CN101704245B - Bottle catching mechanical hand for use in detection of visible foreign matters in bottled liquid medicaments - Google Patents
Bottle catching mechanical hand for use in detection of visible foreign matters in bottled liquid medicaments Download PDFInfo
- Publication number
- CN101704245B CN101704245B CN2009103107029A CN200910310702A CN101704245B CN 101704245 B CN101704245 B CN 101704245B CN 2009103107029 A CN2009103107029 A CN 2009103107029A CN 200910310702 A CN200910310702 A CN 200910310702A CN 101704245 B CN101704245 B CN 101704245B
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- Prior art keywords
- bottle
- arm
- clamping
- guide roller
- foreign matters
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- 239000007788 liquid Substances 0.000 title claims abstract description 30
- 239000003814 drug Substances 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 230000000694 effects Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 13
- 238000012360 testing method Methods 0.000 description 9
- 238000007689 inspection Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 239000003708 ampul Substances 0.000 description 2
- 239000006196 drop Substances 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003889 eye drop Substances 0.000 description 2
- 229940012356 eye drops Drugs 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- JGSARLDLIJGVTE-UHFFFAOYSA-N 3,3-dimethyl-7-oxo-6-[(2-phenylacetyl)amino]-4-thia-1-azabicyclo[3.2.0]heptane-2-carboxylic acid Chemical compound O=C1N2C(C(O)=O)C(C)(C)SC2C1NC(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Abstract
The invention discloses a bottle catching mechanical hand for use in the detection of visible foreign matters in bottled liquid medicaments, which comprises a guide roller and directional part and a rotating part, wherein the guide roller and directional part and the rotating part are sequentially arranged from top down; the guide roller and directional part comprises a guide roller, a directional roller, a directional and dynamic balance weight; the upper end of the guide roller is provided with a positioning end gasket; the side wall of the guide roller is provided with the directional and dynamic balance weight and the directional roller; the rotating part comprises a rotating arm and a clamping part; the upper end of the rotating arm is connected with the guide roller and the lower end of the rotating arm is connected with the clamping part; the clamping part comprises a clamping roller, a dynamic arm, a static arm and a clamping arm power part; the dynamic arm is connected with the clamping arm power part through a clamping arm shaft; and the rotating part is connected with the positioning part through the rotating arm and the guide roller and rotates around the positioning part. The mechanical hand is suitable to be used in the detection of the visible foreign matters in existing small-volume bottled liquid medicaments, has the advantages of simple structure, good detection effect, safety, reliability and the like and has a wide application range.
Description
Technical field
The present invention relates to the bottle catching mechanical hand of the on-line vision detection device for visual foreign body in a kind of bottling liquid, relate in particular to the bottle catching mechanical hand of the on-line vision detection device for visual foreign body in a kind of low capacity bottling liquid.
Background technology
At present; Usually adopt the form can of vial or plastic bottle at the widely used injection of China, oral liquid, eye drops etc.; These products are not good owing to filtering in process of production, reason such as collision when container cleans not good, encapsulation; Might make visible foreign matters such as having chips of glass, suspension, hair in the liquid,, need carry out visible foreign matters to each bottle medicine and detect in order to detect in the liquid after the can whether sneak into visible foreign matters.To liquid drug, China's pharmacopeia promptly stipulated to carry out clarity detection and particulate matter inspection from 1985 to the detection of this similar drug, and foreign matter in the medicine and particulate are carried out strictness control." Chinese pharmacopoeia version in 2005 is " visible foreign matters inspection technique " with former " clarity test detailed rules and regulations and criterion " revision; Visible foreign matters is meant and is present in injection, the eye drops; The visual insoluble substance that can observe under rated condition, its particle diameter or length are usually greater than 50um.The visible foreign matters inspection technique has lamp test and light scattering method, generally in order to guarantee that online in real time detects the normal lamp test that adopts.Along with " GMP " (Good Manufacture Practice; GMP) popularization of authentication; China's medicine is produced equipment and checkout equipment automation and intelligent level and is greatly improved; The full-automatic lamp inspection machine that the medicine visible foreign matters detects has appearred being used for; Chinese invention patent " injection with small volume or oral liquid foreign body automatic inspecting machine " (number of patent application: 200810032132.7, publication number CN101368916A) a kind of method and apparatus that detects impurities in low capacity ampoule or the oral liquid is disclosed, this detection method is that the bottle acceleration rotation that utilizes the drive unit driving at the uniform velocity to advance reaches setting speed; Fast braking then; The image of shot detection liquid is also analyzed, and rejects signal when occurring producing when unusual, utilizes the checkout gear of this method design to comprise frame, bottle feeding device, goes out bottle, inspection center's rotating disk, checkout gear, analysis and Control module etc.Wherein inspection center's rotating disk comprises a plurality of medicine bottle clamping devices and the corresponding a plurality of brake gear that can brake each clamping device; This medicine clamping device comprises base for supporting and top ram; Top ram is connected with lowering or hoisting gear through sliding bar and stage clip thereof, to reach the purpose that compresses medicine bottle; When bottle compresses and arrives when revolving bottle position, the electric rotating machine high speed rotating of whirligig also drives the base for supporting of bottle; After bottle got into the image taking district, the base for supporting of brake gear braking bottle stopped the rotation medicine.But; Because this bottle clamping device is made up of two parts, broken bottle phenomenon when bottle moves, very likely can occur, and whirligig only drives the part motion of bottle gripper; When bottle rotates at a high speed; Centre of gyration line might rock, and causes the liquid in the bottle to produce great amount of bubbles, and the existence of this bubble will reduce the detection quality greatly and increase false drop rate.
Summary of the invention
Technical problem to be solved by this invention provides a kind of medicine bottle can be not broken, thereby medicine can not produce the bottle catching mechanical hand that the bottled liquid medicine visible foreign matters detects that is used for that bubble can not influence testing result in rotary course.
In order to solve the problems of the technologies described above; The bottle catching mechanical hand that is used for the detection of bottled liquid medicine visible foreign matters provided by the invention; The top of turning arm and middle part are installed on the bearing block through the clutch shaft bearing and second bearing respectively; Described bearing block is fixedly mounted on the rotation platform through location-plate, and described turning arm upper end is fixedly connected with guide and positioning end pad, and the lower end is fixedly connected with hold assembly; The upper portion side wall of described guide is provided with directed and dynamic balance weight piece, and at least 2 directed rollers circumferentially are evenly distributed on the upper portion side wall of described guide; Described hold assembly is provided with the clamping tube, and the bottom of described clamping tube is provided with quiet arm, the coaxial jig arm axle that can rotate above that is provided with in the described clamping tube; The lower end of described jig arm axle is provided with swing arm; Described swing arm side is provided with alignment pin, and described swing arm, alignment pin and quiet arm cooperate can clamp medicine bottle, and described jig arm axle upper end is fixed with U type piece; The end of described U type piece is provided with roller; Torsion spring set is contained on the described jig arm axle, and an end is fixed on the described jig arm axle, and the other end is fixed on the described hold assembly.
Described clutch shaft bearing is first deep groove ball bearing, and described second bearing is second deep groove ball bearing, and described roller is the 3rd deep groove ball bearing.
The present invention has following advantage:
1, simple in structure, detection quality height.General bottled clamping device causes bottle to occur off-centre when rotated and swing owing to its complex structural designs easily, causes the liquid in the bottle to produce great amount of bubbles, and the existence of this bubble will reduce the detection quality greatly and increase false drop rate.The present invention adopts integral type to grab bottle structure, can detect multiple column type bottling liquid clamping rotations such as existing ampoule, cillin bottles, and applicability is wide.The present invention has also disposed the dynamic balancing element to manipulator, thus the stability when having guaranteed the bottle rotation, the generation of having stopped liquid bubble, the image detection precision can reach 20um.
2, safe and reliable.Existing clamping device is designed to top-down two-part structure, and bottle of the present invention grasps whirligig and adopted integral structure, when guaranteeing the bottle smooth rotation, can not cause bottle off-centre to cause bottle explosion.
Description of drawings
Fig. 1 is the structural representation of bottle catching mechanical hand of the present invention;
Fig. 2 is along C-C line cut-away view among Fig. 1;
Fig. 3 is along B-B line cut-away view among Fig. 1;
Fig. 4 is along A-A line cut-away view among Fig. 1.
The specific embodiment
Below combination figure and practical implementation process are explained further details to the present invention:
Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4; The top of turning arm 17 and middle part are installed on the bearing block 10 through first deep groove ball bearing 9 and second deep groove ball bearing 14 respectively; On turning arm 17, be provided with Type B circlip for shaft 15, bearing block 10 adopts hexagon socket cap head screw 11 and plain washer 12 to be fixedly mounted on rotation platform 29 through location-plate 13; The upper end of turning arm 17 is fixedly connected with guide 5 through flat key 3; Positioning end pad 1 is connected to the top of turning arm 17 through hexagon socket cap head screw 2; The lower end of turning arm 17 is fixedly connected with hold assembly 30; The upper portion side wall of guide 5 is fixedly connected with directed and 4,3 directed rollers 7 of dynamic balance weight piece through first straight pin 6 and circumferentially is evenly distributed on the sidewall of guide 5 through second straight pin 8 respectively and rotates around second straight pin 8 respectively; Hold assembly 30 is provided with clamping tube 31, and the bottom of clamping tube 31 is provided with quiet arm 26, and clamping tube 31 is interior through the composite bearing 24 coaxial jig arm axles 16 that can rotate above that are provided with; The lower end of jig arm axle 16 is provided with swing arm 25; Swing arm 25 sides are provided with alignment pin 27, and swing arm 25, alignment pin 27 and quiet arm 26 cooperate clamping bottle 28, and jig arm axle 16 upper ends are fixed with U type piece 18 through three cylindrical pin 20; The end of U type piece 18 is provided with the 3rd deep groove ball bearing 19 through the 4th straight pin 21; Torsion spring 22 is sleeved on the jig arm axle 16, and an end is fixed on jig arm axle 16, and the other end is fixedly mounted on hold assembly 30 through the 5th straight pin 23.
Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, the course of work of the present invention:
The operation principle of the visible foreign matters checkout gear of bottled liquid medicine is: utilize folder bottle machinery to hold the anxious principle of stopping a track up multiframe product image of bottle one rotation in hand and detect in the bottling liquid whether contain visible foreign matters, according to the result of image detection mechanism product is classified.The concrete course of work is: folder bottle manipulator at the uniform velocity turns round until this tested bottle with rational speed around the rotary table central axis from tested bottle of bottle feeding device clamping and arrives out bottle through stranding bottle, brake apparatus, track up device; Rub bottle driving bottle with the hands around self axis uniform acceleration rotation, reach setting value, and the driving bottle keeps and should continue at the uniform velocity to rotate by the setting rotating speed until rotating speed; Brake apparatus carries out fast braking to the rotation bottle in very short time; And through the red spot light of high-brightness LED from bottle body bottom to the bottle visible emitting; Simultaneously, after the brake apparatus action, from the bottle side bottle is repeatedly taken pictures by a video camera that is fixed on the workbench; Then multiple image is delivered to image processing system, whether contain foreign matter in mutual comparison through multiple image and the image processing and detecting liquid; When testing result showed that liquid contains foreign matter, the control system provides to be rejected signal and triggers rejecting mechanism; When in testing result shows liquid, not having foreign matter, rejecting mechanism is failure to actuate, and tested bottle is sent to the qualified products conveyer belt.
The effect of bottle clamping manipulator of the present invention in the visible foreign matters checkout gear of bottled liquid medicine is with the bottle clamping and is with it to begin from bottle feeding device, accomplishes and quickens, brakes, takes pictures, and arrive out bottle, and the course of work that has is following:
1, grabs a bottle process: when bottle catching mechanical hand appears at the bottle feeding device place; U type piece 18 on the jacking block mechanical device promotion robot that is provided with; The jig arm axle 16 that the action of U type piece 18 drives in the manipulator rotates; When jig arm axle 16 turned to certain position, swing arm 25 was opened fully, and bottle gets in the clamping tube 31.
2, clamping process: after in bottle gets into clamping tube 31, the U type piece 18 on the clamping manipulator breaks away from the jacking block mechanical devices, thereby jig arm axle 16 returns to the state of grabbing before the bottle under the reaction force of torsion spring 22, and bottle firmly is fastened in the clamping tube 31 at this moment.Because the quiet arm 26 of manipulator is reasonable in design with swing arm 25 moulds and the effect of torsion spring 22, can guarantee bottle 28 fully in clamping process, the pressure size to fit that receives, even can broken bottle thereby guaranteed.
3, high speed rotary course: after manipulator grasps bottle 28; Manipulator at the uniform velocity turns round until this tested bottle with rational speed around the rotary table central axis and arrives the stranding bottle; At this moment, rub bottle with the hands and act on positioning end pad 1 and drive manipulator accelerations that rub, bottle 28 rotates around self axis; Reach setting value until rotating speed, and driving bottle 28 keeps and should continue at the uniform velocity to rotate by the setting rotating speed.
4, braking and image detection process: after manipulator is accomplished rotation at a high speed; Manipulator gets into brake area; Brake apparatus acts on 1 pair on positioning end pad rotation bottle 28 and carries out fast braking in very short time, and through the red spot light of high-brightness LED from bottle 28 bottoms to the bottle visible emitting, simultaneously; After the brake apparatus action, from the bottle side bottle 28 is repeatedly taken pictures by a video camera that is fixed on the workbench; Then multiple image is delivered to image processing system, whether contain foreign matter in mutual comparison through multiple image and the image processing and detecting liquid; When testing result showed that liquid contains foreign matter, the control system provides to be rejected signal and triggers rejecting mechanism; When in testing result shows liquid, not having foreign matter, rejecting mechanism is failure to actuate, and tested bottle is sent to the qualified products conveyer belt.
5, bottle outlet process: after manipulator clamping bottle was accomplished testing process, manipulator entered into the bottle outlet zone, and bottle exiting area has two bottle outlet stations; One is the certified products bottle outlets; One is the bad part eject bottle outlet, and according to above-mentioned image detection result, two bottle outlet stations trigger corresponding electromechanical assembly respectively to back down the U type piece 18 on the manipulator; The jig arm axle 16 that the action of U type piece 18 drives in the manipulator rotates; When jig arm axle 16 turned to certain position, swing arm 25 was opened fully, and bottle 28 gets into certified products conveyer belt or substandard products conveyer belt.
Claims (2)
1. one kind is used for the bottle catching mechanical hand that the bottled liquid medicine visible foreign matters detects; It is characterized in that: the top of turning arm (17) and middle part are installed on the bearing block (10) through the clutch shaft bearing and second bearing respectively; Described bearing block (10) is fixedly mounted on the rotation platform (29) through location-plate (13); The upper end of described turning arm (17) is fixedly connected with guide (5) and positioning end pad (1); The lower end is fixedly connected with hold assembly (30), and the upper portion side wall of described guide (5) is provided with directed and dynamic balance weight piece (4), and at least 2 directed rollers (7) circumferentially are evenly distributed on the sidewall of described guide (5); Described hold assembly (30) is provided with clamping tube (31); The bottom of described clamping tube (31) is provided with quiet arm (26); The coaxial jig arm axle (16) that can rotate above that is provided with in the described clamping tube (31), the lower end of described jig arm axle (16) is provided with swing arm (25), and described swing arm (25) side is provided with alignment pin (27); Described swing arm (25), alignment pin (27) and quiet arm (26) cooperate the clamping medicine bottle; Described jig arm axle (16) upper end is fixed with U type piece (18), and the end of described U type piece (18) is provided with roller, on described jig arm axle (16), is provided with the torsion spring (22) that cooperates return with described hold assembly (30).
2. the bottle catching mechanical hand that is used for the detection of bottled liquid medicine visible foreign matters according to claim 1; It is characterized in that: described clutch shaft bearing is first deep groove ball bearing (9); Described second bearing is second deep groove ball bearing (14), and described roller is the 3rd deep groove ball bearing (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103107029A CN101704245B (en) | 2009-11-30 | 2009-11-30 | Bottle catching mechanical hand for use in detection of visible foreign matters in bottled liquid medicaments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103107029A CN101704245B (en) | 2009-11-30 | 2009-11-30 | Bottle catching mechanical hand for use in detection of visible foreign matters in bottled liquid medicaments |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101704245A CN101704245A (en) | 2010-05-12 |
| CN101704245B true CN101704245B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009103107029A Expired - Fee Related CN101704245B (en) | 2009-11-30 | 2009-11-30 | Bottle catching mechanical hand for use in detection of visible foreign matters in bottled liquid medicaments |
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| Country | Link |
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| CN (1) | CN101704245B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102371583B (en) * | 2010-08-23 | 2013-11-13 | 中国科学院空间科学与应用研究中心 | Mechanical arm for grabbing sample ampoules |
| CN103353458B (en) * | 2013-07-02 | 2015-08-05 | 陈历生 | Burst-oriented filling bottle device for measuring impurities in liquid and method |
| CN104149090B (en) * | 2014-08-22 | 2016-04-20 | 苏州昌飞自动化设备厂 | Look selects combined machine hand |
| CN109580628B (en) * | 2016-10-29 | 2021-07-02 | 烟台知兴知识产权咨询服务有限公司 | Liquid medicament foreign matter detection equipment |
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2009
- 2009-11-30 CN CN2009103107029A patent/CN101704245B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101704245A (en) | 2010-05-12 |
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Granted publication date: 20120627 |