Stainless steel bioreactor leg deviation measuring device based on industrial vision

Abstract

The application discloses a stainless steel bioreactor leg deviation measuring device based on industrial vision, and belongs to the technical field of industrial vision measurement, and comprises a detection mechanism and a lower box body for conveying a bioreactor and optically measuring the position of a leg, wherein a jacking mechanism for jacking up the bioreactor and the leg to facilitate visual measurement and a rotating mechanism for driving the bioreactor and the leg to rotate to ensure no measurement dead angle are arranged in the lower box body; the reactor and the leg thereof are lifted and separated from a conveying line through the jacking mechanism, the shielding of the leg by a support such as a chain is effectively avoided, the reactor is stably rotated in a measuring station in combination with the rotating mechanism, the industrial camera can capture complete image information of all the legs from multiple angles without a dead angle, reading errors and contact deformation errors caused by manual use of tools such as a caliper and a tape measure are overcome, the measurement result is objective and accurate, and meanwhile, the detection efficiency of batch products is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial vision inspection technology, and in particular to a stainless steel bioreactor support deviation measurement device based on industrial vision. Background Technology

[0002] In modern industrial fields such as biopharmaceuticals and food fermentation, stainless steel bioreactors are one of the key core equipment. Their structural stability is directly related to production safety, operating efficiency, and product quality. Bioreactors are usually supported and fixed by multiple, typically three or four, legs. These legs have strict requirements for coaxiality and uniformity of their theoretical installation position relative to the center of the reactor body. If there are manufacturing or installation deviations in the legs, it will lead to uneven stress on the reactor during operation, which may cause serious safety hazards such as equipment vibration, stress concentration, fatigue of connecting parts, or even overturning. Therefore, accurately measuring the positional deviation of the bioreactor legs before leaving the factory or after installation is a crucial step in ensuring equipment quality and safety.

[0003] Traditional methods for measuring outrigger position deviation mainly rely on manual operation. The common practice is for operators to use simple tools such as tape measures, rulers, and calipers, using the center of the reactor's bottom or top surface as a reference, to measure the radial distance from each outrigger to that center point. The deviation is then judged by comparing the measured values. This method has several inherent drawbacks: First, measurement accuracy is limited by the operator's experience and visual judgment, resulting in large human errors and poor repeatability. Second, measurement efficiency is low, especially in mass production scenarios, making it difficult to meet the needs of rapid testing. Third, reactors are typically large in size and weight, making the manual turning, alignment, and reading processes labor-intensive and posing safety risks. Finally, the measurement process makes it difficult to create standardized and traceable data records.

[0004] In recent years, with the development of industrial automation and machine vision technology, some vision-based non-contact measurement solutions have begun to be explored for industrial dimensional inspection. These technologies theoretically have advantages such as high accuracy, high speed, and non-contact operation. However, for the specific scenario of bioreactor leg deviation, existing technical solutions are still imperfect. Directly applying general vision systems to this scenario faces the following challenges: the legs are located at the bottom of the reactor, and in the normal placement state, they are obstructed by the reactor body and its own structure, resulting in blind spots in visual measurement, making it difficult to obtain complete spatial position information of the legs in one go; existing solutions mostly focus on static measurement and lack efficient integration with automatic material conveying and automatic posture adjustment processes such as lifting and rotation, resulting in limited automation and failing to truly achieve a closed-loop automation process from loading to measurement to unloading. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention discloses a dedicated measuring device that can overcome the above-mentioned defects. Ideally, the device should be able to achieve automatic transport and precise positioning of the bioreactor, eliminate measurement blind spots through automated mechanism actions, and ultimately utilize a high-precision industrial vision system to quickly, accurately, and automatically complete the measurement and evaluation of the support leg position deviation. The technical solution adopted by this invention is as follows: a stainless steel bioreactor support leg deviation measuring device based on industrial vision, comprising a detection mechanism for transporting the bioreactor and optically measuring the position of the support legs, and a lower housing. An upper housing is fixedly installed on the lower housing. The lower housing is provided with a lifting mechanism for lifting the bioreactor and support legs to facilitate visual measurement, and a rotation mechanism for driving the bioreactor and support legs to rotate to ensure no measurement blind spots. The testing mechanism includes an inner placement box fixedly installed inside the lower housing. The inner placement box contains a measuring module. The measuring module includes a fixed plate with a central pin and three outer pins rotatably mounted on it via threads. The fixed plate is provided with three measuring plates, each with a long groove. The central pin is located in one of the long grooves of the three measuring plates, and each outer pin is located in one of the long grooves of a measuring plate. The measuring plates are provided with scale lines.

[0006] Furthermore, the detection mechanism also includes multiple sprocket frames fixedly installed on the lower housing. Each sprocket frame has three sprockets rotatably mounted on a shaft. Chains are wound around the sprockets. A conveyor motor is fixedly installed on the lower housing, and the motor shaft of the conveyor motor is fixedly installed with the shaft on the nearest sprocket frame.

[0007] Furthermore, the detection mechanism also includes four industrial cameras installed in the lower housing. The industrial cameras are located above the chains. During use, the bioreactor is placed on three chains, with the bottom surface of the bioreactor in contact with the upper surface of the chains.

[0008] The conveyor motor drives three sprockets on the sprocket frame near the conveyor motor to rotate, thereby driving three chains to rotate synchronously. The bioreactor is placed on the chain, at which point the support leg is located between two chains or between the chain and the lower housing. The bioreactor and the support leg are transported to the top of the lifting mechanism via the chain.

[0009] When manual measurement is required in special circumstances, the inner box can be opened and the measuring module removed from the inner box. First, the bioreactor should be placed upside down so that the legs are facing upwards. Then, the middle pin and the three outer pins should be loosened manually. At this time, the measuring plate can be slid along the middle pin and the outer pins. The extension of the measuring plate can be adjusted to align the middle pin with the center of the bioreactor. Then, the distance of the three legs relative to the center of the bioreactor can be read through the scale lines on the measuring plate.

[0010] Furthermore, the lifting mechanism includes an elliptical turntable rotatably mounted inside the lower housing, the elliptical turntable having an elliptical groove, two sets of side guide columns fixedly mounted inside the lower housing, movable columns slidably mounted on the side guide columns, a lower guide column fixedly mounted below the movable columns, the lower guide column sliding within the elliptical groove of the elliptical turntable, a lifting rod rotatably mounted on the movable column, and a lifting plate rotatably mounted on the lifting rod.

[0011] Furthermore, the lifting mechanism also includes a lifting motor fixedly installed on the lower housing. A rotating column is fixedly installed on the motor shaft of the lifting motor, and a lower transmission wheel is fixedly installed on the rotating column. A central cross column is rotatably installed inside the lower housing, and a bottom gear is fixedly installed on the central cross column. An elliptical turntable is fixedly installed with the central cross column, and the lower transmission wheel drives the bottom gear to rotate through a lower transmission belt.

[0012] Furthermore, the lifting mechanism also includes a rotating gear rotatably mounted on the lifting plate. The rotating gear is provided with a cross-shaped groove and is slidably mounted with the central cross post through the cross-shaped groove. Three fixed upright plates are fixedly mounted on the lifting plate, and a lifting sleeve is slidably mounted on the fixed upright plates. A top ball is rotatably mounted on the top of the lifting sleeve, and a bidirectional internal thread is provided on the inner side of the lifting sleeve. Three inner rotating columns are rotatably mounted on the lifting plate. The inner rotating columns are located inside the lifting sleeve, and an inner convex ball is fixedly mounted on the inner rotating column. A bottom rotating gear is fixedly mounted below the inner rotating column. The bottom rotating gear meshes with the rotating gear, and the inner convex ball slides in the bidirectional internal thread of the lifting sleeve.

[0013] After the chain transports the bioreactor above the lifting plate, the lifting motor drives the rotating column and the lower drive wheel to rotate. The lower drive wheel drives the bottom gear, the central cross column, and the elliptical turntable to rotate via the lower drive belt. The central cross column drives the rotating gear to rotate. In the initial state, the lower guide column is located at the major axis of the elliptical groove of the elliptical turntable. When the elliptical turntable rotates, it drives the lower guide column to slide inward through the elliptical groove on the elliptical turntable, thereby driving the movable column to slide inward along the side guide column. This, in turn, drives the lifting plate to rise through the lifting rod. The rotating gear rises along the central cross column. At this time, the lifting plate rises together with the three lifting sleeves.

[0014] Simultaneously, the rotating gear drives the bottom rotating gear and the inner rotating column to rotate. Through the sliding of the inner convex ball in the bidirectional internal thread of the lifting sleeve, the lifting sleeve rises along the fixed vertical plate, thereby causing the top ball bearings to rise. The three top ball bearings then lift the bioreactor placed on the chain. Because the lifting plate rises along with the lifting sleeve, and the lifting sleeve rises relative to the lifting plate, the lifting amplitude of the lifting sleeve increases, resulting in a faster lifting speed and a higher lifting height for the bioreactor. This causes the lower surface of the support leg to exceed the upper surface of the chain. When the inner convex ball reaches the bottom of the internal thread of the lifting sleeve, the lifting sleeve and top ball bearings reach their highest point. At this point, the lower guide column reaches the minor axis of the elliptical groove of the elliptical turntable. The lifting motor stops rotating for a period of time, and four industrial cameras precisely measure the positions of the three sprockets. After the measurement is completed, the lifting motor continues to rotate, and the lower guide column moves from the minor axis to the major axis of the elliptical groove of the elliptical turntable. Since the lifting sleeve has a bidirectional external thread, the inner convex ball enters the reverse thread of the inner convex ball. At this time, the lifting sleeve begins to descend. When the lower guide column moves to the major axis of the elliptical groove of the elliptical turntable, the lifting sleeve just lands on the lifting plate. Both the lifting plate and the lifting sleeve return to their initial positions, and then the chain carries away the bioreactor after the measurement is completed.

[0015] Furthermore, the rotating mechanism includes a rotating gear ring rotatably mounted inside the inner placement box, an upper motor fixedly mounted inside the inner placement box, a motor gear fixedly mounted on the motor shaft of the upper motor, the motor gear meshing with the rotating gear ring, and multiple push pins fixedly mounted on the rotating gear ring.

[0016] Furthermore, the rotating mechanism also includes multiple inner sliders slidably installed inside the inner placement box, a tension spring is provided between the inner sliders and the inner placement box, a top wheel frame is fixedly installed below the inner sliders, an inner top wheel is rotatably installed on the top wheel frame, and an arc surface is provided at the rear end of the top wheel frame.

[0017] Furthermore, the rotating mechanism also includes a top motor fixedly installed on the inner placement box. A main drive wheel is fixedly installed on the motor shaft of the top motor. A central rotating wheel is rotatably installed on the inner placement box. The main drive wheel drives the central rotating wheel to rotate through a top drive belt. Multiple lifting columns are fixedly installed on the central rotating wheel. A top plate is slidably installed on the lifting columns. A spring is provided between the top plate and the central rotating wheel. A central column is fixedly installed below the top plate. A pressing plate is fixedly installed below the central column. Multiple friction plates are provided below the pressing plate.

[0018] Once the bioreactor rises to contact the friction plate, its continued ascent pushes the friction plate, extrusion plate, central column, and top plate upwards, stretching the springs until the bioreactor reaches its highest point. At this point, the springs ensure close contact between the friction plate and the top of the bioreactor. The upper motor drives the motor gear to rotate, which in turn drives the rotating gear ring. When the push column contacts the arc surface at the rear end of the top wheel frame, the push column pushes the inner slider, top wheel frame, and inner top wheel inwards, stretching the springs and causing the inner top wheel to fit against the side of the bioreactor. This keeps the bioreactor concentric with the rotating gear ring, after which the upper motor stops rotating.

[0019] Subsequently, the top motor drives the main drive wheel to rotate, and the main drive wheel drives the central rotating wheel, lifting column, top plate, central column and extrusion plate to rotate through the top drive belt. The friction plate drives the bioreactor to rotate, and the rotation of the inner top wheel guides the bioreactor. The rotation of the bioreactor facilitates the measurement of the position of the support legs by the industrial camera.

[0020] After the measurement is completed, the top motor stops rotating, and the upper motor rotates, causing the push column to separate from the arc surface at the rear end of the top wheel frame. Then the tension spring rebounds, causing the top wheel frame and the inner top wheel to move outward, and the inner top wheel no longer contacts the bioreactor.

[0021] The beneficial effects of this invention compared with the prior art are: (1) This invention lifts the reactor and its legs and removes them from the conveyor line through a lifting mechanism, effectively avoiding the obstruction of the legs by supports such as chains. Combined with the rotating mechanism driving the reactor to rotate smoothly at the measurement station, it ensures that the industrial camera can capture complete image information of all legs from multiple angles without dead angles. This optical measurement method based on industrial vision overcomes the reading error and contact deformation error caused by manual use of tools such as calipers and tape measures. The measurement results are objective, accurate, and have good repeatability, while improving the detection efficiency of batch products; (2) The lifting mechanism set in this invention combines the overall lifting of the lifting plate driven by the elliptical turntable and the secondary lifting of the lifting sleeve driven by the threaded pair. It not only amplifies the lifting stroke and realizes rapid and high-level lifting, but also through The precise mechanical coordination ensures the stability of the lifting process. At the same time, the self-adjusting top wheel assembly driven by the motor gear of the rotating mechanism can automatically retract inward before measurement, ensuring that the reactor is highly coaxial with the rotation center when rotating. This effectively suppresses radial sway caused by placement deviation or self-weight, providing a stable and reliable rotating platform for high-precision visual measurement and ensuring the clarity of image acquisition and the consistency of data. (3) The present invention has a portable mechanical measurement module that can be taken out and used. When the automatic system is maintained, special specification products are verified, or manual verification is required, the operator can easily take out the module and quickly complete the manual measurement through simple sliding adjustment and scale reading. This enhances the adaptability and practicality of the equipment to various working conditions and ensures the continuity of production or testing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the detection mechanism of the present invention.

[0024] Figure 3 This is a schematic diagram of the measurement module structure of the present invention.

[0025] Figure 4 This is a schematic diagram of the lifting mechanism structure of the present invention. Figure 1 .

[0026] Figure 5 This is a schematic diagram of the lifting mechanism structure of the present invention. Figure 2 .

[0027] Figure 6 This is a schematic diagram of the lifting mechanism structure of the present invention. Figure 3 .

[0028] Figure 7 This is a schematic diagram of the lifting mechanism structure of the present invention. Figure 4 .

[0029] Figure 8 This is a schematic diagram of the lifting mechanism structure of the present invention. Figure 5 .

[0030] Figure 9 This is a schematic diagram of the rotating mechanism structure of the present invention. Figure 1 .

[0031] Figure 10 for Figure 9 A magnified view of a portion of point A in the middle.

[0032] Figure 11 This is a schematic diagram of the rotating mechanism structure of the present invention. Figure 2 .

[0033] Reference numerals: 101-Lower housing; 102-Inner box; 103-Upper housing; 104-Sprocket frame; 105-Sprocket; 106-Chain; 107-Conveyor motor; 108-Industrial camera; 109-Fixed plate; 110-Intermediate pin; 111-Measuring plate; 112-Outer pin; 201-Lifting motor; 202-Side guide post; 203-Oval turntable; 204-Rotating column; 205-Lower transmission wheel; 206-Lower transmission belt; 207-Lifting plate; 208-Moving column; 209-Lifting rod; 210-Lower guide post; 211-Central cross post; 212-Rotating gear; 213-Bottom gear; 214-Fixed upright plate; 215-Lifting sleeve; 216-Top ball bearing; 217-Inner rotating column; 218-Inner convex ball; 219-Bottom rotating gear; 301-Rotating gear ring; 302-Upper motor; 303-Motor gear; 304-Push column; 305-Inner slider; 306-Tension spring; 307-Top wheel frame; 308-Inner top wheel; 309-Top motor; 310-Main drive wheel; 311-Top drive belt; 312-Central rotating wheel; 313-Top plate; 314-Lifting column; 315-Close-fitting spring; 316-Extrusion plate; 317-Friction plate; 318-Central column; 4-Bioreactor; 5-Support leg. Detailed Implementation

[0034] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0035] Example: Reference Figures 1-11 A stainless steel bioreactor support leg deviation measurement device based on industrial vision includes a detection mechanism for transporting the bioreactor 4 and optically measuring the position of the support leg 5 and a lower housing 101. An upper housing 103 is fixedly installed on the lower housing 101. The lower housing 101 is provided with a lifting mechanism for lifting the bioreactor 4 and the support leg 5 to facilitate visual measurement and a rotation mechanism for driving the bioreactor 4 and the support leg 5 to rotate to ensure no measurement blind spots. The testing mechanism includes an inner placement box 102 fixedly installed inside the lower housing 101. The inner placement box 102 contains a measuring module. The measuring module includes a fixed plate 109. A central pin 110 and three outer pins 112 are rotatably mounted on the fixed plate 109 via threads. Three measuring plates 111 are provided on the fixed plate 109. The measuring plates 111 are provided with long grooves. The central pin 110 is located in the long groove of the three measuring plates 111. Each outer pin 112 is located in the long groove of one measuring plate 111. The measuring plates 111 are provided with scale lines.

[0036] like Figure 2 , Figure 3As shown, the testing mechanism also includes multiple sprocket frames 104 fixedly installed on the lower housing 101. Each sprocket frame 104 has three sprockets 105 rotatably mounted on a shaft. A chain 106 is wound around the sprocket 105. A conveyor motor 107 is fixedly installed on the lower housing 101. The motor shaft of the conveyor motor 107 is fixedly installed with the shaft on the nearest sprocket frame 104.

[0037] like Figure 2 , Figure 3 As shown, the detection mechanism also includes four industrial cameras 108 installed in the lower housing 101. The industrial cameras 108 are located above the chains 106. When in use, the bioreactor 4 is placed on the three chains 106, and the bottom surface of the bioreactor 4 is in contact with the upper surface of the chains 106.

[0038] The conveyor motor 107 drives the three sprockets 105 on the sprocket frame 104 near the conveyor motor 107 to rotate, thereby driving the three chains 106 to rotate synchronously, placing the bioreactor 4 on the chains 106. At this time, the support leg 5 is located between two chains 106 or between the chains 106 and the lower box 101. The bioreactor 4 and the support leg 5 are conveyed to the top of the lifting mechanism through the chains 106.

[0039] When manual measurement is required in special circumstances, the inner placement box 102 can be opened and the measuring module can be taken out from the inner placement box 102. First, the bioreactor 4 is placed upside down so that the support legs 5 are facing upwards. Then, the middle pin 110 and the three outer pins 112 are loosened manually. At this time, the measuring plate 111 can be slid along the middle pin 110 and the outer pins 112. The extension of the measuring plate 111 can be adjusted to align the middle pin 110 with the center of the bioreactor 4. Then, the distance of the three support legs 5 relative to the center position of the bioreactor 4 can be read through the scale line on the measuring plate 111.

[0040] like Figures 4-8 As shown, the lifting mechanism includes an elliptical turntable 203 rotatably installed inside the lower housing 101. The elliptical turntable 203 is provided with an elliptical groove. Two sets of side guide columns 202 are fixedly installed inside the lower housing 101. Movable columns 208 are slidably installed on the side guide columns 202. A lower guide column 210 is fixedly installed below the movable column 208. The lower guide column 210 slides in the elliptical groove of the elliptical turntable 203. A lifting rod 209 is rotatably installed on the movable column 208. A lifting plate 207 is rotatably installed on the lifting rod 209.

[0041] like Figures 4-8As shown, the lifting mechanism also includes a lifting motor 201 fixedly installed on the lower housing 101. A rotating column 204 is fixedly installed on the motor shaft of the lifting motor 201. A lower transmission wheel 205 is fixedly installed on the rotating column 204. A central cross column 211 is rotatably installed inside the lower housing 101. A bottom gear 213 is fixedly installed on the central cross column 211. An elliptical turntable 203 is fixedly installed with the central cross column 211. The lower transmission wheel 205 drives the bottom gear 213 to rotate through the lower transmission belt 206.

[0042] like Figures 4-8 As shown, the lifting mechanism also includes a rotating gear 212 rotatably mounted on the lifting plate 207. The rotating gear 212 is provided with a cross-shaped groove. The rotating gear 212 is slidably mounted with the central cross post 211 through the cross-shaped groove. Three fixed upright plates 214 are fixedly mounted on the lifting plate 207. A lifting sleeve 215 is slidably mounted on the fixed upright plate 214. A top ball bearing 216 is rotatably mounted on the top of the lifting sleeve 215. A bidirectional internal thread is provided on the inner side of the lifting sleeve 215. Three inner rotating columns 217 are rotatably mounted on the lifting plate 207. The inner rotating columns 217 are located inside the lifting sleeve 215. An inner convex ball 218 is fixedly mounted on the inner rotating column 217. A bottom rotating gear 219 is fixedly mounted below the inner rotating column 217. The bottom rotating gear 219 meshes with the rotating gear 212. The inner convex ball 218 slides in the bidirectional internal thread of the lifting sleeve 215.

[0043] When the chain 106 transports the bioreactor 4 above the lifting plate 207, the lifting motor 201 drives the rotating column 204 and the lower transmission wheel 205 to rotate. The lower transmission wheel 205 drives the bottom gear 213, the central cross column 211 and the elliptical turntable 203 to rotate through the lower transmission belt 206. The central cross column 211 drives the rotating gear 212 to rotate. In the initial state, the lower guide column 210 is located at the major axis of the elliptical groove of the elliptical turntable 203. When the elliptical turntable 203 rotates, it drives the lower guide column 210 to slide inward through the elliptical groove on the elliptical turntable 203, thereby driving the movable column 208 to slide inward along the side guide column 202. This drives the lifting plate 207 to rise through the lifting rod 209. The rotating gear 212 rises along the central cross column 211. At this time, the lifting plate 207 rises together with the three lifting sleeves 215.

[0044] Simultaneously, the rotating gear 212 drives the bottom rotating gear 219 and the inner rotating column 217 to rotate. Through the sliding of the inner convex ball 218 in the bidirectional internal thread of the lifting sleeve 215, the lifting sleeve 215 rises along the fixed vertical plate 214, thereby causing the top ball bearings 216 to rise. The three top ball bearings 216 lift the bioreactor 4 placed on the chain 106. Since the lifting plate 207 rises, it also lifts the lifting sleeve 215 simultaneously. Combined with the rise of the lifting sleeve 215 relative to the lifting plate 207, the rise of the lifting sleeve 215 becomes larger, increasing the speed and height at which the bioreactor 4 is lifted. This causes the lower surface of the support leg 5 to exceed the upper surface of the chain 106. When the inner convex ball 218 reaches the bottom of the internal thread of the lifting sleeve 215, the lifting sleeve 215 and the top ball bearings 216 reach... At the highest point, the lower guide column 210 reaches the minor axis of the elliptical groove of the elliptical turntable 203. At this time, the lifting motor 201 stops rotating for a period of time. During this time, the positions of the three sprockets 105 are precisely measured by four industrial cameras 108. After the measurement is completed, the lifting motor 201 continues to rotate. At this time, the lower guide column 210 moves from the minor axis to the major axis of the elliptical groove of the elliptical turntable 203. Since the lifting sleeve 215 has a bidirectional external thread, the inner convex ball 218 enters the reverse thread of the inner convex ball 218. At this time, the lifting sleeve 215 begins to descend. When the lower guide column 210 moves to the major axis of the elliptical groove of the elliptical turntable 203, the lifting sleeve 215 just falls onto the lifting plate 207. The lifting plate 207 and the lifting sleeve 215 both return to their initial positions. Then, the chain 106 sends away the bioreactor 4 after the measurement is completed.

[0045] like Figures 9-11 As shown, the rotating mechanism includes a rotating gear ring 301 rotatably installed inside the inner placement box 102. An upper motor 302 is fixedly installed inside the inner placement box 102. A motor gear 303 is fixedly installed on the motor shaft of the upper motor 302. The motor gear 303 meshes with the rotating gear ring 301. Multiple push pins 304 are fixedly installed on the rotating gear ring 301.

[0046] like Figures 9-11 As shown, the rotating mechanism also includes a plurality of inner sliders 305 that are slidably installed in the inner placement box 102. A tension spring 306 is provided between the inner sliders 305 and the inner placement box 102. A top wheel frame 307 is fixedly installed below the inner sliders 305. An inner top wheel 308 is rotatably installed on the top wheel frame 307. An arc surface is provided at the rear end of the top wheel frame 307.

[0047] like Figures 9-11As shown, the rotating mechanism also includes a top motor 309 fixedly installed on the inner placement box 102. A main drive wheel 310 is fixedly installed on the motor shaft of the top motor 309. A central rotating wheel 312 is rotatably installed on the inner placement box 102. The main drive wheel 310 drives the central rotating wheel 312 to rotate through the top drive belt 311. Multiple lifting columns 314 are fixedly installed on the central rotating wheel 312. A top plate 313 is slidably installed on the lifting columns 314. A pressing spring 315 is provided between the top plate 313 and the central rotating wheel 312. A central column 318 is fixedly installed below the top plate 313. A pressing plate 316 is fixedly installed below the central column 318. Multiple friction plates 317 are provided below the pressing plate 316.

[0048] When the bioreactor 4 rises to contact the friction plate 317, its continued rise will push the friction plate 317, the extrusion plate 316, the central column 318, and the top plate 313 to rise, stretching the spring 315 until the bioreactor 4 reaches its highest point. At this point, the spring 315 keeps the friction plate 317 in close contact with the top of the bioreactor 4. The upper motor 302 drives the motor gear 303 to rotate, which in turn drives the rotating gear ring 301 to rotate. When the push column 304 contacts the arc surface at the rear end of the top wheel frame 307, the push column 304 pushes the inner slider 305, the top wheel frame 307, and the inner top wheel 308 to move inward. The tension spring 306 is stretched, causing the inner top wheel 308 to fit against the side of the bioreactor 4, making the bioreactor 4 and the rotating gear ring 301 concentric. Then the upper motor 302 stops rotating.

[0049] Subsequently, the top motor 309 drives the main drive wheel 310 to rotate. The main drive wheel 310 drives the central rotating wheel 312, lifting column 314, top plate 313, central column 318 and extrusion plate 316 to rotate through the top drive belt 311. The friction plate 317 drives the bioreactor 4 to rotate. The rotation of the inner top wheel 308 guides the bioreactor 4. The rotation of the bioreactor 4 facilitates the industrial camera 108 to measure the position of the support leg 5.

[0050] After the measurement is completed, the top motor 309 stops rotating, and the upper motor 302 rotates, causing the push column 304 to separate from the rear arc surface of the top wheel frame 307. Then the tension spring 306 rebounds, causing the top wheel frame 307 and the inner top wheel 308 to move outward, and the inner top wheel 308 no longer contacts the bioreactor 4.

[0051] The working principle of the stainless steel bioreactor support leg deviation measurement device based on industrial vision disclosed in this invention is as follows: the conveyor motor 107 drives the three sprockets 105 on the sprocket frame 104 close to the conveyor motor 107 to rotate, thereby driving the three chains 106 to rotate synchronously. The bioreactor 4 is placed on the chain 106. At this time, the support leg 5 is located between two chains 106 or between the chain 106 and the lower box 101. The bioreactor 4 and the support leg 5 are conveyed to the top of the lifting mechanism through the chain 106.

[0052] When the chain 106 transports the bioreactor 4 above the lifting plate 207, the lifting motor 201 drives the rotating column 204 and the lower transmission wheel 205 to rotate. The lower transmission wheel 205 drives the bottom gear 213, the central cross column 211 and the elliptical turntable 203 to rotate through the lower transmission belt 206. The central cross column 211 drives the rotating gear 212 to rotate. In the initial state, the lower guide column 210 is located at the major axis of the elliptical groove of the elliptical turntable 203. When the elliptical turntable 203 rotates, it drives the lower guide column 210 to slide inward through the elliptical groove on the elliptical turntable 203, thereby driving the movable column 208 to slide inward along the side guide column 202. This drives the lifting plate 207 to rise through the lifting rod 209. The rotating gear 212 rises along the central cross column 211. At this time, the lifting plate 207 rises together with the three lifting sleeves 215.

[0053] Simultaneously, the rotating gear 212 drives the bottom rotating gear 219 and the inner rotating column 217 to rotate. Through the sliding of the inner convex ball 218 in the bidirectional internal thread of the lifting sleeve 215, the lifting sleeve 215 is driven to rise along the fixed vertical plate 214, thereby driving the top ball 216 to rise. The three top balls 216 lift the bioreactor 4 placed on the chain 106. Since the lifting plate 207 will lift the lifting sleeve 215 at the same time when it rises, the lifting sleeve 215 rises relative to the lifting plate 207, which makes the lifting amplitude of the lifting sleeve 215 larger, and the speed of lifting the bioreactor 4 is faster and the height is higher, so that the lower surface of the support leg 5 exceeds the upper surface of the chain 106. When the inner convex ball 218 moves to the bottom of the internal thread of the lifting sleeve 215, the lifting sleeve 215 and the top ball 216 reach the highest point. At the same time, the lower guide column 210 reaches the short axis of the elliptical groove of the elliptical turntable 203. At this time, the lifting motor 201 stops rotating for a period of time.

[0054] When the bioreactor 4 rises to contact the friction plate 317, its continued rise will push the friction plate 317, the extrusion plate 316, the central column 318, and the top plate 313 to rise, stretching the spring 315 until the bioreactor 4 reaches its highest point. At this point, the spring 315 keeps the friction plate 317 in close contact with the top of the bioreactor 4. The upper motor 302 drives the motor gear 303 to rotate, which in turn drives the rotating gear ring 301 to rotate. When the push column 304 contacts the arc surface at the rear end of the top wheel frame 307, the push column 304 pushes the inner slider 305, the top wheel frame 307, and the inner top wheel 308 to move inward. The tension spring 306 is stretched, causing the inner top wheel 308 to fit against the side of the bioreactor 4, making the bioreactor 4 and the rotating gear ring 301 concentric. Then the upper motor 302 stops rotating.

[0055] Subsequently, the top motor 309 drives the main drive wheel 310 to rotate. The main drive wheel 310 drives the central rotating wheel 312, lifting column 314, top plate 313, central column 318 and extrusion plate 316 to rotate through the top drive belt 311. The friction plate 317 drives the bioreactor 4 to rotate. The rotation of the inner top wheel 308 guides the bioreactor 4. The rotation of the bioreactor 4 facilitates the industrial camera 108 to measure the position of the support leg 5. At this time, the four industrial cameras 108 accurately measure the position of the three sprockets 105.

[0056] After the measurement is completed, the top motor 309 stops rotating, and the upper motor 302 rotates, causing the push column 304 to disengage from the rear arc surface of the top wheel frame 307. Then, the tension spring 306 rebounds, causing the top wheel frame 307 and the inner top wheel 308 to move outward, and the inner top wheel 308 no longer contacts the bioreactor 4. The lifting motor 201 continues to rotate. At this time, the lower guide column 210 moves from the minor axis to the major axis along the elliptical groove of the elliptical turntable 203. Since the lifting sleeve 215 has a bidirectional external thread, the inner convex ball 218 enters the reverse thread of the inner convex ball 218. At this time, the lifting sleeve 215 begins to descend. When the lower guide column 210 moves to the major axis of the elliptical groove of the elliptical turntable 203, the lifting sleeve 215 just falls onto the lifting plate 207. The lifting plate 207 and the lifting sleeve 215 both return to their initial positions. Then, the chain 106 sends the bioreactor 4, which has completed the measurement, away.

[0057] When manual measurement is required in special circumstances, the inner placement box 102 can be opened and the measuring module can be taken out from the inner placement box 102. First, the bioreactor 4 is placed upside down so that the support legs 5 are facing upwards. Then, the middle pin 110 and the three outer pins 112 are loosened manually. At this time, the measuring plate 111 can be slid along the middle pin 110 and the outer pins 112. The extension of the measuring plate 111 can be adjusted to align the middle pin 110 with the center of the bioreactor 4. Then, the distance of the three support legs 5 relative to the center position of the bioreactor 4 can be read through the scale line on the measuring plate 111.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the present invention based on the technical solution and inventive concept of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A stainless steel bioreactor support leg deviation measurement device based on industrial vision, comprising a detection mechanism for conveying the bioreactor (4) and optically measuring the position of the support legs (5) and a lower housing (101), wherein an upper housing (103) is fixedly installed on the lower housing (101), characterized in that: The lower housing (101) is provided with a lifting mechanism for lifting the bioreactor (4) and the support leg (5) to facilitate visual measurement, and a rotation mechanism for rotating the bioreactor (4) and the support leg (5) to ensure that there are no blind spots in the measurement. The detection mechanism includes an inner placement box (102) fixedly installed inside the lower housing (101). The inner placement box (102) contains a measurement module. The measurement module includes a fixed plate (109). A central pin (110) and three outer pins (112) are rotatably mounted on the fixed plate (109) by a thread. Three measuring plates (111) are provided on the fixed plate (109). The measuring plates (111) are provided with long grooves. The central pin (110) is located in the long groove of the three measuring plates (111). Each outer pin (112) is located in the long groove of a measuring plate (111). The measuring plates (111) are provided with scale lines. The detection mechanism also includes multiple sprocket frames (104) fixedly installed on the lower housing (101). Each sprocket frame (104) has three sprockets (105) rotatably mounted on a shaft. A chain (106) is wound around the sprockets (105). A conveyor motor (107) is fixedly installed on the lower housing (101). The motor shaft of the conveyor motor (107) is fixedly installed with the shaft on the nearest sprocket frame (104). The detection mechanism also includes four industrial cameras (108) set in the lower housing (101). The industrial cameras (108) are located above the chains (106). When in use, the bioreactor (4) is placed on the three chains (106), and the bottom surface of the bioreactor (4) is in contact with the upper surface of the chains (106).

2. The stainless steel bioreactor support leg deviation measurement device based on industrial vision according to claim 1, characterized in that: The lifting mechanism includes an elliptical turntable (203) rotatably installed in the lower housing (101). The elliptical turntable (203) is provided with an elliptical groove. Two sets of side guide columns (202) are fixedly installed in the lower housing (101). A movable column (208) is slidably installed on the side guide column (202). A lower guide column (210) is fixedly installed below the movable column (208). The lower guide column (210) slides in the elliptical groove of the elliptical turntable (203). A lifting rod (209) is rotatably installed on the movable column (208). A lifting plate (207) is rotatably installed on the lifting rod (209).

3. The stainless steel bioreactor support leg deviation measurement device based on industrial vision according to claim 2, characterized in that: The lifting mechanism also includes a lifting motor (201) fixedly installed on the lower housing (101). A rotating column (204) is fixedly installed on the motor shaft of the lifting motor (201). A lower transmission wheel (205) is fixedly installed on the rotating column (204). A central cross column (211) is rotatably installed inside the lower housing (101). A bottom gear (213) is fixedly installed on the central cross column (211). An elliptical turntable (203) is fixedly installed with the central cross column (211). The lower transmission wheel (205) drives the bottom gear (213) to rotate through the lower transmission belt (206).

4. The stainless steel bioreactor support leg deviation measurement device based on industrial vision according to claim 3, characterized in that: The lifting mechanism also includes a rotating gear (212) rotatably mounted on the lifting plate (207). The rotating gear (212) is provided with a cross-shaped groove. The rotating gear (212) is slidably mounted with the central cross column (211) through the cross-shaped groove. Three fixed upright plates (214) are fixedly mounted on the lifting plate (207). A lifting sleeve (215) is slidably mounted on the fixed upright plate (214). A top ball bearing (216) is rotatably mounted on the top of the lifting sleeve (215). The sleeve (215) has a bidirectional internal thread on its inner side. Three inner rotating columns (217) are rotatably installed on the lifting plate (207). The inner rotating columns (217) are located inside the lifting sleeve (215). An inner convex ball (218) is fixedly installed on the inner rotating column (217). A bottom rotating gear (219) is fixedly installed below the inner rotating column (217). The bottom rotating gear (219) meshes with the rotating gear (212). The inner convex ball (218) slides in the bidirectional internal thread of the lifting sleeve (215).

5. The stainless steel bioreactor leg deviation measurement device based on industrial vision according to claim 1, characterized in that: The rotating mechanism includes a rotating gear ring (301) rotatably installed in the inner placement box (102), an upper motor (302) is fixedly installed in the inner placement box (102), a motor gear (303) is fixedly installed on the motor shaft of the upper motor (302), the motor gear (303) meshes with the rotating gear ring (301), and a plurality of push pins (304) are fixedly installed on the rotating gear ring (301).

6. The stainless steel bioreactor leg deviation measurement device based on industrial vision according to claim 5, characterized in that: The rotating mechanism also includes multiple inner sliders (305) slidably installed in the inner placement box (102). A tension spring (306) is provided between the inner slider (305) and the inner placement box (102). A top wheel frame (307) is fixedly installed below the inner slider (305). An inner top wheel (308) is rotatably installed on the top wheel frame (307). An arc surface is provided at the rear end of the top wheel frame (307).

7. The stainless steel bioreactor leg deviation measurement device based on industrial vision according to claim 6, characterized in that: The rotating mechanism also includes a top motor (309) fixedly installed on the inner placement box (102). A main drive wheel (310) is fixedly installed on the motor shaft of the top motor (309). A central rotating wheel (312) is rotatably installed on the inner placement box (102). The main drive wheel (310) drives the central rotating wheel (312) to rotate through the top drive belt (311). Multiple lifting columns (314) are fixedly installed on the central rotating wheel (312). A top plate (313) is slidably installed on the lifting column (314). A pressing spring (315) is provided between the top plate (313) and the central rotating wheel (312). A central column (318) is fixedly installed below the top plate (313). A pressing plate (316) is fixedly installed below the central column (318). Multiple friction plates (317) are provided below the pressing plate (316).

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