Rotary visual inspection device

Abstract

The utility model provides a rotary visual inspection device. The rotary visual inspection device comprises a base, the stand column is arranged on the base, and a fixing base is installed at the end, away from the base, of the stand column; the motor transmission mechanism is mounted on the fixed seat; the cantilever can rotate relative to the fixed seat, and the rotation is driven by the motor transmission mechanism; and the detection equipment is mounted at one end, far away from the motor transmission mechanism, of the cantilever. The detection device comprises an infrared unit and a distance measuring unit which are detachably installed at the end, away from the motor transmission mechanism, of the cantilever through fixing pieces. According to the rotary visual detection device provided by the utility model, a fixing structure is optimized, the detection equipment in the rotary visual detection device is convenient to assemble, disassemble and move and can be flexibly adjusted during working, meanwhile, laser radar is innovatively adopted for ranging, the height of distillers' grains in a retort pot is accurately detected and fed back to retort distribution equipment, and the distillers' grains are fed into the retort more uniformly and flatly.

Description

Technical Field

[0001] The utility model relates to the technical field of liquor brewing equipment, in particular to a rotary visual detection device used in conjunction with a steamer robot. Background Art

[0002] The steaming process is an important process in the liquor brewing process. After the raw grains are fermented, they need to be distilled in the steaming process to produce the raw liquor. The distillation operation is the most critical step in the production of liquor, which directly affects the quality and output of liquor. The traditional method uses manual steaming, relying on the workers' experience to judge the timing and position of steaming. The steaming effect is unstable, the workers' labor intensity is high, and the working environment is poor.

[0003] In the prior art, a steamer loading robot is used. The robot detects and locates the steam emitting area in the steamer pot through detection equipment and then uses a cantilever to spread the lees in the steamer pot. Most of the detection equipment uses thermal imaging equipment alone or combines a thermal infrared camera with a rangefinder camera for detection.

[0004] However, the height of the material in the steamer cannot be determined by using thermal imaging equipment alone, and the material surface will be uneven, requiring manual intervention; the combination of a thermal infrared camera and a rangefinder camera can detect the height of the material surface, but the rangefinder camera can only give a reliable height of the object being measured within a certain effective cross-sectional range. If non-objects being measured are mixed in within its effective cross-sectional range, it will directly affect the height of the object being measured. Furthermore, in the prior art, the above-mentioned detection equipment is usually fixed directly above the steamer, or fixed to the device for laying the wine lees, and cannot be flexibly loaded and unloaded. Therefore, it is particularly urgent to develop a steamer robot visual detection device that can accurately detect the height of the wine lees in the steamer and make the wine lees more evenly and flat on the steamer. Utility Model Content

[0005] In view of the above problems, the first aspect of the utility model provides a rotating visual inspection device, which optimizes the fixed structure so that the inspection equipment therein can be easily loaded and unloaded, so that when the rotating visual inspection device is used, the positional relationship between the inspection equipment and the upper steamer device and the steamer pot and other equipment can be flexibly adjusted to obtain better inspection results. On the other hand, the utility model uses a laser radar as a distance measuring device, which has a larger field of view and takes into account the detection of objects near and far. Non-repetitive scanning can provide a higher density point cloud, and the scanning speed and data processing speed are faster, and it can detect 3D data within the entire effective cross-sectional range.

[0006] The first aspect of the utility model provides a rotating visual inspection device, comprising a base, a column, a motor transmission mechanism, a cantilever and a detection device, wherein the column is arranged on the base, and a fixed seat is installed at one end of the column away from the base; the motor transmission mechanism is installed on the fixed seat; the cantilever can rotate relative to the fixed seat, and the rotation is driven by the motor transmission mechanism; the detection device is installed at one end of the cantilever away from the motor transmission mechanism.

[0007] According to the above technical solution, the cantilever and the motor transmission mechanism are both arranged at the end of the column away from the base, that is, at the fixed seat. The motor transmission mechanism can directly drive the cantilever to rotate, and then drive the detection device to rotate and displace, so as to realize the flexible adjustment of the detection device. In addition, the support method combining the column and the base simplifies the assembly structure, reduces the weight of the rotating visual detection device, and makes the rotating visual detection device as a whole more light and flexible.

[0008] Optionally, in the technical solution of the present utility model, the motor transmission mechanism includes a motor body and a transmission flange, the transmission flange is connected to the output shaft of the motor body, and the motor body drives the transmission flange to rotate in a direction parallel to the surface of the fixing seat.

[0009] The transmission flange is a component that supports and connects the output shaft of the motor body, so that the output shaft can withstand the force provided by the motor body when it is driven, prevents mechanical damage to the output shaft during operation, and prolongs the service life of the motor body. When the device is used, the motor body is started to provide a driving force for rotation to the transmission flange, which in turn drives the cantilever to rotate. The motor body can accurately control the rotation angle and stop position of the cantilever through the transmission flange.

[0010] Optionally, in the technical solution of the present utility model, the motor transmission mechanism further includes a connecting flange connected to the transmission flange, and one end of the cantilever is detachably fixed in the connecting flange.

[0011] The connecting flange provides a stable and reliable connection structure between the transmission flange and the cantilever fixed end. At the same time, the connecting flange is easy to disassemble, which facilitates the adjustment of the fixed position and angle of the cantilever fixed end on the column and the replacement and maintenance of the cantilever and other equipment in the rotating visual inspection device.

[0012] Optionally, in the technical solution of the present invention, the connecting flange includes a first flange plate connected to the transmission flange by bolts; a second flange plate arranged parallel to the first flange plate; and a plurality of connecting columns, both ends of the connecting columns are respectively fixed to the first flange plate and the second flange plate.

[0013] The first flange plate in the connecting flange is arranged in parallel with the second connecting plate at a certain distance, and the distance is used to accommodate the fixed end of the cantilever, so that the fixed end of the cantilever can be stably and reliably fixed in the middle of the connecting flange, and then fixed to the transmission flange. The transmission flange can transmit the force provided by the rotating shaft of the motor body to the first flange plate of the connecting flange, thereby controlling the movement of the cantilever. On the one hand, the multiple connecting columns play a role in fixing and limiting the first flange plate and the second flange plate, so that the first flange plate and the second flange plate can be guaranteed to be parallel to each other and will not move relative to each other; on the other hand, the mechanical strength of the connecting flange is improved, so that the connecting flange will not be caused by the stress concentration caused by the fixed installation with the cantilever and the movement of the cantilever in all directions, resulting in deformation or relative movement of the first flange plate and / or the second flange plate.

[0014] Optionally, in the technical solution of the present invention, the connecting flange further includes a limiting member, which is arranged on both sides of the connecting flange, and the limiting member is fixed to the fixing seat by bolts.

[0015] The limiting members are arranged on both sides of the connecting flange, and can limit the rotation angle of the connecting flange, thereby controlling the movement stroke of the cantilever and the detection device connected to the cantilever.

[0016] Optionally, in the technical solution of the present utility model, the detection device includes an infrared unit and a distance measuring unit, which are detachably mounted on one end of the cantilever away from the motor transmission mechanism through fixing parts.

[0017] The infrared unit can detect the temperature data of the surface of the target object and generate corresponding infrared image information in real time; the distance measuring unit can detect the height data of the surface of the target object. Combining the detection feedback results of the infrared unit and the distance measuring unit, the temperature distribution and height distribution of the surface of the target object can be accurately reflected in real time. When the rotating visual detection device is mounted on the steamer robot, the steamer robot can obtain the real-time steamer status according to the above detection feedback data analysis and control the steamer operation according to the real-time steamer status, thereby realizing uniform and efficient steamer operation.

[0018] Optionally, in the technical solution of the present utility model, the ranging unit is configured as a laser radar.

[0019] Using laser radar as the ranging device has a larger field of view, taking into account the detection of both near and far objects. Non-repetitive scanning can provide a higher density point cloud, faster scanning speed and data processing speed, and can detect 3D data within the entire effective cross-sectional range.

[0020] Optionally, in the technical solution of the utility model, the base also includes a plurality of universal feet installed on the side of the base away from the column. The universal feet installed on the base can make the rotating visual detection device tilt up and down and move left and right in multiple directions parallel to the ground when the base of the rotating visual detection device is placed on the ground, and the rotating visual detection device can still be adjusted to a horizontal position relative to the detection surface when the installation surface is uneven.

[0021] Optionally, in the technical solution of the present invention, the column further includes one or more equipment fixing seats, which are installed on a side of the column away from the fixing seats.

[0022] The setting of the equipment fixing seat enables one or more other large equipment, such as an electric cabinet, to be installed on the column of the rotating visual inspection device for use with the motor. The equipment fixing seat is installed on the side of the column away from the fixing seat. The fixing seat and the equipment fixing seat fix the equipment to both sides of the column respectively, which can improve the stability of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A front view of a rotational visual inspection device provided by an embodiment of the utility model;

[0024] Figure 2 A three-dimensional diagram of a rotational visual inspection device provided by an embodiment of the utility model;

[0025] Figure 3 The utility model embodiment provides Figure 1 A partial enlarged schematic diagram of the middle area I;

[0026] Figure 4 A schematic diagram of a transmission flange provided in an embodiment of the utility model;

[0027] Figure 5 The utility model embodiment provides Figure 1 Another partial enlarged schematic diagram of the middle area I;

[0028] Figure 6 A top view of a rotational visual inspection device provided in an embodiment of the utility model;

[0029] Figure 7 The utility model embodiment provides Figure 1 A partial enlarged schematic diagram of zone II.

[0030] Figure markings: 100-rotating visual inspection device; 1-base; 11-universal foot; 2-column; 21-fixed seat; 22-equipment fixed seat; 23-limiting piece; 3-motor transmission mechanism; 31-motor body; 32-transmission flange; 321-transmission shaft; 322-transmission ring; 33-connecting flange; 331-first flange plate; 332-second flange plate; 333-connecting column; 4-cantilever; 41-fixed end; 42-free end; 5-detection equipment; 51-infrared unit; 52-distance measuring unit; 53-fixed piece; 531-support piece; 6-steamer pot. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] The x, y and z axes in the embodiments are all as shown in the drawings.

[0033] Figure 1 It is a front view of the rotational visual detection device provided in this embodiment.

[0034] refer to Figure 1 This embodiment provides a rotating visual inspection device 100, which is used for automated steaming inspection and is used to place the wine lees in the steamer pot 6 in cooperation with automated equipment.

[0035] The rotating visual inspection device 100 is used to detect and provide feedback on the steaming status, i.e., the laying status of the lees in the steamer pot 6, in real time. The steaming robot used in conjunction with the steaming robot controls the steaming action according to the detection feedback of the rotating visual inspection device 100. The rotating visual inspection device 100 includes a base 1, a column 2, a motor transmission mechanism 3, a cantilever 4, and a detection device 5.

[0036] Figure 2 This is a three-dimensional diagram of a rotational visual inspection device 100 provided in an embodiment of the present utility model. Figure 2The base 1 includes a plurality of universal feet 11, which are installed on the side of the base 1 away from the column 2, and are used to move the rotating visual inspection device 100 in multiple directions parallel to the ground. In the present embodiment, the base 1 is a rectangular frame composed of steel pipes and steel plates, and the number of universal feet 11 is 4, which are respectively arranged at the four corners of the rectangular base 1, so that when the base 1 of the rotating visual inspection device 100 is placed on the ground, it can be tilted up and down, left and right and moved in multiple directions parallel to the ground. When the installation surface is uneven, the rotating visual inspection device 100 can still be adjusted to a horizontal position relative to the inspection surface. The shape of the base 1 can be circular or rectangular, which is not limited in the embodiments of the present application. The number, structure and distribution of the universal feet 11 are not limited in the embodiments of the present application.

[0037] refer to Figure 2 In this embodiment, the column 2 is arranged on the base 1 and is fixedly connected to the base 1; a fixing seat 21 is installed at one end of the column 2 away from the base 1, which is used to fix and assemble the motor transmission mechanism 3. In some preferred embodiments, the column 2 also includes one or more equipment fixing seats 22, which are installed on the side of the column 2 away from the fixing seat 21. By setting the equipment fixing seat 22, one or more other large equipment, such as an electric cabinet, etc., can be installed on the column 2 of the rotating visual inspection device 100 for use with the motor.

[0038] Preferably, in this embodiment, the device fixing seat 22 is installed on the side of the column 2 away from the fixing seat 21, and the fixing seat 21 and the device fixing seat 22 fix the device to the two sides of the column 2 respectively, which can improve the stability of the overall structure.

[0039] In this embodiment, the column 2 is a columnar component with a certain length and a rectangular cross-section. Its axial direction is parallel to the z-axis direction and perpendicular to the ground. One end is fixed to the plane of the base 1, and the other end extends in a direction perpendicular to the base 1 and away from the base 1; the fixing seat 21 is arranged at the end of the column 2 away from the base 1.

[0040] refer to Figure 3 In this embodiment, the motor transmission mechanism 3 installed on the fixing seat 21 is used to provide driving force to the cantilever 4 so that the cantilever 4 can rotate relative to the fixing seat 21. The motor transmission mechanism 3 includes a motor body 31 and a transmission flange 32. The motor body 31 is started by the remote control end to drive the transmission flange 32 to rotate axially to a preset position.

[0041] Figure 4 A schematic diagram of a transmission flange provided in an embodiment of the utility model.

[0042] refer to Figure 4The transmission flange 32 includes a transmission shaft 321 and a transmission ring 322. The transmission shaft 321 and the transmission ring 322 are coaxially arranged. One end of the transmission shaft 321 passes through the fixing seat 21 and is connected to the motor body 31. When the motor is started, the motor body 31 drives the transmission flange 32 to rotate in the axial direction, that is, to rotate in a direction parallel to the surface of the fixing seat 21.

[0043] refer to Figure 3 and Figure 5 In this embodiment, the motor transmission mechanism 3 further includes a connecting flange 33, which includes a first flange plate 331, a second flange plate 332 and a plurality of connecting columns 333. The first flange plate 331 is a plate-like structure with a certain thickness, and has a through hole in the middle with the same cross-sectional shape as the transmission shaft 321, which is used for assembly and connection with the transmission flange 32. After assembly, the through hole is coaxially arranged with the transmission flange 32, and the inner wall of the through hole of the first flange plate 331 abuts against the outer wall of the transmission shaft 321. The transmission flange 32 includes one end of the transmission shaft 321 passing through the through hole on the first flange plate 331 and extending between the first flange plate 321 and the second flange plate 332. The transmission shaft 321 of the transmission flange 32 abuts against the first flange plate 331 and is fixed by bolts.

[0044] When the motor is started, the motor body 31 drives the transmission flange 32 to rotate in the axial direction, and then the transmission flange 32 drives the connecting flange 33 to rotate in the direction parallel to the surface of the fixing seat 21. A plurality of screw holes are provided near the edge of the first flange plate 331, and a through hole is provided in the middle. During assembly, the first flange plate 331 can be connected to the transmission flange 32 by bolts. The second flange plate 332 has the same shape as the first flange plate 331, has a through hole in the middle, and is arranged parallel to the first flange plate 331 at a certain distance in the z-axis direction. The distance is used to accommodate the fixed end 41 of the cantilever 4.

[0045] After assembly, the first flange plate 331 and the second flange plate 332 are parallel to the surface of the fixing seat 21, and the through holes on the first flange plate 331 and the second flange plate 332 are coaxially arranged with the through holes of the transmission flange 32; the width of the first flange plate 331 and the second flange plate 332 along the y-axis direction is greater than the width of the cantilever 4 along the y-axis direction, so that the cantilever 4 can be stably and reliably fixed between the first flange plate 331 and the second flange plate 332. A plurality of connecting columns 333 of the same length are arranged between the mutually parallel first flange plates 331 and the second flange plates 332, and the two ends of the connecting columns 333 are respectively fixed to the first flange plate 331 and the second flange plate 332, and the axial direction of the connecting columns 333 is parallel to the z-axis direction. On the one hand, the multiple connecting columns 333 play a role in fixing and limiting the first flange plate 331 and the second flange plate 332, so that the first flange plate 331 and the second flange plate 332 can be kept parallel to each other and will not move relative to each other; on the other hand, the mechanical strength of the connecting flange 33 is improved, so that the connecting flange 33 will not be fixed to the cantilever 4 and the cantilever 4 will not be moved in all directions due to the stress concentration caused by the movement, which will cause the first flange plate 331 and / or the second flange plate 332 to deform or move relative to each other. The number, length, cross-sectional shape and area of ​​the connecting columns 333 are not limited in this embodiment.

[0046] refer to Figure 4 In this embodiment, the connecting flange 33 is connected to the transmission flange 32, and one end of the cantilever 4 is detachably fixed in the connecting flange 33, so that the fixed end 41 of the cantilever 4 can be stably and reliably fixed between the connecting flanges 33, and then fixed to the transmission flange 32. The transmission flange 32 can transmit the force provided by the motor body 31 to the first flange plate 331 of the connecting flange 33, thereby controlling the movement of the cantilever 4. The transmission flange 32, as a component supported and connected to the connecting flange 33, is arranged between the motor body 31 and the connecting flange 33 for transmission, thereby preventing the motor body 31 from being mechanically damaged during operation and extending the service life of the motor. When the device is used, the motor is started to provide a driving force for rotation to the transmission flange 32, thereby driving the cantilever 4 to rotate. The motor body 31 can accurately control the rotation angle and stop position of the cantilever 4 through the transmission flange 32, so that the detection device 5 rotates from the standby position to the center position of the steamer pot 6 and then stops.

[0047] In this embodiment, the rotational visual inspection device 100 further includes a stopper 23, which is disposed on both sides of the connection flange 33, connected to the first flange plate 331 of the connection flange 33 near the edge of the column 2 and the fixing seat 21, and fixed to the fixing seat 21 by bolts. The stopper 23 can limit the rotation angle of the connection flange 33, thereby controlling the movement stroke of the cantilever 4 and the inspection device 5 connected to the cantilever 4.

[0048] refer to Figure 4In this embodiment, the cantilever 4 is a component with a certain length, fixing the detection device 5. The length of the cantilever 4 extends along the x-axis direction, and the end close to the column 2 is the fixed end 41, which is placed between the first flange plate 331 and the second flange plate 332 of the connecting flange 33, and the other end away from the column 2 is the free end 42, and the free end 42 is installed with the detection device 5. The detection device 5 is located above the steamer pot 6 in the working state. The end of the cantilever 4 close to the column 2 is driven by the motor transmission mechanism 3 installed on the fixed seat 21, so that it can rotate relative to the fixed seat 21.

[0049] In this embodiment, the free end 42 of the cantilever 4 can be moved around the fixed end 41 along Figure 4 The xy plane shown in the figure can rotate by an angle of 180°, and the detection device 5 rotates with the rotation of the free end 42, so that the detection of multiple steamers 6 can be taken into consideration. Figure 5 In this embodiment, the detection device 5 includes an infrared unit 51 and a distance measuring unit 52. Specifically, the infrared unit 51 is an infrared thermal imager, which is used to collect the temperature distribution of the surface of the wine lees in the steamer 6. Through the infrared radiation emitted by the surface of the wine lees in the steamer 6, the corresponding infrared image information is generated in real time according to the temperature difference of the object surface, and the position and size of the area to be spread are calculated in real time according to the acquired infrared image. Specifically, the distance measuring unit 52 is set as a laser radar, which is used to test the 3D height distribution data of the wine lees in the steamer 6. In the working state, the transmitting end of the laser radar emits a laser beam to the wine lees in the steamer 6. After the laser beam contacts the surface of the wine lees, it is refracted back and received by the sensor. The distance of the measured target is measured by directly calculating the time difference between the emission and reception of the laser, thereby obtaining the point cloud data of the wine lees surface, including reflectivity, coordinate information and marking information, and transmitting the information to the controller, so that the matching steamer equipment can spread the material according to the shape and distribution of the wine lees in the steamer 6. The priority of spreading the material is lower than the detection result of the infrared unit 51.

[0050] The laser radar has a wider field of view, and can detect both near and far objects. It can switch between repeated scanning and non-repetitive scanning modes, provide a higher density point cloud, and has faster scanning and data processing speeds. It can detect 3D data within the entire effective cross-sectional range, avoiding the limited detection range of ultrasonic ranging of ordinary ranging cameras. It can detect 3D data within the entire effective cross-sectional range. At the same time, the laser radar prevents the presence of non-detectable objects in the detection range from affecting the detection results, and avoids inaccurate height data due to interference.

[0051] Combined with the detection feedback results of the infrared unit 51 and the distance measuring unit 52, the temperature distribution and height distribution of the surface of the target object can be accurately reflected in real time. When the detection device 5 is mounted on the rotating visual detection device 100, the rotating visual detection device 100 can obtain the real-time material surface situation according to the above detection feedback data analysis and control the steaming operation according to the real-time material surface situation, thereby achieving uniform and efficient steaming operation.

[0052] The detection equipment provided in this embodiment is based on an infrared thermal imager as the core and a laser radar height measurement as the auxiliary. Through the combination of the infrared thermal imager and the laser radar, it is possible to simultaneously collect information such as images, the highest temperature point, and three-dimensional coordinates, and monitor the temperature of the wine lees and the material surface height in the steamer 6 in real time, so that the automated steamer-laying equipment used in conjunction with the rotating visual inspection device 100 can evenly lay the wine lees in the steamer 6. This embodiment replaces the workers' judgment by eyes and experience, is more accurate and stable, and has a faster processing speed, effectively avoiding the high intensity of manual inspection of steamer-laying work, poor environment, and the product quality depends entirely on the workers' experience, which has the risk of instability.

[0053] refer to Figure 5 In this embodiment, the infrared unit 51 and the distance measuring unit 52 in the detection device 5 are detachably mounted on the free end 42 of the cantilever 4 away from the motor transmission mechanism 3 through a fixing member 53, and the fixing member 53 is set as a U-shaped mounting plate. The U-shaped mounting plate is set on the lower end surface of the cantilever 4, and has an upper plate and a side plate. The upper plate has a support member 531, which wraps the side of the free end 42 of the cantilever 4; the side plate is provided with screw holes for fastening the detection device 5 to the mounting plate by screws, and then firmly connected to the cantilever 4. This embodiment is conducive to the installation, parts replacement and maintenance of the detection device 5.

[0054] The above are only preferred implementation modes of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rotating visual inspection device for inspecting a steamer, characterized in that: include: Base; A column, arranged on the base, wherein a fixing seat is installed at one end of the column away from the base; A motor transmission mechanism is mounted on the fixing seat; A cantilever arm is rotatable relative to the fixing seat, wherein the rotation is driven by the motor transmission mechanism; The detection device is installed at one end of the cantilever away from the motor transmission mechanism.

2. The rotational visual inspection device according to claim 1, characterized in that: The motor transmission mechanism further comprises a motor body and a transmission flange, wherein the transmission flange is connected to the output shaft of the motor body, and the motor body drives the transmission flange to rotate in a direction parallel to the surface of the fixing seat.

3. The rotational visual inspection device according to claim 2, characterized in that: The motor transmission mechanism further comprises a connecting flange connected to the transmission flange, and one end of the cantilever is detachably fixed in the connecting flange.

4. The rotational visual inspection device according to claim 3, characterized in that: The connecting flange comprises: A first flange plate connected to the transmission flange by bolts; A second flange plate, arranged parallel to the first flange plate; A plurality of connecting columns, two ends of which are respectively fixed to the first flange plate and the second flange plate.

5. The rotational visual inspection device according to claim 4, characterized in that: It also includes a limiting member, which is arranged on both sides of the connecting flange, and the limiting member is fixed to the fixing seat by bolts.

6. The rotational visual inspection device according to claim 5, characterized in that: The detection device comprises an infrared unit and a distance measuring unit, which are detachably mounted on one end of the cantilever away from the motor transmission mechanism through fixing members.

7. The rotational visual inspection device according to claim 6, characterized in that: The distance measuring unit is configured as a laser radar.

8. The rotational visual inspection device according to claim 7, characterized in that: It also includes a plurality of universal feet, which are installed on a side of the base away from the column.

9. The rotational visual inspection device according to claim 8, characterized in that: It also includes one or more equipment fixing seats, which are installed on the side of the column away from the fixing seat.

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