A detection device and method for obtaining a distribution image of residues on the side wall of a sample preparation mortar

Abstract

This invention relates to a detection device and method for acquiring images of the distribution of residues on the sidewall of a grinding bowl. The detection device includes a height adjustment mechanism, a rotary indexing mechanism, and a visual inspection mechanism. The height adjustment mechanism includes a support, a lifting platform, and a servo motor, with the servo motor driving the lifting platform to move up and down. The rotary indexing mechanism includes an electric rotating platform and a support frame, with the electric rotating platform driving the support frame to rotate circumferentially. The visual inspection mechanism includes a first stepper motor, friction wheels, an endoscope snake tube, a telescopic sleeve, a telescopic sleeve, and an endoscope lens. Two friction wheels drive the endoscope snake tube to move up and down, thereby causing the endoscope lens to extend and retract. The telescopic sleeve is connected to the electric rotating platform via a belt drive mechanism, with the electric rotating platform driving the telescopic sleeve to rotate. This invention allows for real-time online detection of residue adhesion on the sidewall of a grinding bowl without opening the grinding bowl cover, making the detection process quick and convenient.

Description

Technical Field

[0001] This invention relates to a detection device and method for acquiring images of the distribution of residues on the sidewall of a sample preparation grinding bowl, belonging to the field of inspection and testing technology. Background Technology

[0002] In the field of sampling and testing, it is often necessary to analyze the composition of mineral powder. Grinding minerals typically requires specialized grinding equipment, and some mineral powder remains after each grinding. The amount of this residue has a significant impact on the accuracy of the analysis.

[0003] A grinding bowl is a common grinding instrument used for grinding minerals. It is enclosed internally with a narrow inlet and a large inner cavity. The grinding principle of a grinding bowl involves fixing it to a vibrating platform. The vibration of the platform causes the impact blocks inside the bowl to continuously strike the inner wall, thus grinding the minerals into powder. As the impact blocks at the bottom of the bowl continuously strike the cylindrical sidewalls, a significant amount of mineral powder adheres to these sidewalls, forming residues. The composition and quantity of these residues directly affect the accuracy of laboratory analysis. To ensure sample purity, it is necessary to regularly monitor and clean the distribution and quantity of residues on the grinding bowl walls.

[0004] Currently, there is no effective method for detecting residues on the inner wall of grinding bowls. The primary method involves disassembling the grinding bowl after the equipment is shut down, using specialized tools to open the top cover, and visually inspecting the sample for residue. This entire process is extremely cumbersome and time-consuming, and relying entirely on visual judgment makes accurate analysis difficult. Existing detection devices either cannot enter the grinding bowl's inner cavity due to its narrow inlet and the large size of the device, or, similar to pipe inspection devices, while they can enter the cavity, the large size of the grinding bowl's inner cavity limits the detection range, preventing the detection of the specific conditions on the inner wall. Summary of the Invention

[0005] To address the challenge of real-time online detection of residue on the inner wall of grinding bowls, this invention presents a novel and dedicated device for detecting residue on the inner wall of grinding bowls. This device, fixed to an oscillating platform along with the grinding bowl, can acquire images of the residue distribution on the inner wall of the grinding bowl in real time as needed. The acquired images can be used for subsequent precise analysis of the residual area distribution and amount of residue, laying the foundation for timely early warning and effective removal of residue from the grinding bowl.

[0006] The present invention also provides a detection method for obtaining images of the distribution of residues on the side wall of a sample grinding bowl.

[0007] The technical solution of the present invention is as follows:

[0008] A detection device for acquiring images of the distribution of residues on the sidewall of a sample grinding bowl includes a height adjustment mechanism, a rotary indexing mechanism, and a visual inspection mechanism;

[0009] The height adjustment mechanism includes a bracket, a lifting platform, and a servo motor. The servo motor is located at the top of the bracket and is connected to the lifting platform via a lead screw and a slider. The servo motor drives the lifting platform to move up and down.

[0010] The rotary indexing mechanism includes an electric rotary platform and a support frame. The electric rotary platform is located at the bottom of the lifting platform, and the support frame is connected to the electric rotary platform. The electric rotary platform can drive the support frame to rotate circumferentially.

[0011] The visual inspection mechanism includes a first stepper motor, friction wheels, an endoscope snake tube, a telescopic base, a telescopic sleeve, and an endoscope lens; two friction wheels are positioned opposite each other on the top of the lifting platform, the first stepper motor is connected to one of the friction wheels, and the end of the telescopic sleeve is placed inside the telescopic base; the endoscope snake tube passes sequentially between the two friction wheels, the lifting platform, the electric rotating platform, the support frame, the telescopic base, and the telescopic sleeve before connecting to the endoscope lens.

[0012] Preferably, the support is fixedly mounted on the oscillation platform, and a grinding bowl is provided on the oscillation platform, with the endoscope lens located above the grinding bowl.

[0013] Preferably, the support is an L-shaped support, and the bottom of the L-shaped support is fixedly connected to the vibration platform by bolts. The advantage of this design is that the L-shaped support enhances its stability and ensures the accuracy of the detection process.

[0014] Preferably, the lead screw is installed inside the bracket, the slider is threadedly connected to the lead screw, and one end of the lifting platform is fixedly connected to the slider.

[0015] Preferably, the electric rotary platform includes an electric indexing plate, a connecting frame, and a second stepper motor; the electric indexing plate is located at the bottom of the lifting platform and connected to the connecting frame, the second stepper motor is located on one side of the connecting frame, the top of the support frame is fixed to the connecting frame, the bottom of the support frame is connected to the top of the telescopic sleeve through a rotating shaft, and one end of the rotating shaft is connected to the second stepper motor through a steel wire collar.

[0016] Preferably, the top of the telescopic sleeve and the bottom of the support frame are provided with connecting ears for the rotating shaft to pass through, the rotating shaft and the connecting ears of the telescopic sleeve are transitionally fitted, and the rotating shaft and the connecting ears of the support frame are clearance fitted.

[0017] Preferably, the friction wheel is connected to bearings with mounting brackets at both ends, and the bearings with mounting brackets are fixedly mounted on the lifting platform.

[0018] Preferably, a bushing is provided on the output shaft of the second stepper motor, and a drum is connected to one end of the shaft, with a steel wire sleeving surrounding the drum and the bushing.

[0019] A detection method for acquiring images of residue distribution on the sidewall of a grinding bowl, utilizing the aforementioned detection device, establishes a detection coordinate system o-xyz within the device, with the origin o being the intersection of the grinding bowl's central axis and the upper surface of the oscillation platform, the z-axis being the direction along the grinding bowl's central axis away from the oscillation platform, and the x-axis being the direction passing through the origin and pointing towards the middle section of the detection device's support. The detection method includes the following steps:

[0020] 1) The oscillation platform rotates around the x-axis under the drive of the external control device, causing the impact block to slide to the positive y-axis side and stick to the grinding bowl wall. Then the oscillation platform returns to the horizontal state.

[0021] 2) The servo motor drives the lead screw to rotate, which in turn drives the lifting platform to descend along the z-axis, so that the endoscope lens enters the grinding bowl through the feed port in the middle of the grinding bowl cover. When the rotating shaft enters 3-5mm below the grinding bowl cover, the servo motor stops.

[0022] 3) The second stepper motor starts, driving the rotating shaft to rotate 90° around its axis, so that the endoscope lens rotates 90° and is in a horizontal position. At this time, the endoscope lens is facing the negative y-axis.

[0023] 4) The servo motor continues to rotate, driving the lifting platform to continue to descend. When the axis of the telescopic sleeve and the telescopic sleeve is at half the height of the inner wall of the grinding bowl, the servo motor stops working, and the height of the endoscope lens is adjusted to the correct position.

[0024] 5) The first stepper motor starts, and the forward and reverse rotation of the first stepper motor drives the friction wheel to rotate. The two friction wheels drive the endoscope snake tube in the middle to move inward or outward. When the endoscope lens is adjusted to a clear image and the inner wall of the grinding bowl is entirely within the endoscope lens's field of view α1 along the height direction, the first stepper motor stops moving, and the endoscope lens is positioned at this shooting position.

[0025] 6) The external control device activates the endoscope's imaging function, completing the first image capture and obtaining the first photograph of the inner wall of the grinding bowl; Let the horizontal angle of the endoscope lens be α, then the central angle β corresponding to the area of ​​the inner wall of the grinding bowl covered in a single image is...

[0026]

[0027] In the formula, r is the radius of the inner wall of the grinding bowl, and l is the distance from the endoscope lens to the inner wall of the grinding bowl;

[0028] When taking subsequent photos, it is required that the inner wall area captured in two consecutive photos must overlap to a certain extent. The central angle Δβ corresponding to the overlapping area of ​​the two photos is taken as 0.1β. Since each image needs to overlap on both sides along the circumference, the central angle γ corresponding to the actual area captured in one photo is...

[0029] γ=0.8β (2)

[0030] To capture a complete image of the inner wall of the grinding bowl, the number of times n needs to be taken is...

[0031]

[0032] In the formula, ceiling means rounding up;

[0033] 7) The external control device drives the electric rotating platform to rotate around the z-axis by an angle γ, which drives the endoscope lens to the next shooting position; the oscillating platform tilts in the opposite direction to the endoscope shooting direction under the drive of the external control device, so that the impact block slides to the side away from the visual inspection mechanism, and the camera is restarted to take a picture and obtain the image of the inner wall of the grinding bowl at the current shooting position.

[0034] 8) Repeat the relevant operations in step (7) to take images of the side wall of the grinding bowl at n shooting positions to obtain n images covering the entire side wall area of ​​the grinding bowl;

[0035] 9) Since the side wall of the grinding bowl is cylindrical, the image taken by the endoscope is a planar image. It is necessary to restore the planar image to the unfolded cylindrical image. For any pixel (x, y) in the captured image, the following formula (4) is used to transform it, and the unfolded cylindrical pixel with pixel value (x′, y′) can be obtained.

[0036]

[0037] By using the algorithm of formula (4) to transform each pixel in any captured image in turn, the cylindrical unfolded image of the image can be obtained; by transforming the n captured images in turn, n cylindrical unfolded images of the grinding bowl wall can be obtained.

[0038] 10) Using the feature point matching image stitching algorithm, the n transformed cylindrical unfolded images are stitched together sequentially to obtain a cylindrical unfolded image covering the entire area of ​​the grinding bowl sidewall;

[0039] 11) Based on the upper and lower edge features of the grinding bowl sidewall, the spliced ​​cylindrical unfolded image is cropped to remove the upper and lower parts of the cylindrical unfolded image outside the effective area of ​​the grinding bowl sidewall.

[0040] 12) Since the center angle Δβ of the overlapping area is set to 0.1 times the horizontal shooting angle of the endoscope lens during shooting, the overlapping area of ​​the first and last images can be cropped from the beginning or end of the unfolded image to obtain a complete unfolded image of the side wall of the grinding bowl. The distribution of the residue on the side wall of the grinding bowl is then presented intuitively on the unfolded image.

[0041] Technical features and beneficial effects of the present invention:

[0042] 1. The detection device described in this invention can perform real-time online detection of the adhesion of residues on the side wall of the grinding bowl. After debugging, it can achieve fully automatic detection, solving the current problems of only being able to detect when the machine is stopped, cumbersome operation, and difficulty in grasping the timing of detection.

[0043] 2. The detection device described in this invention can effectively detect the adhesion of residues on the side wall of the grinding bowl without opening the top cover of the grinding bowl, which is convenient, quick and easy to operate.

[0044] 3. The detection device described in this invention can effectively acquire a complete image of the residue distribution on the side wall of the grinding bowl, providing conditions for accurately analyzing the amount of residue and accurately assessing the impact of residue on sample purity. Existing methods rely entirely on manual visual judgment, making it difficult to accurately analyze and evaluate the residue situation.

[0045] 4. The present invention obtains a panoramic image of the side wall of the grinding bowl, which accurately presents the cylindrical side wall of the grinding bowl and the distribution of residues on it on a single planar image. This greatly simplifies the difficulty of subsequent identification of residue distribution areas and calculation of residue amount, and lays the foundation for accurate analysis of the residue situation on the side wall of the grinding bowl and timely cleaning warning. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the detection device;

[0047] Figure 2 This is a schematic diagram of the visual inspection mechanism in the inspection device;

[0048] Figure 3 This is a schematic diagram showing the initial position captured by the detection device.

[0049] Figure 4 This is a schematic diagram showing the circumferential field of view and effective imaging area of ​​an endoscope.

[0050] In the diagram: 1-Servo motor, 2-Lifting platform, 3-Friction wheel, 4-Electric rotating platform, 5-Bracket, 6-Lead screw, 7-Control device, 8-Vibration platform, 9-Grinding bowl, 10-Telescopic sleeve, 11-Support frame, 12-Bearing with seat, 13-Endoscope snake tube, 14-First stepper motor, 15-Shaft sleeve, 16-Second stepper motor, 17-Wire collar, 18-Rotating shaft, 19-Drum wheel, 20-Telescopic sleeve, 21-Endoscope lens, 22-Connecting frame, 23-Electric indexing plate. Detailed Implementation

[0051] The present invention will be further described below with reference to the embodiments and accompanying drawings, but is not limited thereto.

[0052] Example 1:

[0053] like Figure 1-4 As shown, this embodiment provides a detection device for acquiring images of the distribution of residues on the side wall of a sample grinding bowl, including a height adjustment mechanism, a rotary indexing mechanism, and a visual inspection mechanism;

[0054] The height adjustment mechanism includes a bracket 5, a lifting platform 2 and a servo motor 1. The servo motor 1 is installed on the top of the bracket 5. The servo motor 1 is connected to the lifting platform 2 through a lead screw and a slider. The servo motor 1 drives the lifting platform 2 to move up and down.

[0055] The rotary indexing mechanism includes an electric rotary platform 4 and a support frame 11. The electric rotary platform 4 is installed at the bottom of the lifting platform 2, and the support frame 11 is connected to the electric rotary platform 4. The electric rotary platform 4 can drive the support frame 11 to rotate circumferentially.

[0056] The visual inspection mechanism includes a first stepper motor 14, friction wheels 3, an endoscope snake tube 13, a telescopic sleeve 10, a telescopic sleeve 20, and an endoscope lens 21; two friction wheels 3 are mounted opposite each other on the top of the lifting platform 2, the first stepper motor 14 is connected to one of the friction wheels, and the end of the telescopic sleeve 20 is placed inside the telescopic sleeve 10; the endoscope snake tube 13 passes sequentially between the two friction wheels 3, the lifting platform 2, the electric rotating platform 4, the support frame 11, the telescopic sleeve 10, and the telescopic sleeve 20 before connecting to the endoscope lens 21.

[0057] The support 5 is an L-shaped support, with its bottom fixedly connected to the oscillation platform 8 by bolts. A grinding bowl 9 is fixedly connected to the oscillation platform 8, and the endoscope lens 21 is located directly above the grinding bowl 9, allowing it to extend into the bowl. The use of an L-shaped support enhances stability and ensures the accuracy of the testing process.

[0058] The lead screw 6 is a ball screw, which is installed inside an L-shaped bracket. The top end of the lead screw 6 is connected and driven by a servo motor 1, and the bottom end of the lead screw 6 is installed in the lower half of the L-shaped bracket via a bearing. The slider is threadedly connected to the lead screw 6, and one end of the lifting platform 2 is fixedly connected to the slider. The servo motor 1 drives the lead screw 6 to rotate, thereby causing the slider and the lifting platform 2 to move up and down together.

[0059] The electric rotary platform 4 includes an electric indexing plate 23, a connecting frame 22, and a second stepper motor 16. The electric indexing plate 23 is located at the bottom of the lifting platform 2 and connected to the connecting frame 22. The second stepper motor 16 is installed on one side of the connecting frame 22. The top of the support frame 11 is fixed to the connecting frame 22, and the bottom of the support frame 11 is connected to the top of the telescopic sleeve 10 via a rotating shaft 18. One end of the rotating shaft 18 is connected to the second stepper motor 16 via a steel wire collar 17. The electric indexing plate 23 can drive the connecting frame 22, the support frame 11, and the second stepper motor 16 to perform a circular rotation, thereby enabling the endoscope lens 21 to perform a circular rotation within the grinding bowl 9, completing a full rotation of the inner wall of the grinding bowl.

[0060] The friction wheel 3 is connected to the two ends of the bearing 12 with a seat, and the bearing 12 with a seat is installed on the lifting platform 2 by bolts. The endoscope snake tube 13 is placed between the two friction wheels 3. The endoscope snake tube 13 has a certain rigidity. The relative movement of the two friction wheels 3 drives the endoscope snake tube 13 to move up and down, thereby realizing the extension and retraction of the endoscope lens 21.

[0061] The connecting frame 22 has an L-shaped structure. The second stepper motor 16 is fixedly installed on one side of the connecting frame 22. The output shaft of the second stepper motor 16 has a bushing 15. One end of the rotating shaft 18 is connected to a drum 19. A steel wire collar 17 surrounds the drum 19 and the bushing 15. The second stepper motor 16 drives the rotating shaft 18 to rotate through the steel wire collar 17, adjusting the endoscope lens 21 to rotate 90° to a horizontal position. At this time, the endoscope lens 21 is facing the inner wall of the bowl, and subsequent imaging is performed in this position.

[0062] When the endoscope snake tube 13 extends the endoscope lens 21, the telescopic sleeve 20 extends out of the telescopic sleeve seat 10. When the endoscope snake tube 13 retracts the endoscope lens 21, the telescopic sleeve 20 retracts into the telescopic sleeve seat 10, thereby adjusting the distance between the endoscope lens 21 and the inner wall of the bowl.

[0063] In this embodiment, a servo motor drives the entire lifting platform to move up and down, thereby adjusting the height of the endoscope lens within the grinding bowl. A second stepper motor drives the rotation of the rotating shaft, adjusting the endoscope lens to a horizontal position. Friction wheels drive the endoscope's flexible tube to move up and down, thereby extending and retracting the endoscope lens (i.e., adjusting the horizontal distance between the endoscope lens and the inner wall of the grinding bowl). An electric indexing plate drives the support frame, telescopic sleeve, telescopic sleeve, and endoscope lens to rotate together in a circular motion, thus enabling the endoscope lens to capture images around the inner wall of the grinding bowl.

[0064] Example 2:

[0065] A detection device for acquiring images of the distribution of residues on the side wall of a sample grinding bowl, with the structure described in Example 1, differs in that: the top of the telescopic sleeve 10 and the bottom of the support frame 11 are provided with connecting ears for the rotating shaft 18 to pass through, the rotating shaft 18 is transitionally fitted with the connecting ears of the telescopic sleeve 10, and the rotating shaft 18 is clearance-fitted with the connecting ears of the support frame 11.

[0066] Example 3:

[0067] A method for detecting the distribution of residues on the sidewall of a grinding bowl, utilizing the detection device described in Example 1, establishes a detection coordinate system o-xyz within the detection device. The origin o is the intersection of the central axis of the grinding bowl and the upper surface of the oscillation platform. The z-axis is the direction along the central axis of the grinding bowl away from the oscillation platform, and the x-axis is the direction passing through the origin and pointing towards the middle section of the detection device support. The detection method includes the following steps:

[0068] 1) The oscillation platform rotates around the x-axis under the drive of the external control device, causing the impact block to slide to the positive y-axis side and stick to the grinding bowl wall. Then, under the drive of the external control device, the oscillation platform returns to the horizontal state.

[0069] 2) The servo motor drives the lead screw to rotate, which in turn drives the lifting platform to descend along the z-axis, so that the endoscope lens enters the grinding bowl through the feed port in the middle of the grinding bowl cover. When the rotating shaft enters 3-5mm below the grinding bowl cover, the servo motor stops.

[0070] 3) The second stepper motor starts and drives the rotating shaft to rotate 90° around its axis through the transmission between the bushing, the wire collar and the drum. This drives the telescopic sleeve, the telescopic sleeve and the endoscope lens to rotate 90° together and then be in a horizontal position. At this time, the endoscope lens is facing the negative y-axis.

[0071] 4) The servo motor continues to rotate, driving the lifting platform to continue to descend. When the axis of the telescopic sleeve and the telescopic sleeve is at half the height of the inner wall of the grinding bowl, the servo motor stops working, and the height of the endoscope lens is adjusted to the correct position.

[0072] 5) The first stepper motor starts, and the forward and reverse rotation of the first stepper motor drives the friction wheel to rotate. The two friction wheels drive the endoscope snake tube in the middle to move inward or outward. When the endoscope lens is adjusted to a clear image and the inner wall of the grinding bowl is entirely within the endoscope lens's field of view α1 along the height direction, the first stepper motor stops moving, and the endoscope lens is positioned at this shooting position.

[0073] 6) The control device starts the endoscope's imaging function, completing the first image capture and obtaining the first photograph of the inner wall of the grinding bowl; if the horizontal viewing angle of the endoscope lens is α, then the central angle β corresponding to the area of ​​the inner wall of the grinding bowl covered by a single image is...

[0074]

[0075] In the formula, r is the radius of the inner wall of the grinding bowl, and l is the distance from the endoscope lens to the inner wall of the grinding bowl;

[0076] Since a single shot can only capture an image of the inner wall of the grinding bowl within a certain angle range, multiple shots are needed along the circumference, and the complete inner wall image is obtained through image stitching. To facilitate subsequent image stitching, the inner wall areas captured in two consecutive shots must overlap to a certain extent. The central angle Δβ = 0.1β corresponding to the overlapping area of ​​the two shots is taken. Because each image needs to overlap on both sides along the circumference, the central angle γ corresponding to the actual area captured in a single shot is...

[0077] γ=0.8β (2)

[0078] To capture a complete image of the inner wall of the grinding bowl, the number of times n needs to be taken is...

[0079]

[0080] In the formula, ceiling means rounding up;

[0081] 7) The control device drives the electric rotating platform to rotate around the z-axis by an angle γ, which drives the endoscope lens, telescopic sleeve, telescopic sleeve base and support frame and its support mechanism to rotate to the next shooting position; the oscillating platform tilts in the opposite direction to the endoscope shooting direction under the drive of the control device, so that the impact block slides to the side away from the visual inspection mechanism, and the camera is started to take pictures to obtain the image of the inner wall of the grinding bowl at the current shooting position.

[0082] 8) Repeat the relevant operations in step (7) to take images of the side wall of the grinding bowl at n shooting positions to obtain n images covering the entire side wall area of ​​the grinding bowl;

[0083] 9) Since the side wall of the grinding bowl is cylindrical, the image taken by the endoscope is a planar image. It is necessary to restore the planar image to the unfolded cylindrical image. For any pixel (x, y) in the captured image, the following formula (4) is used to transform it, and the unfolded cylindrical pixel with pixel value (x′, y′) can be obtained.

[0084]

[0085] By using the algorithm of formula (4) to transform each pixel in any captured image in turn, the cylindrical unfolded image of the image can be obtained; by transforming the n captured images in turn, n cylindrical unfolded images of the grinding bowl wall can be obtained.

[0086] 10) Using the feature point matching image stitching algorithm, the n transformed cylindrical unfolded images are stitched together sequentially to obtain a cylindrical unfolded image covering the entire area of ​​the grinding bowl sidewall;

[0087] 11) When the endoscope captures images, the field of view along the height direction is greater than the height of the inner wall of the grinding bowl. Therefore, the captured images include environmental images that are not part of the grinding bowl sidewall. Since the image features of the upper and lower edges of the grinding bowl sidewall are relatively obvious, the spliced ​​cylindrical unfolded image is cropped based on the upper and lower edge features of the grinding bowl sidewall to remove images outside the effective area of ​​the grinding bowl sidewall at the top and bottom of the cylindrical unfolded image.

[0088] 12) Since the center angle Δβ of the overlapping area is set to 0.1 times the horizontal shooting angle of the endoscope lens during shooting, the overlapping area of ​​the first and last images can be cropped from the beginning or end of the unfolded image to obtain a complete unfolded image of the side wall of the grinding bowl. The distribution of the residue on the side wall of the grinding bowl is then presented intuitively on the unfolded image.

[0089] The images obtained by the detection method in this embodiment can be used for subsequent precise analysis of the distribution and amount of residue. Specifically, by performing binarization, morphological operations and connected component filtering on the images, the distribution area of ​​residue can be effectively extracted and the amount of residue can be calculated, laying the foundation for timely warning and effective removal of the grinding bowl.

[0090] The above description is merely a specific embodiment of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A detection device for acquiring a distribution image of residues on the side wall of a sample preparation mortar, characterized in that, This includes a height adjustment mechanism, a rotary indexing mechanism, and a visual inspection mechanism; The height adjustment mechanism includes a bracket, a lifting platform, and a servo motor. The servo motor is located at the top of the bracket and is connected to the lifting platform via a lead screw and a slider. The servo motor drives the lifting platform to move up and down. The rotary indexing mechanism includes an electric rotary platform and a support frame. The electric rotary platform is located at the bottom of the lifting platform, and the support frame is connected to the electric rotary platform. The electric rotary platform can drive the support frame to rotate circumferentially. The visual inspection mechanism includes a first stepper motor, friction wheels, an endoscope snake tube, a telescopic base, a telescopic sleeve, and an endoscope lens; two friction wheels are positioned opposite each other on the top of the lifting platform, the first stepper motor is connected to one of the friction wheels, and the end of the telescopic sleeve is placed inside the telescopic base; the endoscope snake tube passes sequentially between the two friction wheels, the lifting platform, the electric rotating platform, the support frame, the telescopic base, and the telescopic sleeve before connecting to the endoscope lens; The bracket is fixedly mounted on the oscillation platform, and a grinding bowl is provided on the oscillation platform, with the endoscope lens located above the grinding bowl. The electric rotary platform includes an electric indexing plate, a connecting frame, and a second stepper motor. The electric indexing plate is located at the bottom of the lifting platform and connected to the connecting frame. The second stepper motor is located on one side of the connecting frame. The top of the support frame is fixed to the connecting frame. The bottom of the support frame is connected to the top of the telescopic sleeve through a rotating shaft. One end of the rotating shaft is connected to the second stepper motor through a steel wire collar. The output shaft of the second stepper motor is equipped with a bushing, and one end of the shaft is connected to a drum. A steel wire sleeving surrounds the drum and the bushing.

2. The detection apparatus for acquiring a sample preparation mortar and pestle sidewall residue distribution image of claim 1, wherein, The support is an L-shaped support, and the bottom of the L-shaped support is fixedly connected to the vibration platform by bolts.

3. The detection apparatus for acquiring a sample preparation mortar and pestle sidewall residue distribution image of claim 1, wherein, The lead screw is installed inside the bracket, the slider is threadedly connected to the lead screw, and one end of the lifting platform is fixedly connected to the slider.

4. The apparatus of claim 1, wherein, Both the top of the telescopic sleeve and the bottom of the support frame are provided with connecting ears for the rotating shaft to pass through. The rotating shaft is transitionally fitted with the connecting ears of the telescopic sleeve, and the rotating shaft is clearance-fitted with the connecting ears of the support frame.

5. The apparatus of claim 1, wherein The friction wheel is connected to bearings with mounting brackets at both ends, and the bearings with mounting brackets are fixedly mounted on the lifting platform.

Images