Industrial robot vision sensor measuring device

Abstract

The invention discloses an industrial robot vision sensor measuring device, which belongs to the field of industrial robot detection, and comprises a plurality of vision measuring units mounted on the outer wall of the moving end of a manipulator, the vision measurement unit comprises a support fixedly connected to the outer wall of the moving end of the manipulator, a second buffer pad fixedly connected to one side of the support, a box fixedly connected to the upper end of the second buffer pad, a vision sensor fixedly connected to the inner wall of the box, an opening formed in one side of the box, a clamping groove formed in the inner wall of the opening and transparent glass located in the clamping groove. The visual sensor is separated from an industrial environment through the box body and the transparent glass, a lens of the visual sensor is prevented from being polluted by dust, oil stains and welding sparks in the working process of the manipulator, meanwhile, attachments attached to the surface of the glass can be regularly removed through airflow and vibration, and the visual sensor can be cleaned in some environments with liquid splashing or oil mist. Greasy dirt, water drops or condensate water are prevented from gathering on the glass surface, and the glass surface is kept clean.

Description

Technical Field

[0001] The present invention relates to the field of industrial robot detection, and more specifically, to an industrial robot visual sensor measuring device. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. They are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] Robot vision sensor measurement refers to collecting environment or object images by using vision sensors (such as cameras, laser radars, infrared sensors, etc.) on the robot, and analyzing the data through image processing algorithms to achieve functions such as spatial positioning, size measurement, posture recognition, and target tracking. The prior art (Chinese invention patent with announcement number CN115847492B) discloses an industrial robot vision sensor measurement device, which measures the distance of a target to be measured in multiple directions by setting multiple groups of vertical vision sensors and horizontal vision sensors on a mechanical arm and a measuring base. The prior art (Chinese invention application patent with announcement number CN118721272A) discloses an industrial robot vision sensor measurement device, which sets a vision sensor on a manipulator and performs calibration tests on the manipulator and the vision sensor on the industrial robot before use, thereby ensuring the accuracy of the industrial robot during use.

[0004] Although the sensor measurement devices in the prior art can achieve accurate measurement and help robots perform path planning, navigation, object grasping and transportation, during the operation of the industrial robot manipulator, the visual sensor measurement equipment installed on the mobile end of the manipulator may be affected by the pollution of the working environment. There may be dust, oil, welding sparks, etc. in the industrial environment, which can easily adhere to the lens or housing of the visual sensor, resulting in blurred images or limited field of view, affecting the measurement accuracy and measurement results. Summary of the invention

[0005] In view of the problems existing in the prior art, an object of the present invention is to provide an industrial robot visual sensor measuring device.

[0006] To solve the above problems, the present invention adopts the following technical solutions.

[0007] An industrial robot visual sensor measuring device comprises a plurality of visual measuring units installed on the outer wall of a manipulator moving end, wherein the visual measuring units comprise a support fixedly connected to the outer wall of the manipulator moving end, a buffer pad 2 fixedly connected to one side of the support, a box body fixedly connected to the upper end of the buffer pad 2, a visual sensor fixedly connected to the inner wall of the box body, an opening provided at one side of the box body, a card slot provided on the inner wall of the opening, a transparent glass located in the card slot, a buffer gasket wrapped around the outer edge surface of the transparent glass and inserted in the card slot, two piezoelectric ceramic sheets symmetrically fixedly connected to one side of the transparent glass, a driving unit fixedly connected to the inner wall of the box body and connected to the two piezoelectric ceramic sheets, and an airflow sweeping assembly connected to the inside of the box body;

[0008] The airflow sweeping assembly includes an active groove one opened inside the box body, a rotating seat connected to the active groove one, multiple nozzles connected inside the rotating seat, multiple interfaces opened on the outer surface of one side of the support, and multiple pipes connecting the multiple nozzles with the multiple interfaces.

[0009] Furthermore, the rotating seat is rotatably connected to the inner wall of the movable groove 1, a motor 1 is fixedly connected to the inside of the box body, and the output shaft of the motor 1 penetrates into the movable groove 1 and is fixedly connected to one side of the rotating seat.

[0010] Furthermore, the nozzle is rotatably connected to the inside of the rotating seat, and a rotating joint is fixedly connected to one side of the rotating seat. The inner tube of the rotating joint is connected to the input end of the nozzle, and the input end of the rotating joint is connected to one end of the pipeline. A driving assembly for driving multiple nozzles to rotate is also connected to the inside of the rotating seat.

[0011] Furthermore, the driving assembly includes a synchronous wheel 2 fixedly connected to the outer surface of multiple nozzles, a synchronous wheel 1 rotatably connected to the inside of a rotating seat, and a synchronous belt that transmits and connects the synchronous wheel 1 to multiple synchronous wheels 2. A motor 2 is fixedly connected to one side of the rotating seat, and the output shaft of the motor 2 passes through the inside of the rotating seat and is fixedly connected to one side of the synchronous wheel 1.

[0012] Furthermore, a temperature sensor is fixedly connected to the inner wall of the box body, and electric heating elements are sleeved on the outside of the plurality of pipes, and the electric heating elements are linearly connected to the temperature sensor.

[0013] Furthermore, an oxidation and decontamination component is also connected to the inside of the box body, and the oxidation and decontamination component includes an insulating isolation plate fixedly connected to the inner wall of the box body and mounted on the outside of the visual sensor lens, an annular electrode 1 fixedly connected to one side of the insulating isolation plate, a fixing plate fixedly connected to the inner wall of the opening, an annular electrode 2 fixedly connected to one side of the fixing plate, and a hollow groove opened in the fixing plate to avoid blocking the visual sensor. A power supply part is fixedly connected to the outer surface of one side of the box body, and the power supply part is electrically connected to annular electrode 1 and annular electrode 2.

[0014] Furthermore, an external cleaning component is connected to the opening of the box body, and the external cleaning component includes two slide grooves symmetrically opened on the inner wall of the opening, a guide rod fixedly connected to one of the slide grooves, a screw rod rotatably connected to the other slide groove, a movable plate with two ends respectively slidably connected to the two slide grooves, and a scraper fixed to the lower end of the movable plate, one end of the movable plate is movably sleeved on the outside of the guide rod, and the other end of the movable plate is screwed to the outside of the screw rod 1, a motor three is fixedly connected to the outer surface of one side of the box body, and the output shaft of the motor three is fixedly connected to one end of the screw rod 1.

[0015] Furthermore, a movable groove 2 is opened on one side of the movable plate, and two fiber cleaning parts are slidably connected inside the movable groove 2. Two screw rods 2 are also screwed inside the movable plate, and one end of the two screw rods 2 extends into the movable groove 2 and is rotatably connected to one side of the two fiber cleaning parts respectively.

[0016] Furthermore, a buffer pad is connected between the support and the outer wall of the mobile end of the manipulator.

[0017] Furthermore, the movable plate is located between the transparent glass and the second annular electrode.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) In this solution, a box body is provided on the outside of the visual sensor, and a transparent glass is provided at the opening of the box body. The box body and the transparent glass separate the visual sensor from the industrial environment to prevent the visual sensor lens from being contaminated by dust, oil, and welding sparks during the operation of the robot. The vibration generated by the piezoelectric ceramic piece can be transmitted to the glass surface to loosen the tiny particles attached to the glass surface. The airflow of the nozzle can blow these particles away from the glass surface to prevent the accumulation of dirt, thereby ensuring that the visual sensor 25 can maintain a clear field of view. At the same time, the airflow can also regularly remove the attachments attached to the glass surface. In some environments with liquid splashing or oil mist, oil, water droplets or condensed water can be prevented from accumulating on the glass surface, thereby ensuring the cleanliness of the glass surface and preventing the measurement accuracy and measurement results of the visual sensor from being affected by image blur or limited field of view.

[0020] (2) The present invention is provided with a driving assembly for driving the nozzle to rotate. The nozzle is driven to rotate by the driving assembly. The rotation of the nozzle will bring about a rotating effect of the airflow. The rotating airflow has a strong circulation effect, which helps to more effectively peel off the dirt and particles on the glass surface, making it difficult for the particles on the glass surface to adhere. The rotating airflow can mix with other components in the air (such as floating dust, oil mist, etc.) and produce stronger disturbances, which can more comprehensively clean the glass surface. In particular, when there is grease or other adhesive contaminants, the vortex airflow can more effectively blow these substances away.

[0021] (3) This solution is equipped with an oxidation and decontamination component, which realizes corona discharge through two annular electrodes. During the corona discharge process, the released active molecules can react with oily substances, decompose them or change their structure, making them less likely to adhere to the glass surface. Combined with vibration and airflow sweeping, it can accelerate the desorption of particulate matter and be carried away by the airflow, making it easy to remove by the airflow. It can also make the glass surface more hydrophobic, reduce the adsorption and adhesion of oily substances, effectively neutralize the static electricity on the glass surface and the air around it, and avoid static electricity adsorbing pollutants such as dust and oil mist in the air, thereby maintaining a clean state for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the visual measurement unit of the present invention;

[0024] Figure 3 It is a schematic diagram of the internal structure of the box body of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the movable groove 1 and the rotating seat of the present invention;

[0026] Figure 5 It is a schematic diagram of the motor 1, the rotating seat and the interface structure of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the nozzle, rotary joint, pipeline and driving assembly of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the card slot, the insulating isolation plate, the annular electrode 1, the fixing plate and the annular electrode 2 of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the external cleaning component of the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the screw rod 2, the movable plate, the scraper, the guide rod and the screw rod 2 of the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the movable groove 2 and the fiber cleaning part of the present invention.

[0032] Description of the numbers in the figure:

[0033] 1. Manipulator; 2. Visual measurement unit; 21. Buffer pad 1; 22. Support; 23. Buffer pad 2; 24. Box body; 241. Card slot; 25. Visual sensor; 26. Buffer washer; 27. Transparent glass; 28. Piezoelectric ceramic; 29. ​​Driving unit; 3. Air flow sweeping assembly; 31. Movable slot 1; 32. Rotating seat; 33. Motor 1; 34. Nozzle; 35. Pipeline; 36. Interface; 37. Rotary joint; 4. Oxidation and decontamination assembly; 41. Power supply unit; 42. Insulating isolation plate; 43. Ring electrode one; 44. Fixed plate; 45. Ring electrode two; 5. Driving assembly; 51. Motor two; 52. Synchronous wheel one; 53. Synchronous belt; 54. Synchronous wheel two; 6. Temperature sensor; 7. Electric heating element; 8. External cleaning assembly; 81. Slide; 82. Movable plate; 83. Screw one; 84. Guide rod; 85. Motor three; 86. Scraper; 87. Movable groove two; 88. Fiber cleaning unit; 89. Screw two. DETAILED DESCRIPTION

[0034] The technical solutions 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; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0035] See also Figures 1 to 10 , an industrial robot visual sensor 25 measuring device, comprising a plurality of visual measuring units 2 installed on the outer wall of a mobile end of a manipulator 1, wherein the visual measuring unit 2 comprises a support 22 fixedly connected to the outer wall of the mobile end of the manipulator 1, a buffer pad 23 fixedly connected to one side of the support 22, a box body 24 fixedly connected to the upper end of the buffer pad 23, a visual sensor 25 fixedly connected to the inner wall of the box body 24, an opening provided on one side of the box body 24, a slot 241 provided on the inner wall of the opening, a transparent glass 27 located in the slot 241, a buffer gasket 26 wrapped around the outer edge surface of the transparent glass 27 and inserted in the slot 241, two piezoelectric ceramic sheets 28 symmetrically fixedly connected to one side of the transparent glass 27, a driving unit 29 fixedly connected to the inner wall of the box body 24 and connected to the two piezoelectric ceramic sheets 28, and an airflow sweeping component 3 connected to the inside of the box body 24;

[0036] The airflow sweeping assembly 3 includes a movable groove 31 opened inside the box body 24, a rotating seat 32 connected to the movable groove 31, a plurality of nozzles 34 connected inside the rotating seat 32, a plurality of interfaces 36 opened on the outer surface of one side of the support 22, and a plurality of pipes 35 connecting the plurality of nozzles 34 with the plurality of interfaces 36.

[0037] The rotating seat 32 is rotatably connected to the inner wall of the movable groove 31, and a motor 33 is fixed inside the box body 24, and the output shaft of the motor 33 penetrates into the movable groove 31 and is fixed to one side of the rotating seat 32. A buffer pad 21 is connected between the support 22 and the outer wall of the moving end of the manipulator 1. The movable plate 82 is located between the transparent glass 27 and the annular electrode 45.

[0038] By adopting the above technical solution, the buffer pad 1 21 and the buffer pad 2 23 can play a buffering role, reducing the impact of the manipulator 1 on the visual sensor 25 when it moves. The piezoelectric ceramic piece 28 is driven to work by the driving part 29 (the function generator is a widely used electronic device that can generate different types of waveforms, such as sine waves, square waves, triangle waves, etc., and adjust the frequency, amplitude and waveform to output the required frequency and amplitude, but an additional power amplifier may be required to enhance the amplitude of the signal to adapt to the high voltage requirement of the piezoelectric ceramic piece 28. It belongs to the mature existing technology and will not be repeated here). The vibration generated by the piezoelectric ceramic piece 28 can be transmitted to the transparent glass 27 to loosen the tiny particles attached to the surface of the transparent glass 27. The buffer gasket 26 wrapped around the outside of the transparent glass 27 and inserted in the card slot 241 can reduce the direct vibration impact transmitted from the piezoelectric ceramic piece 28 to the transparent glass 27, avoiding stress concentration caused by high-frequency vibration. It should be noted here that in actual use, the vibration frequency of the piezoelectric ceramic piece 28 must be different from the resonance frequency of the transparent glass 27 to avoid glass breakage. If the interface 36 is damaged, connect an air pipe to the interface 36, and the gas enters the pipe 35 through the interface 36, and then enters the nozzle 34 through the pipe 35 and is discharged from the nozzle 34. The gas is discharged from the nozzle 34 and blown onto the surface of the transparent glass 27. The combination of vibration and airflow can effectively remove dust, oil and other particles on the surface of the transparent glass 27. The high-frequency vibration generated by the piezoelectric ceramic piece 28 can help loosen the tiny particles attached to the surface of the transparent glass 27, and the nozzle 34 blows these particles away from the glass surface through the airflow to prevent dirt accumulation, ensuring that the visual sensor can Maintain a clear field of vision. In some environments where there is liquid splashing or oil mist, avoid the accumulation of oil, water droplets or condensed water on the surface of the transparent glass 27, ensure the cleanliness of the surface of the transparent glass 27, and avoid affecting the measurement accuracy and measurement results of the visual sensor 25 due to blurred images or limited field of view. At the same time, the motor 33 can also drive the rotating seat 32 to rotate, thereby adjusting the angle between the nozzle 34 and the transparent glass 27, so that the airflow forms a wider sweeping range on the surface of the transparent glass 27, ensuring that the airflow covers a larger area and reduces cleaning dead corners.

[0039] like Figure 4-Figure 6As shown, the nozzle 34 is rotatably connected to the inside of the rotating seat 32, and a rotating joint 37 is also fixed to one side of the rotating seat 32, the inner tube of the rotating joint 37 is connected to the input end of the nozzle 34, and the input end of the rotating joint 37 is connected to one end of the pipe 35, and the inside of the rotating seat 32 is also connected to a driving component 5 for driving multiple nozzles 34 to rotate.

[0040] The driving assembly 5 includes a synchronous wheel 2 54 fixedly connected to the outer surface of the plurality of nozzles 34, a synchronous wheel 1 52 rotatably connected to the inside of the rotating seat 32, and a synchronous belt 53 that transmits and connects the synchronous wheel 1 52 with the plurality of synchronous wheels 2 54. A motor 2 51 is fixedly connected to one side of the rotating seat 32, and the output shaft of the motor 2 51 penetrates into the inside of the rotating seat 32 and is fixedly connected to one side of the synchronous wheel 1 52.

[0041] A temperature sensor 6 is fixedly connected to the inner wall of the box body 24 , and electric heating elements 7 are sleeved on the outside of the plurality of pipes 35 , and the electric heating elements 7 are linearly connected to the temperature sensor 6 .

[0042] By adopting the above technical solution, the motor 2 51 drives the synchronous wheel 1 52 to rotate, and the rotation of the synchronous wheel 1 52 drives the multiple synchronous wheels 2 54 to rotate through the synchronous belt 53. The rotation of the synchronous wheel 2 54 drives the nozzle 34 to rotate. The rotation of the nozzle 34 will bring about a rotating effect of the airflow. The rotating airflow has a strong circulation effect, which helps to more effectively peel off the dirt and particulate matter on the surface of the transparent glass 27, so that the particulate matter on the surface of the transparent glass 27 is not easy to adhere. The rotating airflow can mix with other components in the air (such as floating dust, oil mist, etc.) and produce stronger disturbances, which can more comprehensively clean the surface of the transparent glass 27. Especially when there is grease or other adhesive contaminants, the vortex effect of the rotating airflow can more strongly break the adhesion between it and the glass surface, and the vortex airflow can more effectively blow these substances away.

[0043] like Figure 7 As shown, the box body 24 is also connected to an oxidation and decontamination component 4, and the oxidation and decontamination component 4 includes an insulating isolation plate 42 fixedly connected to the inner wall of the box body 24 and sleeved on the outside of the lens of the visual sensor 25, an annular electrode 1 43 fixedly connected to one side of the insulating isolation plate 42, a fixing plate 44 fixedly connected to the inner wall of the opening, an annular electrode 2 45 fixedly connected to one side of the fixing plate 44, and a hollow groove opened in the fixing plate 44 to avoid blocking the visual sensor 25. A power supply part 41 is fixedly connected to the outer surface of one side of the box body 24, and the power supply part 41 is electrically connected to the annular electrode 1 43 and the annular electrode 2 45.

[0044] By adopting the above technical solution, the annular electrode 1 43 is a ground electrode, and the annular electrode 2 45 is a high-voltage electrode. The power supply unit 41 (a high-voltage power supply can be composed of a transformer, a rectifier, and a capacitor, etc., and has voltage control and protection functions to avoid damage to the electrode or equipment due to excessive current) supplies power to the two annular electrodes to form a corona. Corona discharge is a process in which a high voltage is applied between electrodes to form a corona discharge area, and high energy is used to ionize air or gas to change the physical and chemical properties of the surface of an object. Specifically, on the surface of transparent glass 27, corona treatment mainly works through the following principles: corona discharge refers to the strong electric field generated by the electrode under high voltage, which ionizes the surrounding gas and releases high-energy electrons and ions. These high-energy electrons have enough energy to collide with gas molecules to produce more free radicals, ions and active molecules (such as oxygen free radicals, nitrogen free radicals, etc.); these high-energy free radicals and active molecules react with their atoms or molecules on the surface of transparent glass 27, resulting in changes in the surface molecular structure. The degree of oxidation on the surface of transparent glass 27 increases, and the surface energy increases, thereby improving its hydrophilicity. After the hydrophilicity is enhanced, water droplets are more likely to spread out on the surface of the transparent glass 27, rather than forming a water droplet-like aggregation, which means that it is more difficult for substances such as oily particles to adhere to the surface; in addition, during the corona discharge process, oxygen molecules react with the surface of the transparent glass 27 to form a small amount of oxide (such as a surface active oxide layer). This oxide layer enhances the hydrophilicity of the surface of the transparent glass 27, making it easier to clean or remove pollutants such as oily particles and dust; corona treatment increases the hydrophilicity of the surface of the transparent glass 27, reduces the surface tension, and increases the wettability of the transparent glass 27 to liquids (such as water). In this way, oily substances cannot effectively adhere to the surface of the transparent glass 27 due to the large surface tension. By enhancing the wettability of the glass surface, the accumulation of grease and dirt can be reduced; high-energy electrons and active oxygen molecules can also react with some organic matter on the surface to decompose and remove potential oily pollutants or organic substances, thereby further purifying the surface of the transparent glass 27; corona combined with vibration and airflow sweeping can accelerate the desorption of particulate matter and carry it away by the airflow, making it easy to remove it through the airflow, and can also make the surface of the transparent glass 27 more hydrophobic, reduce the adsorption and adhesion of oily substances, and effectively neutralize static electricity on the surface of the transparent glass 27 and the air around it, avoiding static electricity adsorption of pollutants such as dust and oil mist in the air, thereby maintaining a clean state for a long time.

[0045] like Figure 8-Figure 10As shown, the opening of the box body 24 is also connected to an external cleaning component 8, and the external cleaning component 8 includes two slide grooves 81 symmetrically opened on the inner wall of the opening, a guide rod 84 fixedly connected to one of the slide grooves 81, a screw rod 83 rotatably connected to the other slide groove 81, a movable plate 82 with two ends respectively slidably connected to the two slide grooves 81, and a scraper 86 fixed to the lower end of the movable plate 82, one end of the movable plate 82 is movably sleeved on the outside of the guide rod 84, and the other end of the movable plate 82 is screwed to the outside of the screw rod 83, and a motor three 85 is fixedly connected to the outer surface of one side of the box body 24, and the output shaft of the motor three 85 is fixedly connected to one end of the screw rod 83.

[0046] A movable groove 87 is provided on one side of the movable plate 82, and two fiber cleaning parts 88 are slidably connected inside the movable groove 87. Two screw rods 89 are also screwed inside the movable plate 82, and one end of the two screw rods 89 extends into the movable groove 87 and is rotatably connected to one side of the two fiber cleaning parts 88 respectively.

[0047] By adopting the above technical solution, the movable plate 82 and the scraper 86 are both made of insulating materials to avoid being affected by the annular electrode 2 45. The motor 3 85 drives the screw 1 83 to rotate, and the screw 1 83 rotates to drive the movable plate 82 to move along the slide groove 81. When the movable plate 82 moves, the scraper 86 can clean the surface of one side of the transparent glass 27. The scraper 86 can be made of polyurethane and fluororubber. The scraper 86 can clean the pollutants that cannot be removed by corona, sweeping and vibration. At the same time, when the movable plate 82 moves, the fiber cleaning part 8 in the movable groove 2 87 8 (composed of a base body and a microfiber material or polyester fiber material fixed on one side of the base body) can also come into contact with the outer surface of one side of the transparent glass 27, and can clean the outer surface of one side of the transparent glass 27 after scraping through the fiber material on one side. The structure of the microfiber enables it to effectively absorb dirt such as dust and grease without leaving marks on the glass surface. It is soft and does not contain abrasive particles, and will not scratch the glass surface when used. By rotating the screw 89, the pressure applied by the fiber cleaning part 88 to the outer surface of one side of the transparent glass 27 can be adjusted to improve the cleaning effect.

[0048] Usage: The visual sensor 25 can collect images of the environment or objects, and analyze the data through image processing algorithms to achieve functions such as spatial positioning, size measurement, posture recognition, and target tracking. Cooperate with the manipulator 1 for industrial production and processing, connect the air pipe to the interface 36, and the drive unit 29 works regularly to drive the piezoelectric ceramic piece 28 to work. The piezoelectric ceramic piece 28 generates vibrations that can be transmitted to the transparent glass 27 to loosen the tiny particles attached to the surface of the transparent glass 27. The gas is discharged from the nozzle 34 and blown onto the surface of the transparent glass 27. The combination of vibration and airflow can effectively remove dust, oil and other particles on the surface of the transparent glass 27. The motor 251 works The synchronous wheel 1 52 and the synchronous belt 53 drive multiple synchronous wheels 2 54 to rotate, and the rotation of the synchronous wheel 2 54 drives the nozzle 34 to rotate. The rotation of the nozzle 34 will bring about a rotating effect of the airflow. The rotating airflow has a strong circulation effect, which helps to more effectively peel off the dirt and particles on the surface of the transparent glass 27. The power supply part 41 supplies power to the two annular electrodes to form a corona. Corona discharge is a method of applying a high voltage between the electrodes to form a corona discharge area, which enhances the wettability of the glass surface and can reduce the accumulation of grease and dirt. The combination of corona, vibration and airflow sweeping can accelerate the desorption of particles and carry them away by the airflow, making them easy to be removed by the airflow.

[0049] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot visual sensor measuring device, comprising a plurality of visual measuring units (2) mounted on the outer wall of a mobile end of a manipulator (1), characterized in that: The visual measurement unit (2) comprises a support (22) fixedly connected to the outer wall of the moving end of the manipulator (1), a second buffer pad (23) fixedly connected to one side of the support (22), a box body (24) fixedly connected to the upper end of the second buffer pad (23), a visual sensor (25) fixedly connected to the inner wall of the box body (24), an opening provided on one side of the box body (24), a slot (241) provided on the inner wall of the opening, a transparent glass (27) located in the slot (241), a buffer washer (26) wrapped around the outer edge surface of the transparent glass (27) and inserted in the slot (241), two piezoelectric ceramic sheets (28) symmetrically fixedly connected to one side of the transparent glass (27), a driving unit (29) fixedly connected to the inner wall of the box body (24) and connected to the two piezoelectric ceramic sheets (28), and an airflow sweeping assembly (3) connected to the inside of the box body (24); The airflow sweeping assembly (3) comprises a movable groove (31) provided inside the box body (24), a rotating seat (32) connected to the movable groove (31), a plurality of nozzles (34) connected inside the rotating seat (32), a plurality of interfaces (36) provided on the outer surface of one side of the support (22), and a plurality of pipes (35) connecting the plurality of nozzles (34) and the plurality of interfaces (36).

2. The industrial robot visual sensor measuring device according to claim 1, characterized in that: The rotating seat (32) is rotatably connected to the inner wall of the movable groove (31), and a motor (33) is fixedly connected inside the box body (24), and the output shaft of the motor (33) penetrates into the movable groove (31) and is fixedly connected to one side of the rotating seat (32).

3. The industrial robot visual sensor measuring device according to claim 2, characterized in that: The nozzle (34) is rotatably connected to the inside of the rotating seat (32), and a rotating joint (37) is fixedly connected to one side of the rotating seat (32). The inner tube of the rotating joint (37) is connected to the input end of the nozzle (34), and the input end of the rotating joint (37) is connected to one end of the pipeline (35). The rotating seat (32) is also connected to a driving component (5) for driving the multiple nozzles (34) to rotate.

4. The industrial robot visual sensor measuring device according to claim 3, characterized in that: The driving assembly (5) comprises a second synchronous wheel (54) fixedly connected to the outer surface of the plurality of nozzles (34), a first synchronous wheel (52) rotatably connected to the interior of the rotating seat (32), and a synchronous belt (53) for transmission connection between the first synchronous wheel (52) and the plurality of second synchronous wheels (54); a second motor (51) is fixedly connected to one side of the rotating seat (32), and an output shaft of the second motor (51) penetrates into the interior of the rotating seat (32) and is fixedly connected to one side of the first synchronous wheel (52).

5. The industrial robot visual sensor measuring device according to claim 4, characterized in that: A temperature sensor (6) is fixedly connected to the inner wall of the box body (24), and electric heating elements (7) are sleeved on the outside of the plurality of pipes (35), and the electric heating elements (7) are linearly connected to the temperature sensor (6).

6. The industrial robot visual sensor measuring device according to claim 5, characterized in that: The box body (24) is also connected to an oxidation and decontamination assembly (4), and the oxidation and decontamination assembly (4) includes an insulating isolation plate (42) fixedly connected to the inner wall of the box body (24) and sleeved on the outside of the lens of the visual sensor (25), an annular electrode 1 (43) fixedly connected to one side of the insulating isolation plate (42), a fixing plate (44) fixedly connected to the inner wall of the opening, an annular electrode 2 (45) fixedly connected to one side of the fixing plate (44), and a hollow groove opened in the fixing plate (44) to avoid blocking the visual sensor (25). A power supply part (41) is fixedly connected to the outer surface of one side of the box body (24), and the power supply part (41) is electrically connected to the annular electrode 1 (43) and the annular electrode 2 (45).

7. The industrial robot visual sensor measuring device according to claim 6, characterized in that: The opening of the box body (24) is also connected to an external cleaning component (8), and the external cleaning component (8) comprises two slide grooves (81) symmetrically opened on the inner wall of the opening, a guide rod (84) fixedly connected to one of the slide grooves (81), a screw rod (83) rotatably connected to the other slide groove (81), a movable plate (82) with two ends respectively slidably connected to the two slide grooves (81), and a scraper (86) fixedly connected to the lower end of the movable plate (82), one end of the movable plate (82) is movably sleeved on the outside of the guide rod (84), and the other end of the movable plate (82) is screwed to the outside of the screw rod (83), and a motor (85) is fixedly connected to the outer surface of one side of the box body (24), and the output shaft of the motor (85) is fixedly connected to one end of the screw rod (83).

8. The industrial robot visual sensor measuring device according to claim 7, characterized in that: A movable groove (87) is provided on one side of the movable plate (82), and two fiber cleaning parts (88) are slidably connected inside the movable groove (87). Two screw rods (89) are also screwed inside the movable plate (82), and one end of the two screw rods (89) extends into the movable groove (87) and is rotatably connected to one side of the two fiber cleaning parts (88) respectively.

9. The industrial robot visual sensor measuring device according to claim 8, characterized in that: A buffer pad (21) is connected between the support (22) and the outer wall of the moving end of the manipulator (1).

10. The industrial robot visual sensor measuring device according to claim 9, characterized in that: The movable plate (82) is located between the transparent glass (27) and the second annular electrode (45).

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