Multi-degree-of-freedom cooperative control motion platform

Through the design of the multi-degree-of-freedom collaborative control motion platform, the full range of automated detection of the bottle body is realized, the problem of low manual detection accuracy is solved, the detection accuracy and reliability are improved, and the equipment cost is reduced.

CN223259590UActive Publication Date: 2025-08-22XUHAI COLLEGE CHINA UNIV OF MINING & TECH
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Patent Information

Application Number
CN202422430344.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-10-09
Publication Date
2025-08-22
Estimated Expiration
2034-10-09

AI Technical Summary

Technical Problem

In the prior art, the detection of bottle body defects relies on manual naked eye recognition, has low degree of automation, has a great impact on the detection quality, and it is difficult to detect tiny hole punching points under the bottle label.

Method used

A multi-degree-of-freedom coordinated control motion platform is designed, including an X-ray receiver, an X-ray source, an external camera and multiple motors. The motor drives the rotation, tilt and movement of the wine bottle, and combines X-ray detection and camera scanning to achieve all-round automated detection.

Benefits of technology

It realizes all-round automatic detection of the bottle body, improves the accuracy and reliability of the detection, can accurately identify tiny hole punching points, and reduces equipment costs.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model belongs to the technical field of visual identification, and particularly relates to a multi-degree-of-freedom cooperative control motion platform which comprises an aluminum frame, an X-ray receiving plate support and an X-ray source support. According to the multi-degree-of-freedom cooperative control motion platform provided by the utility model, an operator adjusts the window width, the window position and the position movement, so that the contrast ratio of screw thread imaging at a wine bottle cap is better, the display is clearer, and the operator judges whether the wine is a topped wine or not according to whether the screw thread is deformed or not; when punching wine detection is carried out, the X-ray source radiates X-rays, the X-ray source detects a wine bottle from the lower portion and then from the upper portion, detection is finished, the X-ray source is automatically closed, a detection result pops up, and the device recognizes and marks the difference between the chromatic aberration and the color gradation of imaging of a punching point on the X-ray receiving plate and the periphery of the wine bottle. An operator further confirms the position of a punching point in combination with an image scanned by an external camera, and a cooling fan is arranged to be used for cooling the X-ray receiving plate.
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Description

Technical Field

[0001] The utility model belongs to the technical field of visual recognition, in particular to a multi-freedom collaborative control motion platform. Background Art

[0002] Kweichow Moutai is a typical representative of sauce-flavored liquor, and its production is highly dependent on its place of origin.

[0003] In the current existing technology:

[0004] Currently, the development of non-destructive testing technology and wine identification technology mostly rely on manual labor. Bottle defect detection requires manual visual identification, with a low degree of automation. The quality of detection is greatly affected by experience, and the reference and reliability of the detection results are low. There is no automated detection method for bottle defects.

[0005] The wine bottle body can be punched with a minimum diameter of 0.1mm. The punching points are mostly located below the label, which is difficult for the human eye to observe. In addition, there is a phenomenon of filling the punching position. After filling, the punching point can only be seen at a certain fixed angle. It is impossible to manually detect the fine punching under the bottle label.

[0006] Therefore, a multi-degree-of-freedom collaborative control motion platform is proposed to address the above problems. Utility Model Content

[0007] In order to make up for the shortcomings of the existing technology and solve the above problems, a multi-degree-of-freedom collaborative control motion platform is proposed.

[0008] The technical solution adopted by the present invention to solve its technical problems is: the multi-degree-of-freedom collaborative control motion platform described in the present invention includes an aluminum frame, an X-ray receiving plate bracket and an X-ray source bracket, the X-ray receiving plate bracket is arranged on the left side of the top of the aluminum frame, the X-ray source bracket is arranged on the right side of the top of the aluminum frame, an X-ray receiving plate is arranged above the X-ray receiving plate bracket, a connecting frame is arranged behind the X-ray receiving plate, four cooling fans are arranged inside the connecting frame, an external camera is arranged behind the X-ray receiving plate bracket, and an X-ray source is arranged above the X-ray source bracket.

[0009] Preferably, the aluminum frame is movably connected to the X-ray receiving plate bracket and the X-ray source bracket respectively, the X-ray receiving plate bracket is fixedly connected to the X-ray receiving plate, the X-ray receiving plate bracket is fixedly connected to the connecting frame, the connecting frame is fixedly connected to the cooling fan, the X-ray receiving plate bracket is fixedly connected to the external camera, and the X-ray source bracket is fixedly connected to the X-ray source.

[0010] Preferably, a horizontal bracket is provided in the middle of the rear of the aluminum frame, a transverse screw rod is provided inside the horizontal bracket, an input end of the transverse screw rod is connected to a first motor, and a screw rod slide is provided on the outside of the transverse screw rod.

[0011] Preferably, the aluminum frame is fixedly connected to the horizontal bracket, the first motor is fixedly connected to the transverse screw rod, and the transverse screw rod is threadedly matched with the screw rod slide.

[0012] Preferably, a vertical bracket is provided on the top of the screw slide, a supporting screw is provided inside the vertical bracket, an input end of the supporting screw is connected to a second motor, and a screw sleeve block is provided on the outside of the supporting screw.

[0013] Preferably, the screw slide is fixedly connected to the vertical bracket, the second motor is fixedly connected to the support screw, and the support screw is threadedly matched with the screw sleeve block.

[0014] Preferably, a first rotating platform is provided in front of the screw sleeve block, the first rotating platform includes a stepping motor and an encoder, an L-shaped receiving plate is provided in front of the first rotating platform, a second rotating platform is provided on the top of the L-shaped receiving plate, the second rotating platform includes a second stepping motor and a second encoder, and a wine bottle holder is provided above the second rotating platform.

[0015] Preferably, the screw sleeve block is fixedly connected to the first rotating table, the first rotating table is fixedly connected to the L-shaped receiving plate, the L-shaped receiving plate is fixedly connected to the second rotating table, and the second rotating table is fixedly connected to the wine bottle holder.

[0016] Beneficial effects of the utility model:

[0017] The utility model provides a multi-degree-of-freedom collaborative control motion platform. By placing the wine bottle to be inspected on a wine bottle holder, the second rotating platform consists of a stepping motor and an encoder, which is installed on an L-shaped receiving plate, and can realize 360-degree rotation of the wine bottle. The first rotating platform consists of another stepping motor and another encoder, which is fixedly connected to the screw sleeve block. The tilt of the wine bottle is realized through the L-shaped receiving plate, so that the bottle body can be scanned in all directions by an external camera. After the scan, it will be compared with the appearance of the wine bottle in the database to identify the counterfeit problem in the appearance of the bottle body.

[0018] The utility model provides a multi-degree-of-freedom cooperative control motion platform. The second motor is started to drive the support screw to rotate, and the screw sleeve is driven to move up and down under the action of the thread to adjust the vertical position of the wine bottle. The detection is divided into two parts for scanning, and the vertical moving platform is added to reduce the volume of the X-ray source and the X-ray receiving plate, thereby reducing the equipment cost.

[0019] The utility model provides a multi-degree-of-freedom coordinated control motion platform. The first motor is started to drive the transverse screw to rotate, and the screw thread pushes the screw slide to move left and right under the action of the thread, thereby adjusting the distance between wine bottles of different specifications and the X-ray source to make the imaging clearer.

[0020] The utility model provides a multi-degree-of-freedom collaborative control motion platform. When inspecting wine bottles, the X-ray source is automatically turned on, and the operator adjusts the window width, window position and position to make the contrast of the screw thread imaging at the wine bottle cap better and the display clearer. The operator determines whether the wine is top-drained by whether the screw thread is deformed; when inspecting punched wine, X-rays are radiated by the X-ray source, and the X-ray source inspects the wine bottle from the bottom, then the top. After the inspection is completed, the X-ray source is automatically turned off and the inspection result pops up. The equipment identifies the punch point on the X-ray receiving board through the color difference and color level of the image formed by the punch point, which are different from those around the wine bottle, and marks it. The operator further confirms the position of the punch point in combination with the image scanned by the external camera, and sets a cooling fan for heat dissipation of the X-ray receiving board. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a three-dimensional diagram of the utility model;

[0023] Figure 2 It is a three-dimensional diagram of the utility model as a whole disassembled;

[0024] Figure 3 It is a three-dimensional diagram of the X-ray receiving plate bracket of the utility model;

[0025] Figure 4 This is a three-dimensional diagram of the X-ray source bracket of the utility model;

[0026] Figure 5 It is a three-dimensional diagram of the horizontal bracket and the vertical bracket of the utility model.

[0027] Legend:

[0028] 1. Aluminum frame; 2. X-ray receiving plate bracket; 3. X-ray receiving plate; 4. Cooling fan; 5. External camera; 6. X-ray source bracket; 7. X-ray source; 8. Horizontal bracket; 9. Horizontal screw; 10. First motor; 11. Screw slide; 12. Vertical bracket; 13. Support screw; 14. Second motor; 15. Screw sleeve; 16. First turntable; 17. Second turntable; 18. Wine bottle holder; 19. Connecting frame; L-shaped receiving plate. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Specific examples are given below.

[0031] See also Figure 1-Figure 4 The utility model provides a multi-degree-of-freedom collaborative control motion platform, including an aluminum frame 1, an X-ray receiving plate bracket 2 and an X-ray source bracket 6. The X-ray receiving plate bracket 2 is arranged on the left side of the top of the aluminum frame 1, and the X-ray source bracket 6 is arranged on the right side of the top of the aluminum frame 1. An X-ray receiving plate 3 is arranged above the X-ray receiving plate bracket 2, and a connecting frame 19 is arranged behind the X-ray receiving plate 3. Four cooling fans 4 are arranged inside the connecting frame 19, an external camera 5 is arranged behind the X-ray receiving plate bracket 2, and an X-ray source 7 is arranged above the X-ray source bracket 6. The aluminum frame 1 is movably connected with the X-ray receiving plate bracket 2 and the X-ray source bracket 6 respectively, the X-ray receiving plate bracket 2 is fixedly connected to the X-ray receiving plate 3, the X-ray receiving plate bracket 2 is fixedly connected to the connecting frame 19, the connecting frame 19 is fixedly connected to the cooling fan 4, the X-ray receiving plate bracket 2 is fixedly connected to the external camera 5, and the X-ray source bracket 6 is fixedly connected to the X-ray source 7.

[0032] During operation, the X-ray source 7 automatically turns on, and the operator adjusts the window width, window position and position to make the contrast of the image of the screw threads at the bottle cap better and the display clearer. The operator determines whether it is a top-drained wine by whether the screw threads are deformed; X-rays are radiated by the X-ray source 7, and the X-ray source 7 starts to detect the wine bottle from the bottom, then the top. After the detection is completed, the X-ray source 7 automatically turns off and the detection result pops up. The equipment recognizes the color difference and color level of the image of the punching point on the X-ray receiving plate 3, which are different from those around the wine bottle, and marks it. The operator further confirms the position of the punching point in combination with the image scanned by the external camera 5, and sets the cooling fan 4 to dissipate heat from the X-ray receiving plate 3.

[0033] Further, such as Figure 1 , Figure 2 and Figure 5As shown, a horizontal bracket 8 is provided in the middle of the rear of the aluminum frame 1, a transverse screw rod 9 is provided inside the horizontal bracket 8, the input end of the transverse screw rod 9 is connected to the first motor 10, and the outer sleeve of the transverse screw rod 9 is provided with a screw rod slide 11, the aluminum frame 1 is fixedly connected to the horizontal bracket 8, the first motor 10 is fixedly connected to the transverse screw rod 9, and the transverse screw rod 9 is threadedly matched with the screw rod slide 11.

[0034] During operation, the first motor 10 starts to drive the horizontal screw 9 to rotate, and under the action of the thread, the screw slide 11 is pushed to move left and right, thereby adjusting the distance between wine bottles of different specifications and the X-ray source 7 to make the imaging clearer.

[0035] Further, such as Figure 1 , Figure 2 and Figure 5 As shown, a vertical bracket 12 is provided on the top of the screw slide 11, a supporting screw 13 is provided inside the vertical bracket 12, the input end of the supporting screw 13 is connected to the second motor 14, and a screw sleeve block 15 is provided on the outside of the supporting screw 13. The screw slide 11 is fixedly connected to the vertical bracket 12, the second motor 14 is fixedly connected to the supporting screw 13, and the supporting screw 13 is threadedly matched with the screw sleeve block 15.

[0036] During operation, the second motor 14 starts to drive the support screw 13 to rotate, and under the action of the thread, the screw sleeve 15 moves up and down, adjusting the vertical position of the wine bottle, and dividing the detection into upper and lower parts for scanning.

[0037] Further, such as Figure 1 , Figure 2 and Figure 5 As shown, a first rotating platform 16 is provided in front of the screw sleeve block 15, and the first rotating platform 16 includes a stepping motor and an encoder. An L-shaped receiving plate 20 is provided in front of the first rotating platform 16, and a second rotating platform 17 is provided on the top of the L-shaped receiving plate 20. The second rotating platform 17 includes a second stepping motor and a second encoder, and a wine bottle holder 18 is provided above the second rotating platform 17. The screw sleeve block 15 is fixedly connected to the first rotating platform 16, the first rotating platform 16 is fixedly connected to the L-shaped receiving plate 20, the L-shaped receiving plate 20 is fixedly connected to the second rotating platform 17, and the second rotating platform 17 is fixedly connected to the wine bottle holder 18.

[0038] During operation, the wine bottle to be inspected is placed on the wine bottle holder 18. The first rotating platform 16 is composed of a stepper motor and an encoder, which is fixedly connected to the screw sleeve 15. The tilt of the wine bottle is achieved through the L-shaped receiving plate 20. The second rotating platform 17 is composed of a second stepper motor and a second encoder, which is installed on the L-shaped receiving plate 20. It can achieve 360° rotation of the wine bottle, so that the bottle body can be scanned in all directions through the external camera 5. After scanning, it will be compared with the appearance of the wine bottle in the database to identify any counterfeiting problems in the appearance of the bottle.

[0039] Working principle:

[0040] First, the wine bottle to be inspected is placed on the wine bottle holder 18. The second rotating platform 17, consisting of a stepper motor and an encoder, is installed on the L-shaped receiving plate 20 and can achieve 360-degree rotation of the wine bottle. The first rotating platform 16, consisting of another stepper motor and another encoder, is fixedly connected to the screw sleeve 15. The wine bottle is tilted through the L-shaped receiving plate 20, so that the external camera 5 can perform a full-scale scan of the bottle body. After the scan, it will be compared with the appearance of the wine bottle in the database to identify the counterfeit problem in the appearance of the bottle body.

[0041] Secondly, the second motor 14 starts to drive the support screw 13 to rotate, and under the action of the thread, the screw sleeve 15 moves up and down, adjusting the vertical position of the wine bottle, dividing the inspection into two parts for scanning, and adding a vertical moving platform to reduce the volume of the X-ray source 7 and the X-ray receiving plate 3, thereby reducing the cost of the equipment;

[0042] Subsequently, the first motor 10 starts to drive the horizontal screw 9 to rotate, and under the action of the thread, the screw slide 11 moves left and right, thereby adjusting the distance between the wine bottles of different specifications and the X-ray source 7 to make the imaging clearer;

[0043] Finally, when inspecting wine bottles, the X-ray source 7 automatically turns on, and the operator adjusts the window width, window position and position to make the contrast of the threaded screw image at the bottle cap better and the display clearer. The operator determines whether it is a top-drained wine by whether the threaded screw is deformed; when inspecting punched wine, X-rays are radiated by the X-ray source 7, and the X-ray source 7 inspects the wine bottle from the bottom, then the top. After the inspection is completed, the X-ray source 7 automatically turns off and the inspection result pops up. The equipment recognizes the punching point by the color difference and color level of the image on the X-ray receiving plate 3, which are different from those around the wine bottle, and marks it. The operator further confirms the position of the punching point in combination with the image scanned by the external camera 5, and sets the cooling fan 4 to dissipate heat from the X-ray receiving plate 3.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention as claimed.

Claims

1. A multi-degree-of-freedom collaborative control motion platform, comprising an aluminum frame (1), an X-ray receiving plate bracket (2) and an X-ray source bracket (6), characterized in that: An X-ray receiving plate bracket (2) is provided on the left side of the top of the aluminum frame (1), an X-ray source bracket (6) is provided on the right side of the top of the aluminum frame (1), an X-ray receiving plate (3) is provided above the X-ray receiving plate bracket (2), a connecting frame (19) is provided behind the X-ray receiving plate (3), four cooling fans (4) are provided inside the connecting frame (19), an external camera (5) is provided behind the X-ray receiving plate bracket (2), and an X-ray source (7) is provided above the X-ray source bracket (6).

2. The multi-degree-of-freedom cooperative control motion platform according to claim 1, characterized in that: The aluminum frame (1) is movably connected to the X-ray receiving plate bracket (2) and the X-ray source bracket (6), respectively; the X-ray receiving plate bracket (2) is fixedly connected to the X-ray receiving plate (3); the X-ray receiving plate bracket (2) is fixedly connected to the connecting bracket (19); the connecting bracket (19) is fixedly connected to the cooling fan (4); the X-ray receiving plate bracket (2) is fixedly connected to the external camera (5); and the X-ray source bracket (6) is fixedly connected to the X-ray source (7).

3. The multi-degree-of-freedom cooperative control motion platform according to claim 1, characterized in that: A horizontal bracket (8) is provided in the middle of the rear of the aluminum frame (1), a transverse screw rod (9) is provided inside the horizontal bracket (8), an input end of the transverse screw rod (9) is connected to a first motor (10), and a screw rod slide (11) is provided outside the transverse screw rod (9).

4. The multi-degree-of-freedom cooperative control motion platform according to claim 3, characterized in that: The aluminum frame (1) is fixedly connected to the horizontal bracket (8), the first motor (10) is fixedly connected to the transverse screw rod (9), and the transverse screw rod (9) is threadedly matched with the screw rod slide (11).

5. The multi-degree-of-freedom cooperative control motion platform according to claim 3, characterized in that: A vertical bracket (12) is provided on the top of the screw slide (11), a supporting screw (13) is provided inside the vertical bracket (12), an input end of the supporting screw (13) is connected to a second motor (14), and a screw sleeve block (15) is provided outside the supporting screw (13).

6. The multi-degree-of-freedom cooperative control motion platform according to claim 5, characterized in that: The screw slide (11) is fixedly connected to the vertical bracket (12), the second motor (14) is fixedly connected to the support screw (13), and the support screw (13) is threadedly matched with the screw sleeve block (15).

7. The multi-degree-of-freedom cooperative control motion platform according to claim 5, characterized in that: A first rotating platform (16) is provided in front of the screw sleeve block (15), and the first rotating platform (16) includes a stepping motor and an encoder. An L-shaped receiving plate (20) is provided in front of the first rotating platform (16), and a second rotating platform (17) is provided on the top of the L-shaped receiving plate (20). The second rotating platform (17) includes a second stepping motor and a second encoder. A wine bottle holder (18) is provided above the second rotating platform (17).

8. The multi-degree-of-freedom cooperative control motion platform according to claim 7, characterized in that: The screw sleeve block (15) is fixedly connected to the first rotating platform (16), the first rotating platform (16) is fixedly connected to the L-shaped receiving plate (20), the L-shaped receiving plate (20) is fixedly connected to the second rotating platform (17), and the second rotating platform (17) is fixedly connected to the wine bottle bracket (18).