Microstructure visual-tactile sensor processing and cleaning device

Abstract

This utility model relates to the field of sensor processing and cleaning, and more particularly to a cleaning device for microstructure visual and tactile sensors. It includes a worktable, a mounting base fixedly installed on the upper end of the worktable, a support slide rod fixedly installed on the rear side of the upper end of the worktable, an electric displacement guide rail fixedly installed on the upper end of the worktable behind the support slide rod, a movable seat provided on the surface of the support slide rod, a mounting frame fixedly installed on the upper end of the movable seat, and a rotary cylinder fixedly installed at the front end of the mounting frame. This utility model uses an air blowing pipe to blow air onto the visual and tactile sensors arranged inside the mounting base, sweeping away surface dust. The rotary cylinder controls the cleaning air outlet to maintain a certain angle during operation, simultaneously performing suction and dust collection operations with the suction pipe, ensuring that the blown-away dust is promptly captured by the suction structure, preventing dust particles from scattering in the air and causing secondary pollution to the visual and tactile sensors, thus improving the working quality of the microstructure visual and tactile sensor cleaning device.

Description

Technical Field

[0001] This utility model relates to the field of sensor processing and cleaning, and in particular to a device for processing and cleaning microstructure visual and tactile sensors. Background Technology

[0002] Vision-tactile sensor positioning is achieved through the integration of vision and touch. A vision-tactile sensor is a vision-based tactile sensing device that can simultaneously sense multi-dimensional information such as normal force, shear force, relative sliding, and object pose, similar to the tactile information dimensions of a human hand. Vision-tactile sensors have wide applications in the field of robotics, especially playing an important role in the humanoid robot industry chain. They can help robots achieve dexterous operation. During the manufacturing process, vision-tactile sensors need to be cleaned to prevent dust particles from adhering to the sensor and affecting its sensitivity.

[0003] Currently, the air-blowing cleaning structure of the microstructure visual and tactile sensor processing and cleaning device has certain limitations during operation. The cleaning structure lacks flexibility, and the dust particles blown out can easily cause secondary pollution to the visual and tactile sensor, affecting the cleaning effect of the processing and cleaning device.

[0004] Therefore, to address the above problems, a microstructure visual-tactile sensor processing and cleaning device with a blowing and dust-suction structure can be designed. Utility Model Content

[0005] To overcome the problem that when the microstructure visual and tactile sensor processing and cleaning device is in operation, dust particles blown out and dispersed in the air can easily cause secondary pollution to the visual and tactile sensor, thus affecting the cleaning effect of the processing and cleaning device.

[0006] The technical solution of this utility model is as follows: a microstructure visual-tactile sensor processing and cleaning device, including a worktable, a mounting base fixedly installed on the upper end of the worktable, a support slide rod fixedly installed on the rear side of the upper end of the worktable, an electric displacement guide rail fixedly installed on the upper end of the worktable behind the support slide rod, a movable seat provided on the surface of the support slide rod, a mounting frame fixedly installed on the upper end of the movable seat, a rotary cylinder fixedly installed at the front end of the mounting frame, an air blowing pipe groove fixedly installed at the output end of the rotary cylinder, a cleaning air port fixedly installed at the lower end of the air blowing pipe groove, and the upper end of the mounting frame located behind the rotary cylinder. A dust collection module is fixedly installed on the side. Dust collection pipe grooves are fixedly installed on both the left and right sides of the front end of the dust collection module. A dust collection port is fixedly installed at the lower end of the dust collection pipe groove. A locking groove is fixedly installed on the upper end of the mounting base. Movable grooves are fixedly installed on both the left and right sides inside the locking groove. A sleeve is fixedly installed inside the movable groove. Spring 1 is fixedly installed inside the sleeve. A movable block is fixedly installed on spring 1. A movable rod is fixedly installed at the end of the movable block away from spring 1. A clamping block is fixedly installed at the end of the movable rod away from the movable block to the outside of the sleeve. Spring 2 is provided on the surface of the movable rod.

[0007] Preferably, the locking slot can hold the visual-tactile sensor; the sleeve, movable block, and movable rod can limit and guide the clamping block; the spring structure can drive the clamping block to tightly hold the visual-tactile sensor; the external air supply hose can input high-pressure nitrogen; the cleaning air port can be aimed at the visual-tactile sensor to blow away surface dust; the rotary cylinder can control the cleaning air port to maintain a certain angle during operation; the dust collection module can drive airflow; the dust collection tube slot can absorb dust; the external exhaust hose facilitates centralized treatment of dust-containing air; the electric displacement guide rail can drive the moving base and mounting bracket to move at a uniform speed; the blowing and dust collection module can clean the visual-tactile sensor at various positions during movement to ensure cleaning effect.

[0008] Preferably, the output end of the electric displacement guide rail is fixedly connected to the moving seat, and the electric displacement guide rail is used to drive the moving seat to move back and forth, while the surface of the supporting slide rod is slidably connected to the moving seat.

[0009] Preferably, a rotary cylinder is used to drive the air blowing pipe groove to rotate back and forth, the cleaning air ports are evenly distributed, and an external air supply hose is fixedly connected to the upper end of the air blowing pipe groove.

[0010] Preferably, the upper end of the vacuum module is fixedly connected to an external exhaust hose, and the vacuum ports are evenly distributed.

[0011] Preferably, the locking grooves are evenly spaced, the clamping block is slidably connected to the movable groove, and the sides of the clamping block are provided with guide bevels.

[0012] Preferably, the surfaces of the movable block and the movable rod are slidably connected to the sleeve, and the movable rod is sleeved with the second spring.

[0013] Preferably, one end of the second spring is fixedly connected to the clamping block, and the other end of the second spring is fixedly connected to the sleeve.

[0014] The beneficial effects of this utility model are:

[0015] 1. This microstructure visual and tactile sensor processing and cleaning device uses an air blowing pipe to blow air onto the visual and tactile sensors arranged inside the mounting base, sweeping away surface dust. A rotating cylinder controls the cleaning air outlet to maintain a certain angle during operation, simultaneously performing suction and dust collection operations with the suction pipe. This ensures that the blown dust can be captured by the suction structure in a timely manner, preventing dust particles from scattering in the air and causing secondary pollution to the visual and tactile sensors. At the same time, a drive structure moves the blowing and suction module to ensure the cleaning effect of the blowing and suction module on the visual and tactile sensors at various positions, which helps to improve the working quality of the microstructure visual and tactile sensor processing and cleaning device.

[0016] 2. This microstructure visual-tactile sensor processing and cleaning device arranges visual-tactile sensors in locking slots and uses an elastic structure to compress clamping blocks, ensuring the stability of the visual-tactile sensor locking connection and preventing the visual-tactile sensor from detaching from the clamping slot structure during cleaning. At the same time, the sides of the clamping blocks are provided with guide bevels, which not only ensures stable locking but also facilitates the insertion and removal of the visual-tactile sensor, thereby improving the ease of use of this microstructure visual-tactile sensor processing and cleaning device. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the overall structure of the microstructure visual-tactile sensor processing and cleaning device of this utility model.

[0018] Figure 2 The diagram shown is a schematic representation of the support slide bar structure of the microstructure visual-tactile sensor processing and cleaning device of this utility model.

[0019] Figure 3 The diagram shown is a schematic diagram of the air blowing tube groove structure of the microstructure visual-tactile sensor processing and cleaning device of this utility model.

[0020] Figure 4 The diagram shown is a schematic representation of the mounting base for the microstructure visual-tactile sensor processing and cleaning device of this utility model.

[0021] Figure 5 The diagram shown is a schematic diagram of the sleeve structure of the microstructure visual-tactile sensor processing and cleaning device of this utility model.

[0022] Explanation of reference numerals in the attached drawings: 1. Workbench; 2. Mounting base; 3. Support slide bar; 4. Electric displacement guide rail; 5. Moving base; 6. Mounting bracket; 7. Rotary cylinder; 8. Air blowing pipe groove; 9. Cleaning air port; 10. Dust collection module; 11. Dust collection pipe groove; 12. Dust collection port; 13. Engaging groove; 14. Movable groove; 15. Sleeve; 16. Spring one; 17. Movable block; 18. Movable rod; 19. Clamping block; 20. Spring two; 21. External air supply hose; 22. External exhaust hose. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Please see Figures 1-5 This utility model provides an embodiment of a microstructure visual-tactile sensor processing and cleaning device, including a workbench 1, a mounting base 2 fixedly installed on the upper end of the workbench 1, a support slide rod 3 fixedly installed on the rear side of the upper end of the workbench 1, an electric displacement guide rail 4 fixedly installed on the upper end of the workbench 1 located on the rear side of the support slide rod 3, a movable seat 5 provided on the surface of the support slide rod 3, a mounting frame 6 fixedly installed on the upper end of the movable seat 5, a rotary cylinder 7 fixedly installed on the front end of the mounting frame 6, an air blowing pipe groove 8 fixedly installed on the output end of the rotary cylinder 7, a cleaning air port 9 fixedly installed on the lower end of the air blowing pipe groove 8, a dust collection module 10 fixedly installed on the upper end of the mounting frame 6 located on the side of the rotary cylinder 7, dust collection pipe grooves 11 fixedly installed on both the left and right sides of the front end of the dust collection module 10, a dust collection port 12 fixedly installed on the lower end of the dust collection pipe groove 11, and a locking groove 13 fixedly installed on the upper end of the mounting base 2. Movable slots 14 are fixedly installed on both the left and right sides inside the slot 13. A sleeve 15 is fixedly installed inside the movable slot 14. A spring 16 is fixedly installed inside the sleeve 15. A movable block 17 is fixedly installed on the spring 16. A movable rod 18 is fixedly installed at the end of the movable block 17 away from the spring 16. A clamping block 19 is fixedly installed at the end of the movable rod 18 away from the movable block 17 to the outside of the sleeve 15. A spring 20 is provided on the surface of the movable rod 18. High-pressure nitrogen is introduced by the external air supply hose 21, so that the cleaning air port 9 blows away the surface dust. In conjunction with the dust collection module 10, the airflow is driven to absorb and concentrate the dust particles, so as to prevent the dust particles from being scattered in the air and causing secondary pollution to the visual and tactile sensors. During this process, the blowing and dust collection module is moved by the electric displacement guide rail 4 to clean the visual and tactile sensors at various positions to ensure the cleaning effect.

[0025] Please see Figures 1-3In this embodiment, the output end of the electric displacement guide rail 4 is fixedly connected to the moving seat 5. The electric displacement guide rail 4 is used to drive the moving seat 5 to move back and forth. The surface of the support slide rod 3 is slidably connected to the moving seat 5. The rotary cylinder 7 is used to drive the air blowing pipe groove 8 to rotate back and forth. The cleaning air ports 9 are evenly distributed. An external air supply hose 21 is fixedly connected to the upper end of the air blowing pipe groove 8. An external exhaust hose 22 is fixedly connected to the upper end of the dust collection module 10. The dust collection ports 12 are evenly distributed. The external air supply hose 21 can input high-pressure nitrogen (the external air supply hose 21 is connected to the air blowing module). The cleaning air ports 9 can be aligned with the visual and tactile sensors to blow away surface dust. The rotary cylinder 7 can control the cleaning air ports 9 to maintain a certain angle during operation to ensure the cleaning effect (rotary cylinder 7). Cylinder 7 can be configured as a drive component with similar functions. When the electric displacement guide rail 4 changes the moving direction of the blowing and vacuuming module, the rotary cylinder 7 synchronously controls the air pipe groove 8 to adjust its direction (each drive component is controlled and coordinated by the equipment system). The vacuuming module 10 can drive the airflow. The vacuum pipe groove 11 and the vacuum port 12 can absorb air containing dust (the vacuum pipe groove 11 is located on both sides for easy adjustment with the cleaning air port 9). The external exhaust hose 22 can collect the absorbed air for convenient centralized processing. The electric displacement guide rail 4 can drive the moving seat 5 and the mounting bracket 6 to move at a uniform speed (the electric displacement guide rail 4 can be configured as a drive component with similar functions), so that the blowing and vacuuming module cleans the visual and tactile sensors at various positions during the movement, ensuring the cleaning effect.

[0026] Please see Figures 4-5 In this embodiment, the engaging slots 13 are evenly spaced, the clamping block 19 is slidably connected to the movable slot 14, and the clamping block 19 has a guide bevel on its side. The surfaces of the movable block 17 and the movable rod 18 are slidably connected to the sleeve 15. The movable rod 18 is sleeved with the second spring 20. One end of the second spring 20 is fixedly connected to the clamping block 19, and the other end of the second spring 20 is fixedly connected to the sleeve 15. The engaging slots 13 can hold the engaging tactile sensor. The sleeve 15, the movable block 17, and the movable rod 18 can limit and guide the clamping block 19 to ensure the smoothness of the clamping block 19's movement. The spring structure can drive the clamping block 19 to squeeze so that the clamping block 19 can tightly clamp the visual tactile sensor (the elastic force is moderate, ensuring the flexibility of the structure and avoiding damage to the product), ensuring the stability of the engagement connection between the visual tactile sensor and the engaging slot 13. The guide bevel on the side of the clamping block 19 can not only ensure the stability of the engagement but also facilitate the insertion and removal of the visual tactile sensor.

[0027] During operation, the visual and tactile sensors are sequentially inserted into the engagement slots 13. The sleeve 15, movable block 17, and movable rod 18 limit and guide the clamping block 19. The spring structure drives the clamping block 19 to tightly hold the visual and tactile sensors, ensuring the stability of the engagement connection between the visual and tactile sensors and the engagement slots 13. The equipment is started, and high-pressure nitrogen is introduced through the external air supply hose 21, so that the cleaning air port 9 is aimed at the visual and tactile sensors to blow away surface dust. The rotating cylinder 7 controls the cleaning air port 9 to maintain a certain angle during operation. In conjunction with the dust collection module 10, the airflow is driven to absorb air containing dust particles from the dust collection pipe slot 11 and exhaust it from the external exhaust hose 22 for centralized treatment. During this process, the electric displacement guide rail 4 drives the moving seat 5 and the mounting bracket 6 to move at a uniform speed, so that the blowing and dust collection module cleans the visual and tactile sensors at various positions during the movement, ensuring the cleaning effect.

[0028] Through the above steps, high-pressure nitrogen is introduced through the external air supply hose 21, which allows the cleaning air port 9 to blow away surface dust. In conjunction with the dust collection module 10, airflow is driven to absorb and centrally process dust particles, preventing dust particles from scattering in the air and causing secondary pollution to the visual and tactile sensors. During this process, the blowing and dust collection module is moved by the electric displacement guide rail 4 to clean the visual and tactile sensors at various locations, ensuring the cleaning effect. This solves the problem that when the microstructure visual and tactile sensor processing cleaning device is working, the dust particles blown away are scattered in the air, which can easily cause secondary pollution to the visual and tactile sensors and affect the cleaning effect of the processing cleaning device.

Claims

1. A microstructure visual-tactile sensor processing and cleaning device, comprising a worktable (1), characterized in that: A mounting base (2) is fixedly installed on the upper end of the workbench (1). A support slide rod (3) is fixedly installed on the rear side of the upper end of the workbench (1). An electric displacement guide rail (4) is fixedly installed on the upper end of the workbench (1) at the rear side of the support slide rod (3). A movable seat (5) is provided on the surface of the support slide rod (3). A mounting frame (6) is fixedly installed on the upper end of the movable seat (5). A rotary cylinder (7) is fixedly installed on the front end of the mounting frame (6). An air blowing pipe groove (8) is fixedly installed on the output end of the rotary cylinder (7). A cleaning air port (9) is fixedly installed on the lower end of the air blowing pipe groove (8). A dust collection module (10) is fixedly installed on the upper end of the mounting frame (6) at the side of the rotary cylinder (7). The left and right sides of the front end of the dust collection module (10) are fixedly mounted. The device is equipped with a suction pipe groove (11), and a suction port (12) is fixedly installed at the lower end of the suction pipe groove (11). A locking groove (13) is fixedly installed at the upper end of the mounting base (2). Movable grooves (14) are fixedly installed on both the left and right sides inside the locking groove (13). A sleeve (15) is fixedly installed inside the movable groove (14). A spring (16) is fixedly installed inside the sleeve (15). A movable block (17) is fixedly installed on the spring (16). A movable rod (18) is fixedly installed at the end of the movable block (17) away from the spring (16). A clamping block (19) is fixedly installed at the end of the movable rod (18) away from the movable block (17) to the outside of the sleeve (15). A spring (20) is provided on the surface of the movable rod (18).

2. The microstructure visual-tactile sensor processing and cleaning device according to claim 1, characterized in that: The output end of the electric displacement guide rail (4) is fixedly connected to the moving seat (5). The electric displacement guide rail (4) is used to drive the moving seat (5) to move back and forth. The surface of the support slide rod (3) is slidably connected to the moving seat (5).

3. The microstructure visual-tactile sensor processing and cleaning device according to claim 1, characterized in that: The rotary cylinder (7) is used to drive the air blowing pipe groove (8) to rotate back and forth. The cleaning air ports (9) are evenly distributed. An external air supply hose (21) is fixedly connected to the upper end of the air blowing pipe groove (8).

4. The microstructure visual-tactile sensor processing and cleaning device according to claim 1, characterized in that: An external exhaust hose (22) is fixedly connected to the upper end of the dust collection module (10), and the dust collection ports (12) are evenly distributed.

5. The microstructure visual-tactile sensor processing and cleaning device according to claim 1, characterized in that: The locking grooves (13) are evenly spaced, the clamping block (19) is slidably connected to the movable groove (14), and the side of the clamping block (19) is provided with a guide bevel.

6. The microstructure visual-tactile sensor processing and cleaning device according to claim 1, characterized in that: The surfaces of the movable block (17) and the movable rod (18) are slidably connected to the sleeve (15), and the movable rod (18) is sleeved with the second spring (20).

7. The microstructure visual-tactile sensor processing and cleaning device according to claim 6, characterized in that: One end of spring 2 (20) is fixedly connected to clamp (19), and the other end of spring 2 (20) is fixedly connected to sleeve (15).

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