CN108406854B

CN108406854B - Visual sensor for robot

Info

Publication number: CN108406854B
Application number: CN201810188403.1A
Authority: CN
Inventors: 郭振东
Original assignee: Shenzhen Donghengda Intelligent Technology Co ltd
Current assignee: Shenzhen Donghengda Intelligent Technology Co ltd
Priority date: 2018-03-07
Filing date: 2018-03-07
Publication date: 2021-03-16
Anticipated expiration: 2038-03-07
Also published as: CN108406854A

Abstract

The invention discloses a vision sensor for a robot, which comprises a sensor main body, a mounting seat, a shell, a radiating fin, a sealing strip, a protective lens, an air injection pipe, a micro fan, a heat conducting plate, a heating cavity and a heat insulation plate, wherein the mounting seat is arranged at the bottom of the sensor main body, a spring is arranged at one side of a pressing block close to a first groove, the sealing strip is arranged at one side of the radiating fin, the protective lens is arranged between an end cover and a lens, one end of a guide pipe is connected with the air injection pipe, the micro fan is arranged in the middle of the top surface of a porous partition plate, the heat conducting plate is arranged above the partition plate, and an electric heating wire is arranged in the heating cavity. And removing fog on the surface of the lens to obtain a clear image.

Description

Visual sensor for robot

Technical Field

The invention relates to the technical field of robots, in particular to a vision sensor for a robot.

Background

The robot is a complex machine controlled by a computer, it has the limbs and sense organ function similar to human, the action program is flexible, it has a certain degree of intelligence, in order to detect the operation object and environment or the relation between the robot and them, the robot is installed with the touch sensor, the visual sensor, the force sensor, the proximity sensor, the ultrasonic sensor and the auditory sensor, the visual sensor is the direct source of the whole machine visual system information, sometimes it is also equipped with the light projector and other auxiliary equipment. The vision sensor can acquire enough of the most primitive images to be processed by the machine vision system, and is one of the indispensable components of the robot.

However, the vision sensor for the robot in the current market is inconvenient to install, the heat dissipation effect of the sensor is poor, normal work is affected, the vision sensor is difficult to use in a low-temperature environment, the surface of the lens is fogged when the temperature is low, and clear images cannot be acquired.

Disclosure of Invention

The invention provides a vision sensor for a robot, which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a vision sensor for a robot comprises a sensor main body, a mounting seat, set screws, a first groove, a pressing block, a spring, a shell, radiating fins, a magnet, a seal, an iron sheet, a second groove, a lens, an end cover, a protective lens, an antistatic film, a protective shell, a guide pipe, an air injection pipe, a porous partition plate, a micro fan, a partition plate, a through hole, an air collecting hood, a heat conducting plate, a heating cavity, a heating wire, an air inlet pipe, an air outlet pipe and a heat insulation plate, wherein the mounting seat is arranged at the bottom of the sensor main body, the set screws penetrate through the side surface of the mounting seat, the first groove is formed in one side of the mounting seat, which is far away from the set screws, the pressing block is hinged to the top end of the first groove, the spring is installed on one side of the pressing block, the shell is arranged above the mounting seat, the, and one side of the heat radiating sheet is provided with a seal, the side of the seal is bonded with an iron sheet, and the side of the seal is uniformly provided with a second groove, the upper part of the sensor main body is positively provided with a lens, one end of the lens is provided with an end cover, a protective lens is arranged between the end cover and the lens, the side of the protective lens is bonded with an antistatic film, a protective shell is arranged below the lens, a conduit is arranged inside the protective shell, one end of the conduit is positioned at the lower part of the end cover and is connected with an air injection pipe, the bottom end of the shell is provided with a porous partition plate, the middle part of the top surface of the porous partition plate is provided with a micro fan, a partition plate is arranged above the micro fan, the middle part of the top surface of the partition plate is, the heat-conducting plate bottom is connected with the intake pipe, the intake pipe bottom links to each other with the gas collecting channel top, the heat-conducting plate top is connected with the outlet duct, the outlet duct passes through the hose and links to each other with the pipe, the inboard bonding of shell has the heated board, miniature fan and heating wire all link to each other with external power electrical property.

Preferably, one end of the set screw is connected with a handle, and anti-skid grains are uniformly arranged on the side surface of the handle.

Preferably, the cross section of the pressing block and the cross section of the first groove are both triangular, and a rubber pad is bonded on one side, away from the spring, of the pressing block.

Preferably, the second groove is formed in the side face of the iron sheet and the side face of the seal, and the length and the width of the second groove are respectively the same as the width and the thickness of the radiating fin.

Preferably, a protective lens groove is formed in one end, close to the end cover, of the lens, the width of the protective lens groove is equal to the thickness of the protective lens, and the protective lens is made of tempered glass.

Preferably, the top end of the gas ejector pipe is provided with a nozzle, and the nozzle is in threaded connection with the gas ejector pipe.

Preferably, glue grooves are uniformly formed in the contact positions of the heat-insulation plates and the shell, and glue is filled in the glue grooves.

Compared with the prior art, the invention has the beneficial effects that: the invention has the advantages of scientific and reasonable structure, safe and convenient use, installation of the sensor main body by utilizing the installation seat, fixation by utilizing the pressing block and the set screw, convenient installation and easy disassembly, is provided with the radiating fin, heat is transferred to the radiating fin through the heat conducting plate to be radiated, the radiating effect is good, the sealing strip is installed in a low-temperature environment to prevent heat from being dissipated, the air is introduced by utilizing the fan, the air is heated by the electric heating wire to improve the internal temperature of the sensor main body, meanwhile, the hot air is blown to the surface of the lens through the air injection pipe to prevent the condensation of vapor caused by the larger temperature difference inside and outside the lens, and the fog on the surface of the lens is removed so as to obtain clear images.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the mount configuration of the present invention;

FIG. 3 is a schematic view of a protective lens mounting structure of the present invention;

FIG. 4 is a schematic view of a micro fan mounting structure according to the present invention;

FIG. 5 is a schematic diagram of the heat-conducting plate structure of the present invention;

reference numbers in the figures: 1. a sensor body; 2. a mounting seat; 3. tightening the screw; 4. a first groove; 5. briquetting; 6. a spring; 7. a housing; 8. a heat sink; 9. a magnet; 10. a seal; 11. iron sheets; 12. a second groove; 13. a lens; 14. an end cap; 15. a protective lens; 16. an antistatic film; 17. a protective shell; 18. a conduit; 19. a gas ejector tube; 20. a porous separator; 21. a micro fan; 22. a partition plate; 23. a through hole; 24. a gas-collecting hood; 25. a heat conducting plate; 26. a heating cavity; 27. an electric heating wire; 28. an air inlet pipe; 29. an air outlet pipe; 30. provided is an insulation board.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example (b): as shown in figures 1-5, the invention provides a technical scheme, a vision sensor for a robot, which comprises a sensor main body 1, a mounting seat 2, a set screw 3, a first groove 4, a pressing block 5, a spring 6, a shell 7, a radiating fin 8, a magnet 9, a seal 10, an iron sheet 11, a second groove 12, a lens 13, an end cover 14, a protective lens 15, an antistatic film 16, a protective shell 17, a conduit 18, an air injection pipe 19, a porous partition plate 20, a micro fan 21, a partition plate 22, a through hole 23, a gas collecting hood 24, a heat conducting plate 25, a heating cavity 26, an electric heating wire 27, an air inlet pipe 28, an air outlet pipe 29 and a heat insulation plate 30, wherein the mounting seat 2 is arranged at the bottom of the sensor main body 1, the set screw 3 penetrates through the side surface of the mounting seat 2, the first groove 4 is arranged at one side of the mounting seat 2 far away from the set screw 3, the pressing block 5 is hinged at the top, a shell 7 is arranged above the mounting seat 2, radiating fins 8 penetrate through two sides of the shell 7, a magnet 9 is embedded between the radiating fins 8 and positioned on the side surface of the shell 7, a seal 10 is arranged on one side of each radiating fin 8, an iron sheet 11 is bonded on the side surface of the seal 10, second grooves 12 are uniformly formed in the side surface of the seal 10, a lens 13 is arranged on the front surface of the upper portion of the sensor main body 1, an end cover 14 is arranged at one end of the lens 13, a protective lens 15 is arranged between the end cover 14 and the lens 13, an antistatic film 16 is bonded on the side surface of the protective lens 15, a protective shell 17 is arranged below the lens 13, a guide pipe 18 is arranged inside the protective shell 17, one end of the guide pipe 18 is positioned on the lower portion of the end cover 14 and connected with an air injection pipe 19, a porous partition plate 20 is arranged, be provided with gas collecting channel 24 between through-hole 23 and fan 20, baffle 22 top is provided with heat-conducting plate 25, heat-conducting plate 25 is inside to have seted up heating chamber 26, heating chamber 26 is inside to be provided with heating wire 27, heat-conducting plate 25 bottom is connected with intake pipe 28, intake pipe 28 bottom links to each other with gas collecting channel 24 top, heat-conducting plate 25 top is connected with outlet duct 29, outlet duct 29 passes through the hose and links to each other with pipe 18, the inboard heated board 30 that bonds of shell 7, miniature fan 21 all links to each other with external power supply electrical.

In order to facilitate the rotation of the set screw 3, in the embodiment, preferably, one end of the set screw 3 is connected with a handle, and the side surface of the handle is uniformly provided with anti-skid grains.

In order to fix the sensor body 1 conveniently, in this embodiment, preferably, the cross section of the pressing block 5 and the cross section of the first groove 4 are both triangular, and a rubber pad is bonded to a side of the pressing block 5 away from the spring.

In order to facilitate the heat sink 8 to be embedded into the second groove 12, in this embodiment, preferably, the second groove 12 is formed on the side surface of the iron sheet 11, and the length and the width of the second groove 12 are respectively the same as the width and the thickness of the heat sink 8.

In order to improve the protection effect of the protection lens 15, in this embodiment, preferably, a protection lens groove is formed at one end of the lens 13 and the end close to the end cover 14, the width of the protection lens groove is the same as the thickness of the protection lens 15, and the protection lens 15 is a member made of tempered glass.

In order to facilitate blowing out of the hot air, in the present embodiment, it is preferable that a nozzle is attached to the tip of the gas nozzle 19, and the nozzle is connected to the gas nozzle 19 by a screw.

In order to facilitate the connection of the heat insulation board 30, in the embodiment, preferably, the heat insulation board 30 and the contact part of the shell 7 are uniformly provided with a glue groove, and glue is filled in the glue groove.

The working principle and the using process of the invention are as follows: the invention is a vision sensor for robot, insert the inferior part of the sensor body 1 into mount pad 2, the spring 6 contracts, the briquetting 5 squeezes the outer cover 7, rotate the holding screw 3 to fix the sensor body 1, easy to assemble, easy to dismantle, the heat that the sensor body 1 emits while working is transmitted to the air-cooling fin 8 through the heat-conducting plate 25 and dissipated, the radiating fin 8 imbeds in the second recess 12 in the low-temperature environment, the magnet 9 attracts the iron sheet 11, mount the seal 10, prevent the heat from dissipating, start the fan 21, let in the air, the cold air enters the heating cavity 26 through the gas-collecting hood 24, the cold air is heated by the electric-heating wire 27, the heat in the heating cavity 26 enters the sensor body 1 through the heat-conducting plate 25, raise the temperature in the sensor body 1, make the sensor can work normally at low temperature, the hot air blows to the surface of the protective lens 15 through, prevent to lead to condensing of vapor because of the inside and outside great difference in temperature of protective glass piece 15, get rid of the fog on protective glass piece 15 surface to obtain clear image.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a vision sensor for robot, including sensor main part (1), mount pad (2), holding screw (3), first recess (4), briquetting (5), spring (6), shell (7), fin (8), magnet (9), strip of paper used for sealing (10), iron sheet (11), second recess (12), camera lens (13), end cover (14), protection lens (15), antistatic film (16), protecting crust (17), pipe (18), jet-propelled pipe (19), porous partition plate (20), miniature fan (21), baffle (22), through-hole (23), gas collecting hood (24), heat-conducting plate (25), heating chamber (26), heating wire (27), intake pipe (28), outlet duct (29) and heated board (30), its characterized in that: the sensor is characterized in that a mounting seat (2) is arranged at the bottom of the sensor main body (1), a set screw (3) penetrates through the side face of the mounting seat (2), a first groove (4) is formed in one side, far away from the set screw (3), of the mounting seat (2), a pressing block (5) is hinged to the top end of the first groove (4), a spring (6) is installed on one side, close to the first groove (4), of the pressing block (5), a shell (7) is arranged above the mounting seat (2), cooling fins (8) penetrate through the two sides of the shell (7), a magnet (9) is embedded in the side face of the shell (7) between the cooling fins (8), a seal (10) is arranged on one side of the cooling fins (8), an iron sheet (11) is bonded on the side face of the seal (10), a second groove (12) is uniformly formed in the side face of the seal (10), and a lens (, end cover (14) are installed to camera lens (13) one end, be provided with between end cover (14) and camera lens (13) protective glass piece (15), protective glass piece (15) side bonding has antistatic film (16), camera lens (13) below is provided with protecting crust (17), the inside pipe (18) that is provided with of protecting crust (17), pipe (18) one end is located end cover (14) sub-unit connection and has jet-propelled pipe (19), shell (7) bottom is provided with porous baffle (20), porous baffle (20) top surface mid-mounting has micro fan (21), micro fan (21) top is provided with baffle (22), open at baffle (22) top surface middle part has through-hole (23), be provided with gas collecting hood (24) between through-hole (23) and the fan, baffle (22) top is provided with heat-conducting plate (25), heat-conducting plate (25) inside heating chamber (26) have been seted up, heating chamber (26) inside heating wire (27) that is provided with, heat-conducting plate (25) bottom is connected with intake pipe (28), intake pipe (28) bottom links to each other with gas collecting channel (24) top, heat-conducting plate (25) top is connected with outlet duct (29), outlet duct (29) link to each other with pipe (18) through the hose, shell (7) inboard bonding has heated board (30), miniature fan (21) all link to each other with external power source electrical property with heating wire (27).

2. The vision sensor for the robot as claimed in claim 1, wherein a handle is connected to one end of the set screw, and anti-slip patterns are uniformly formed on the side surface of the handle.

3. The vision sensor for the robot as claimed in claim 1, wherein the cross section of the pressing block (5) and the cross section of the first groove (4) are both triangular, and a rubber pad is bonded to the side of the pressing block (5) away from the spring.

4. The vision sensor for the robot as claimed in claim 1, wherein the second groove (12) is formed on both the side surface of the iron sheet (11) and the side surface of the seal (10), and the length and width of the second groove (12) are respectively the same as the width and thickness of the heat sink (8).

5. The vision sensor for the robot as claimed in claim 1, wherein a protective lens groove is formed at one end of the lens (13) close to the end cap (14), the width of the protective lens groove is the same as the thickness of the protective lens (15), and the protective lens (15) is a component made of tempered glass.

6. The vision sensor for the robot as claimed in claim 1, wherein a nozzle is installed at the top end of the gas injection pipe (19), and the nozzle is connected with the gas injection pipe (19) in a threaded manner.

7. The vision sensor for the robot as claimed in claim 1, wherein glue grooves are uniformly formed at the contact positions of the heat insulation plate (30) and the shell (7), and glue is filled in the glue grooves.