame is fixedly connected with a first transparent plate.

[0010] Preferably, the planar printing component includes a second transparent plate fixed on the inner wall of the detection frame and at an upper position, the top of the detection frame is fixedly connected to an electromagnetic plate, a photoelectric detector plate is embedded in the center of the second transparent plate, and the optically variable magnetic powder is evenly laid above the second transparent plate.

[0011] Preferably, the center positioning assembly includes two pairs of limit plates fixedly connected to corresponding positions in the detection frame, and a gear ring is rotatably connected between the two pairs of limit plates. Two symmetrical movable grooves are provided on the inner wall of the detection frame, and the gear ring is rotatably connected to the movable groove. The bottom ends of one pair of the limit plates at the bottom are fixedly connected to a first motor, the output end of the first motor is fixedly connected to a first rotating rod, and the outer wall of the first rotating rod is fixedly connected to a gear meshing with the gear ring, and the gear ring is used to drive the visible light spotlight to rotate in a circle.

[0012] Preferably, the inner circumferential wall of the gear ring is fixedly connected to two symmetrical support plates, the bottom end of the support plate is fixedly connected to a fixing frame, the inner wall of the fixing frame is rotatably connected to a second rotating rod, the outer wall of the second rotating rod is fixedly connected to the visible light spotlight, the outer wall of the fixing frame is fixedly connected to a second motor for driving the second rotating rod, and the second rotating rod is used to adjust the angle between the visible light spotlight and the top plane of the detection frame during the rotation of the visible light ring.

[0013] Preferably, a movable through hole is provided on the outer wall of the detection frame, an extension plate is fixedly connected to the outer wall on one side of the detection frame close to the movable through hole, a multi-stage electric telescopic rod is fixedly connected to the side of the extension plate close to the detection frame, a photoresistor board is fixedly connected to the telescopic end of the multi-stage electric telescopic rod, and the photoresistor board is evenly divided into two small photoresistor boards on the left and right by the longitudinal midline, the electromagnetic board, the first motor, the second motor, the photodetector board, the electric telescopic rod, the photoresistor board, and the visible light spotlight are connected to the PLC controller by electrical signals to form a point finding loop, and there are two second motors which are respectively controlled by the PLC controller.

[0014] Preferably, it also includes a moving mechanism, which includes a third motor fixedly connected to the outer wall of the detection frame, the output end of the third motor is fixedly connected to the first threaded rod, the inner wall of the detection frame is fixedly connected to a sliding rod which is in the same horizontal plane and parallel to the first threaded rod, the outer wall of the first threaded rod is threadedly connected to a moving plate, the other end of the moving plate is slidably connected to the outer wall of the sliding rod, the top of the moving plate is fixedly connected to a fourth motor, the output end of the fourth motor is fixedly connected to the second threaded rod, the other end of the second threaded rod is rotatably connected to a fixed plate fixedly connected to the top of the moving plate, a sliding groove is provided at the top of the moving plate, a sliding block threadedly connected to the second threaded rod is slidably connected in the sliding groove, the outer wall of the sliding block is fixedly connected to a special-shaped connecting rod, the other end of the special-shaped connecting rod is fixedly connected to the visual detection probe, the third motor and the fourth motor are electrically connected to the PLC controller and form a point-to-point loop.

[0015] Preferably, an annular plate for limiting the size of the workpiece is fixedly connected to the top end of the first transparent plate, and a guide wire is provided at the top end of the first transparent plate.

[0016] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects:

[0017] Through the plane printing component in the detection mechanism, the plane contour of the workpiece is mapped onto the second transparent plate, and the photomagnetic effect of the photovariable magnetic powder is utilized to make the photovariable magnetic powder that is not blocked by the shadow printed by the workpiece be adsorbed by the electromagnetic plate. Through the center positioning component, the shadow printed by the workpiece is fixed. Further, the visible light spotlight reduces the angle between the top plane of the detection frame when rotating, so as to realize the automatic positioning of the center point of the final workpiece. This method significantly reduces the need for manual operation and greatly improves the accuracy and consistency of positioning. At the same time, it saves a lot of operation time and effectively improves the efficiency and reliability of visual inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0020] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 3 It is a cross-sectional three-dimensional structural schematic diagram of the present invention;

[0022] Figure 4 It is a schematic diagram of a partial cross-sectional three-dimensional structure of the present invention. Figure 1 ;

[0023] Figure 5 For the present invention Figure 4 The enlarged structural diagram of part A in the middle;

[0024] Figure 6 It is a partial cross-sectional three-dimensional structure diagram of the present invention. Figure 2 .

[0025] Reference numerals: 1. test table; 2. test frame; 3. visual test probe; 4. test mechanism; 41. plane printing assembly; 411. second transparent plate; 412. electromagnetic plate; 413. photoelectric detector plate; 414. optically variable magnetic powder; 42. center positioning assembly; 421. photoresistor plate; 422. multi-stage electric telescopic rod; 423. visible light spotlight; 424. limit plate; 425. gear ring; 426. moving groove; 427. first motor; 428. first rotating rod; 429. gear; 4210, support plate; 4211, fixed frame; 4212, second rotating rod; 4213, second motor; 4214, movable through hole; 4215, extension plate; 43, visible light lamp board; 44, first transparent plate; 5, moving mechanism; 51, third motor; 52, first threaded rod; 53, sliding rod; 54, moving plate; 55, fourth motor; 56, second threaded rod; 57, fixed plate; 58, slide groove; 59, sliding block; 510, special-shaped connecting rod; 6, annular plate; 7, guide wire. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The present invention will be further described below in conjunction with the embodiments.

[0028] Example: Refer to Figures 1 to 6 A spraying industrial robot visual inspection device is used to visually inspect a workpiece that needs to be sprayed. The visual inspection device includes:

[0029] A testing platform 1, a testing frame 2 is fixedly connected to the top of the testing platform 1, and a visual testing probe 3 is arranged in the testing frame 2;

[0030] The detection mechanism 4 is arranged at the inner bottom end of the detection frame 2. The detection mechanism 4 is used to project light and shadow on the shape of the workpiece to be detected. The detection mechanism 4 includes a plane printing component 41 and a center positioning component 42. The plane printing component 41 includes a light-variable magnetic powder 414 and an electromagnetic plate 412. The plane printing component 41 can display the projected workpiece shape through the unabsorbed light-variable magnetic powder 414 through the light-variable magnetic property of the light-variable magnetic powder 414 and the adsorption force of the electromagnetic plate 412 on the light-variable magnetic powder 414. The center positioning component 42 includes two symmetrically arranged visible light spotlights 423. The two visible light spotlights 423 rotate in a circle, and the angle between the visible light spotlights 423 and the top plane of the detection frame 2 gradually decreases during the circular rotation. The center positioning component 42 is used to find the center point of the plane shape of the printed workpiece.

[0031] Specifically, in order to perform plane mapping of the workpiece's outline, the following settings are made, referring to Figure 3 The detection mechanism 4 also includes a visible light lamp board 43 fixed on the inner wall of the detection frame 2 and at a lower position. The inner wall of the detection frame 2 is fixedly connected with a first transparent plate 44. The top of the first transparent plate 44 is fixedly connected with an annular plate 6 for limiting the size of the workpiece. The top of the first transparent plate 44 is provided with a guide line 7. The visible light lamp board 43 can make the optically variable magnetic powder 414 produce a photomagnetic effect and enhance the magnetism of the magnetic powder by setting the wavelength emitted by it (for example, visible light with a wavelength between 380 nanometers and 450 nanometers). The size of the workpiece can be limited by the set annular plate 6, and the visible light emitted by the visible light lamp board 43 can also be concentrated;

[0032] Specifically, the planar printing component 41 includes a second transparent plate 411 fixed on the inner wall of the detection frame 2 and at an upper position, an electromagnetic plate 412 is fixedly connected to the top of the detection frame 2, a photoelectric detector plate 413 is embedded in the center of the second transparent plate 411, and optically variable magnetic powder 414 is evenly laid on the top of the second transparent plate 411.

[0033] Specifically, in order to find the center point of the workpiece, the following settings are made, refer to Figure 2 , Figure 4 , Figure 5 The center positioning assembly 42 includes two pairs of limit plates 424 fixedly connected to corresponding positions in the detection frame 2, and a gear ring 425 is rotatably connected between the two pairs of limit plates 424. Two symmetrical moving grooves 426 are provided on the inner wall of the detection frame 2, and the gear ring 425 is rotatably connected to the moving groove 426. A first motor 427 is fixedly connected to the bottom end of one pair of limit plates 424 at the bottom, and a first rotating rod 428 is fixedly connected to the output end of the first motor 427. A gear 429 meshing with the gear ring 425 is fixedly connected to the outer wall of the first rotating rod 428. The gear ring 425 is used to drive the visible light spotlight 423 to rotate in a ring.

[0034] The inner wall of the gear ring 425 is fixedly connected to two symmetrical support plates 4210, the bottom end of the support plate 4210 is fixedly connected to a fixing frame 4211, the inner wall of the fixing frame 4211 is rotatably connected to a second rotating rod 4212, the outer wall of the second rotating rod 4212 is fixedly connected to the visible light spotlight 423, the outer wall of the fixing frame 4211 is fixedly connected to a second motor 4213 for driving the second rotating rod 4212, the second rotating rod 4212 is used to adjust the angle between the visible light spotlight 423 and the top plane of the detection frame 2 during the rotation of the visible light ring, and the above-mentioned center positioning component 42 can make the angle between the visible light spotlight 423 and the top plane of the detection frame 2 be adjusted while the visible light spotlight 423 is rotating.

[0035] A movable through hole 4214 is provided on the outer wall of the detection frame 2, and an extension plate 4215 is fixedly connected to the outer wall of one side of the detection frame 2 near the movable through hole 4214, and a multi-stage electric telescopic rod 422 is fixedly connected to the side of the extension plate 4215 near the detection frame 2, and a photoresistor plate 421 is fixedly connected to the telescopic end of the multi-stage electric telescopic rod 422, and the photoresistor plate 421 is evenly divided into two small photoresistor plates 421 on the left and right by the longitudinal midline, and the electromagnetic plate 412, the first motor 427, the second motor 4213, the photodetector plate 413, the multi-stage electric telescopic rod 422, the photoresistor plate 421, and the visible light spotlight 423 are electrically connected to the PLC controller to form a point finding loop, and there are two second motors 4213, which are respectively controlled by the PLC controller.

[0036] Specifically, the following settings are made to focus the visual inspection probe 3 on the center point of the workpiece, referring to Figure 6 , also includes a moving mechanism 5, the moving mechanism 5 includes a third motor 51 fixedly connected to the outer wall of the detection frame 2, the output end of the third motor 51 is fixedly connected to the first threaded rod 52, the inner wall of the detection frame 2 is fixedly connected to a sliding rod 53 that is in the same horizontal plane and parallel to the first threaded rod 52, the outer wall of the first threaded rod 52 is threadedly connected to a moving plate 54, the other end of the moving plate 54 is slidably connected to the outer wall of the sliding rod 53, the top of the moving plate 54 is fixedly connected to the fourth motor 55, the output end of the fourth motor 55 is fixedly connected to the second threaded rod 56, the second The other end of the threaded rod 56 is rotatably connected to a fixed plate 57 fixedly connected to the top of the movable plate 54. A slide groove 58 is provided at the top of the movable plate 54. A sliding block 59 threadedly connected to the second threaded rod 56 is slidably connected in the slide groove 58. A special-shaped connecting rod 510 is fixedly connected to the outer wall of the sliding block 59. The other end of the special-shaped connecting rod 510 is fixedly connected to the visual detection probe 3. The third motor 51 and the fourth motor 55 are connected to the PLC controller electrical signal to form a point-to-point loop, and the visual detection device is powered by an external power supply device.

[0037] It should be noted that the photodetector board 413 and the photoresistor board 421 are both prior art and will not be described in detail here.

[0038] The working principle of the present invention is as follows:

[0039] Before visual inspection of the workpiece, the staff needs to place the workpiece in the annular plate 6 in the inspection frame 2 . It should be noted that the center line of the workpiece in the longitudinal direction should be placed to coincide with the guide line 7 .

[0040] Start the visible light lamp board 43 and the electromagnetic board 412, and illuminate the outline of the workpiece onto the second transparent panel through the visible light emitted by the visible light lamp board 43, so that the surface of the second transparent panel has a shadow of the shape of the workpiece, and the visible light emitted by the visible light lamp board 43 can enhance the magnetism of the photovariable magnetic powder 414 (photomagnetic effect). Since the workpiece blocks the light emitted by the visible light, the visible light can only have a photomagnetic effect on the photovariable magnetic powder 414 outside the shadow shape of the workpiece, and the electromagnetic board 412 is pre-set to not adsorb the photovariable magnetic powder 414 that has not produced the photomagnetic effect, but can normally adsorb the photovariable magnetic powder 414 that has undergone the photomagnetic effect. Therefore, the magnetic powder that has undergone the photomagnetic effect is adsorbed to the bottom of the electromagnetic board 412 through the electromagnetic board 412 (the adsorption time of the photovariable magnetic powder 414 will be pre-tested and then input into the PLC controller).

[0041] After the photo-variable magnetic powder 414 is adsorbed on the electromagnetic plate 412 by the photomagnetic effect, the multi-stage electric telescopic rod 422 is controlled to start through the PLC controller, and the photoresistor plate 421 is driven to move into the detection frame 2 through the multi-stage electric telescopic rod 422. When the movement is completed (the movement time will also be pre-tested and then input into the PLC controller), the second motor 4213 is controlled to start through the PLC controller, and the second motor 4213 drives the second rotating rod 4212 to rotate, further driving the visible light spotlight 423 to rotate upward. Due to the pre-placement, the length direction of the workpiece will coincide with the guide line 7, and the two visible light spotlights 423 are on both sides of the guide line 7. Therefore, when the two visible light spotlights 423 are respectively aligned with the two ends of the length direction of the workpiece, the midpoint of the workpiece can be found. The reasons are as follows: when the two visible light spotlights 423 are slowly rotating upward During the rotation, since the light-variable magnetic powder 414 that is not blocked by the shadow of the workpiece is adsorbed under the electromagnetic plate 412, the part of the second transparent plate 411 that is not blocked by the shadow of the workpiece will be illuminated by the visible light emitted by the visible light spotlight 423 on the photoresistor plate 421 without the obstruction of the light-variable magnetic powder 414. Since the photoresistor plate 421 is composed of two small photoresistor plates 421, after the visible light emitted by the visible light spotlight 423 is blocked by the light-variable magnetic powder 414, the visible light cannot be illuminated on the photoresistor plate 421. When the photoresistor plate 421 does not receive the light signal, it transmits the electrical signal to the PLC controller, and the corresponding second motor 4213 is controlled to stop by the PLC controller, while the other second motor 4213 continues to run until the visible light is blocked by the light-variable magnetic powder 414, and then it is stopped by the PLC controller.

[0042] Then, the first motor 427 is started by the PLC controller, and the first motor 427 drives the first rotating rod 428 to rotate, which further drives the gear 429 to rotate, and the gear 429 drives the gear ring 425 to rotate, so that the visible light spotlight 423 rotates with the gear ring 425, and at the same time, the two second motors 4213 are started by the PLC controller at the same time and drive the two second rotating rods 4212 to rotate at the same speed, so that the two rotating rods drive the two visible light spotlights 423 to adjust upward synchronously at the same speed, so that the two visible light spotlights 423 can be adjusted upward slowly while rotating. The angle formed with the upper end surface of the detection table 1 slowly decreases. In this process, the magnetism of the irradiated light-variable magnetic powder 414 is strengthened by the visible light, so that the electromagnetic plate 412 adsorbs it, and when the light emitted by the two visible light spotlights 423 slowly gathers on the photoelectric detector plate 413, the movement of the visible light can be detected by the photoelectric detector plate 413. When the two visible lights gather at one point (which is the center of the workpiece), the electrical signal is transmitted to the PLC controller through the photoelectric detector plate 413, and the first motor 427 and the second motor 4213 are controlled by the PLC controller to stop running at the same time.

[0043] The movement of the first threaded rod 52 and the second threaded rod 56 can form a coordinate system, with the center point being one of the coordinates. According to the existing program for finding known coordinate points, the PLC controller automatically controls the third motor 51 and the fourth motor 55 to realize 3 moving to the center point position, as follows: the third motor 51 and the fourth motor 55 are controlled to operate by the PLC controller, and the first threaded rod 52 and the second threaded rod 56 are driven to rotate by the third motor 51 and the fourth motor 55 respectively. The rotation of the first threaded rod 52 and the limiting of the slide rod 53 will move the movable plate 54 to the Y-axis below the two points where visible light is concentrated. The rotation of the second threaded rod 56 and the limiting of the slide groove 58 will move the sliding block 59 on the second threaded rod 56, further driving the special-shaped connecting rod 510 to move synchronously, and finally moving the visual inspection probe 3 to the X-axis below the two points where visible light is concentrated. Therefore, the visual inspection probe 3 can be moved below the two points where visible light is concentrated, so that the visual inspection probe 3 can be focused on the center of the workpiece.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying industrial robot visual inspection device, used for visual inspection of workpieces to be sprayed, characterized in that: The visual inspection device comprises: An inspection platform (1), wherein a top end of the inspection platform (1) is fixedly connected to a detection frame (2), and a visual inspection probe (3) is arranged inside the detection frame (2); A detection mechanism (4), the detection mechanism (4) being arranged at the inner bottom end of the detection frame (2), the detection mechanism (4) being used for projecting light and shadow on the shape of a workpiece to be detected, the detection mechanism (4) comprising a plane projection component (41) and a center positioning component (42), the plane projection component (41) comprising light-variable magnetic powder (414) and an electromagnetic plate (412), the plane projection component (41) being able to display the projected workpiece shape through the unabsorbed light-variable magnetic powder (414) by virtue of the light-variable magnetic powder (414) encountering light-variable magnetism property and the adsorption force of the electromagnetic plate (412) on the light-variable magnetic powder (414), the center positioning component (42) comprising two symmetrically arranged visible light spotlights (423), the two visible light spotlights (423) being able to rotate in a circular manner, and the angle between the visible light spotlights (423) and the top plane of the detection frame (2) being gradually reduced during the circular rotation, the center positioning component (42) being used for finding the center point of the plane shape of the projected workpiece; The detection mechanism (4) further comprises a visible light panel (43) fixed on the inner wall of the detection frame (2) at a lower position, and the inner wall of the detection frame (2) is fixedly connected to a first transparent panel (44); The plane printing component (41) comprises a second transparent plate (411) fixed on the inner wall of the detection frame (2) and at an upper position, an electromagnetic plate (412) is fixedly connected to the top of the detection frame (2), a photoelectric detector plate (413) is embedded in the center of the second transparent plate (411), and the optically variable magnetic powder (414) is evenly laid on the top of the second transparent plate (411); The outer wall of the detection frame (2) is provided with a movable through hole (4214); an extension plate (4215) is fixedly connected to the outer wall of the detection frame (2) on one side close to the movable through hole (4214); a multi-stage electric telescopic rod (422) is fixedly connected to the side of the extension plate (4215) close to the detection frame (2); a photoresistor plate (421) is fixedly connected to the telescopic end of the multi-stage electric telescopic rod (422); and the photoresistor plate (421) is equally divided into two small photoresistor plates (421) on the left and right at a longitudinal midline; An annular plate (6) for limiting the size of a workpiece is fixedly connected to the top end of the first transparent plate (44), and a guide wire (7) is provided at the top end of the first transparent plate (44).

2. A visual inspection device for a spraying industrial robot according to claim 1, characterized in that: The center positioning assembly (42) comprises two pairs of limit plates (424) fixedly connected to corresponding positions in the detection frame (2); a gear ring (425) is rotatably connected between the two pairs of limit plates (424); two symmetrical moving grooves (426) are provided on the inner wall of the detection frame (2); and the gear ring (425) is rotatably connected to the moving groove (426); a first motor (427) is fixedly connected to the bottom end of the pair of limit plates (424) at the bottom; a first rotating rod (428) is fixedly connected to the output end of the first motor (427); a gear (429) meshing with the gear ring (425) is fixedly connected to the outer wall of the first rotating rod (428); and the gear ring (425) is used to drive the visible light spotlight (423) to rotate in a circle.

3. A visual inspection device for a spraying industrial robot according to claim 2, characterized in that: The inner peripheral wall of the gear ring (425) is fixedly connected to two symmetrical support plates (4210), the bottom end of the support plate (4210) is fixedly connected to a fixing frame (4211), the inner wall of the fixing frame (4211) is rotatably connected to a second rotating rod (4212), the outer wall of the second rotating rod (4212) is fixedly connected to a visible light spotlight (423), the outer wall of the fixing frame (4211) is fixedly connected to a second motor (4213) for driving the second rotating rod (4212), and the second rotating rod (4212) is used to adjust the angle between the visible light spotlight (423) and the top plane of the detection frame (2) during the rotation of the visible light ring.

4. A spraying industrial robot visual inspection device according to claim 3, characterized in that: The electromagnetic plate (412), the first motor (427), the second motor (4213), the photoelectric detector plate (413), the electric telescopic rod, the photoresistor plate (421), and the visible light spotlight (423) are electrically connected to a PLC controller to form a point-finding loop, and the second motor (4213) has two motors and is controlled by the PLC controller respectively.

5. A visual inspection device for a spraying industrial robot according to claim 4, characterized in that: The detection frame (2) further comprises a moving mechanism (5), wherein the moving mechanism (5) comprises a third motor (51) fixedly connected to the outer wall of the detection frame (2), the output end of the third motor (51) being fixedly connected to a first threaded rod (52), the inner wall of the detection frame (2) being fixedly connected to a sliding rod (53) which is in the same horizontal plane as and parallel to the first threaded rod (52), the outer wall of the first threaded rod (52) being threadedly connected to a moving plate (54), the other end of the moving plate (54) being slidably connected to the outer wall of the sliding rod (53), the top end of the moving plate (54) being fixedly connected to a fourth motor (55), the output end of the fourth motor (55) being fixedly connected to the inner wall of the detection frame (2) A second threaded rod (56) is fixedly connected, the other end of the second threaded rod (56) is rotatably connected to a fixed plate (57) fixedly connected to the top of the movable plate (54), the top of the movable plate (54) is provided with a slide groove (58), a sliding block (59) threadedly connected to the second threaded rod (56) is slidably connected in the slide groove (58), an outer wall of the sliding block (59) is fixedly connected to a special-shaped connecting rod (510), the other end of the special-shaped connecting rod (510) is fixedly connected to the visual detection probe (3), and the third motor (51) and the fourth motor (55) are connected to the PLC controller with electrical signals to form a point-to-point loop.

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