JP2001188049A - Inspection machine for foreign matter in liquid - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an inspection machine which is miniaturized for a laboratory, which can save a space and which can be made low-cost. SOLUTION: A pallet 1 in which a plurality of containers are housed in the X-Y-axis direction on a plane is provided. A mechanism 10 which moves a chuck device 11 to the X-Y-axis direction and the Z-axis direction on the plane and which conveys the containers to an inspection position P from the pallet 1 is provided. A mechanism 20 which turns the containers in the inspection position P is provided. A camera 40 which perspectively photographs the containers is provided. An image processor 50 by which whether a solid foreign matter exists in a liquid inside the containers is judged on the basis of photographed image data on the containers is provided. A personal computer 70 and its peripehral device which control the respective parts are provided. The obove parts are housed collectively in one mobile rack 80.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a liquid foreign matter inspection device for detecting the presence or absence of solid foreign matter mixed in a liquid filled in a container, and particularly to a small liquid foreign matter tester usable in a laboratory or a laboratory. Related to a foreign substance inspection machine

[0002]

2. Description of the Related Art Conventionally, a foreign substance in liquid inspection apparatus is installed on a production line of, for example, eye drops or beverages, and is used for inspection of foreign substances in the liquid. An example of this type of liquid foreign matter inspection apparatus is disclosed in Japanese Patent Application Laid-Open No. Hei 6-273351. Hereinafter, the outline will be described with reference to the drawings.

In FIG. 9, this apparatus for detecting foreign matter in liquid is
It comprises a camera turntable 102 rotated at a predetermined angular speed by a rotating shaft 101, a container turntable 103, a transfer conveyor 104 for transferring containers, a star wheel 105 for moving containers from the transfer conveyor 104 to the container turntable 103, and the like. . Here, the camera turntable 102 is provided with a plurality of camera supports 106, and these camera supports 10 are provided.
6, a CCD camera 107 is fixed in the direction of the rotation axis 101. Further, a plurality of holder rotation shafts 108 are provided on the container rotation table 103, and a holder 109 for fixing the container can be placed on these holder rotation shafts 108. Note that each CCD camera 107 and each holder 109 are positioned on the same radius, and
The camera 107 always photographs the container from a radial direction perpendicular to the movement trajectory of the container while the container rotating table 103 is rotating.

[0004] With such a configuration, the container 110 filled with liquid is fixed on the holder 109, conveyed by the conveyor 104, and placed on the container turntable 103 by the star wheel 105. The container 110 is placed on a rotating table 103 which is rotating and moving, and the holder rotating shaft 108 is rotated.
To a predetermined height and rotated there. On the container turntable 103, the container 110 is rotated at least twice. On the other hand, the camera turntable 102 is
Is rotated at the same angular velocity as
Photographed by the CD camera 107, an inspection image at the first rotation and an inspection image at the second rotation are obtained. The difference between the inspection image at the first rotation and the inspection image at the second rotation is calculated, and the presence of only the foreign matter in the liquid is detected by distinguishing the foreign matter outside the container from the foreign matter in the liquid. When the inspection for foreign substances in the liquid is completed in this way, the container 110 is moved to a transport conveyor by a star wheel (not shown) and transported to the next step.

[0005] With such a liquid foreign matter inspection apparatus, it is possible to determine whether the liquid contained in a transparent or translucent glass or plastic packaging container is good or defective.
In addition, by using an imaging element such as an X-ray camera that can see through the inside of the packaging container, it can be applied to a packaging container made of an opaque material, and a foreign substance in a liquid can be inspected.

[0006]

This type of liquid foreign matter inspection apparatus has been conventionally used in production lines for eye drops and the like.
This inspection provides a good quality product. By the way, if such a liquid foreign matter inspection device is installed in laboratories and laboratories, etc., and inspection for the presence of foreign matter in the liquid can be performed directly in laboratories and laboratories, it will be possible to improve manufacturing lines and products. It is extremely useful for improving the quality of products, and there is a request from related industries. However, the liquid foreign matter inspection device exemplified in the prior art is an actual production machine, so it is naturally large and its manufacturing cost is expensive, and it cannot be installed in a laboratory or a laboratory. . The present invention solves such a problem, and can be used in research laboratories and laboratories, etc., reducing the size of the entire device, reducing costs, installing it in a small space, and further improving mobility. It is an object of the present invention to provide an apparatus for inspecting foreign substances in liquid which is excellent and can obtain an inspection accuracy equivalent to that of an actual production machine.

[0007]

Means for Solving the Problems To achieve the above object, the present invention provides a means for accommodating a plurality of containers filled with liquid in the X-Y axis direction on a plane, For moving the container from its storage position to the inspection position, means for rotating the container at the inspection position of the container, means for perspectively photographing the container, and images of the container Based on the data, means for determining the presence or absence of solid foreign matter mixed in the liquid in the container, means for outputting the determination result, means for controlling each means, etc., are provided collectively in one mobile rack It is stored. As a result, it can be used in laboratories and laboratories, so that the entire device can be reduced in size and cost, while it can be installed in a small space, has excellent mobility, and is automatically inspected by an autosampler. In addition, it is possible to provide a liquid foreign matter inspection device capable of obtaining inspection accuracy equivalent to that of an actual production device.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In a liquid foreign matter inspection apparatus according to a first aspect of the present invention, a plurality of containers filled with a liquid are placed on a plane by X-axis.
A container accommodation means arranged in the Y-axis direction, and a container inspection means provided between the container accommodation means and the container inspection position set outside the container accommodation means; Container transporting means movably arranged in the axial direction, rotating means for rotating the container at the inspection position, photographing means installed facing the inspection position of the container, and photographing the container through perspective, and output from the photographing means Determining means for determining the presence or absence of solid foreign matter mixed into the liquid in the container, based on the captured image data,
The apparatus includes output means for outputting a result of the judgment by the judgment means, and control means for controlling each means. According to a second aspect of the present invention, in the liquid foreign matter inspection device according to the first aspect, each unit is collectively arranged on a movable rack. According to a third aspect of the present invention, in the liquid foreign matter inspection device according to the first or second aspect, the container housing means is configured such that a plurality of container housing portions into which the containers can be inserted from above are formed in a matrix. Is what it is. According to a fourth aspect of the present invention, in the liquid foreign matter inspection apparatus according to any one of the first to third aspects, the container conveying means moves the container gripping means in the Z-axis direction on a plane. Mechanism and Z
An XY drive mechanism for moving the drive mechanism in the XY axis direction on a plane. According to a fifth aspect of the present invention, in the liquid foreign matter inspection device according to the fourth aspect, the Z drive mechanism drives the lifting / lowering guide for guiding the container gripping means in the Z-axis direction and the container gripping means. And a driving device that performs the operation. According to a sixth aspect of the present invention, in the liquid foreign matter inspection apparatus according to the fourth or fifth aspect, the XY drive mechanism guides the Z drive mechanism in the X axis direction and feeds the guide. The apparatus includes a device, a Y-axis guide that guides and drives the X-axis guide in the Y-axis direction, and a feeding device therefor. According to a seventh aspect of the present invention, in the liquid foreign matter inspection apparatus according to any one of the first to sixth aspects, the container rotating means is a container gripping means and a servo operatively connected to the container gripping means. And a mechanism. According to an eighth aspect of the present invention, in the liquid foreign matter inspection apparatus according to any one of the first to seventh aspects, the light projecting means for irradiating the container with light for photographing from below at the inspection position of the container. It is provided with. With the above configuration, the following operation is performed based on the control of the control unit. By the operation of the container conveying means, the gripping means is moved on the plane in the XY axis direction and the Z axis direction, so that the container filled with the liquid is taken out of the container accommodating means, It is transported to the inspection position. On the inspection position of the container, the container is rotated by the rotating means. When the rotation of the container is stopped, the light is projected from below the container, and the image is taken by a photographing means. When the photographing of the container is completed, the container is conveyed by the conveying means and returned to the original position of the container accommodating means. Based on the photographed image data of the photographing means, the judging means judges the presence or absence of the solid foreign matter mixed in the liquid in the container, and outputs the judgment result through the output means. According to such a container inspection method, the transport distance of the container between the container housing means and the inspection position can be reduced, and the entire transport means can be reduced in size. Further, by setting the minimum capacity required for the research and experimental inspections in the container accommodation means, the entire container accommodation means can be made smaller. In this way, by arranging the respective units three-dimensionally on the rack, the whole liquid foreign matter inspection device can be reduced in size, cost can be reduced, and installation space can be saved.
Further, the movable foreign substance inspection device can be easily moved by the movable rack. In addition, the inspection of foreign substances in the liquid in the container can be performed at the same level as the production machine on the production line, and the inspection accuracy equivalent to that of the production machine can be obtained.

An embodiment of the present invention will be described below with reference to the drawings. (Embodiment) FIGS. 1 to 3 show the configuration of a liquid foreign matter inspection apparatus, FIG. 1 is a plan view thereof, FIG. 2 is a front view thereof, and FIG. 3 is a side view thereof. In this embodiment, a laboratory liquid foreign substance inspection machine used for inspection of foreign substances mixed in the liquid of eye drops is exemplified. Therefore, the container to be inspected by the liquid foreign matter inspection device is an ophthalmic container filled with liquid eye drops. Here, the container for eye drops is formed entirely of a synthetic resin material or a glass material in a flat shape, and has a cylindrical mouth integrally provided on an upper portion thereof, and a cap-shaped lid is attached thereto. The eyedropper container contains a liquid eye drop with some space left.

In FIGS. 1, 2 and 3, the apparatus for inspecting foreign substances in liquid includes a pallet 1 which is a means for accommodating a container, a transport mechanism 10 which is a means for transporting the container, a rotating mechanism 20 which is a means for rotating the container, and a container. Lighting device 3 which is a light projecting means for photographing
0, a camera 40 which is a photographing means of the container, and an image processing apparatus 5 which is a judging means for judging the presence or absence of a foreign substance in the liquid of the container.
0, a liquid crystal display 61 which is a means for outputting a determination result,
A printer 62, a personal computer 70 as control means of each section, a keyboard 71 and a mouse 72 as its operation means are collectively housed in a single movable rack 80. The rack 80 used here is assembled in a box shape with an open front by a plurality of frames and decorative panels, and a base 81 is attached at the middle in the vertical direction to be partitioned into an upper space 80U and a lower space 80D. It has a two-stage configuration. The table 82 is fixed to the front side of the base 81 and the rack 80
Is protruded from the front. A caster 83 for movement and an adjuster 84 for fixing and height adjustment are attached to the four corners on the lower surface side of the rack 80, respectively. The details of each part of the rack 80 will be supplemented in the description of each part of the liquid foreign matter inspection device.

The pallet 1 is formed in a box shape having an open top, and a plurality of containers can be arranged in the XY axis direction on a plane.
A plurality of container storage units 2 are provided on the bottom surface in a matrix. Each of these container storage portions 2 is formed in a concave shape on the bottom surface so that the container can be inserted from above. In this embodiment, the container storage unit 2 is
Are arranged in 11 rows in the horizontal direction (X-axis direction) and 10 rows in the vertical direction (Y-axis direction), and a total of 110 containers can be stored. A pallet placing portion is provided on the right side of the base 81 of the rack 80, and the pallet 1 is detachably placed on the pallet placing portion.

The container transfer mechanism 10 includes a chuck device 11 serving as a container holding means, an XY drive mechanism 12 for driving the chuck device 11 in the XY axis direction on a plane, and a chuck device 11 Drive mechanism 1 driven in the Z-axis direction by
3 and is installed on the base 81 of the rack 80 between the pallet mounting portion and the inspection position P of the container. The container rotation mechanism 20 is incorporated on the transport mechanism 10 as a rotation mechanism of the chuck device 11.

In this embodiment, the inspection position P of the container is set above the base 81 of the rack 80 near the front center outside the pallet mounting portion. This inspection position P
, A position detection sensor 3 is disposed on one side of the inspection position P, and the reflection plate 4 is disposed on the other side, and when a container is present at the inspection position P, this is detected.

As shown in FIGS. 4 and 5, the chuck device 11 comprises a chuck 1 comprising a holding piece capable of holding a lid of a container.
11 and an air-driven chuck opening / closing unit 112 that opens and closes the chuck 111. A servo mechanism is used for the rotation mechanism 20 of the chuck device 11, and the chuck opening / closing unit 112 is used.
The rotary shaft 22 of the servomotor 21 is operatively connected to the servomotor 21. A hollow shaft is used as a rotary shaft 22 of the servomotor 21. An air supply tube 113 derived from an air supply source is connected to the hollow shaft. The chuck opening / closing section 112 is operated by being sent to the chuck opening / closing section 112 through the inside 21.

XY drive mechanism 12 of chuck device 11
6, a Y-axis actuator 121 and a guide rail 122 arranged in the Y-axis direction on a plane as shown in FIG.
And an X-axis actuator 123 that is bridged therebetween and is movably arranged in the Y-axis direction. Here, the Y-axis actuator 121, together with the guide rail 122, constitutes a Y-axis direction guide for guiding and driving the X-axis actuator 123 in the Y-axis direction and its feeder. The X-axis actuator 123 controls the Z drive mechanism 13 in the X-axis direction. It constitutes an X-axis direction guide to be guided and its feeder. These actuators 121 and 123 include a guide plate 14, a slide plate 15 slidably arranged on the guide plate 14, a feed screw mechanism 16 for driving the slide plate 15, and a feed screw mechanism 1
And a servomotor 17 operatively connected as a power source for the motor. The X-axis actuator 123 includes a support leg 18 having a predetermined height at one end thereof, and a slider 19 attached to a lower end thereof. The guide rail 122 is a guide rail to which the slider 19 of the X-axis actuator 123 can be fitted. On the left side of the base 81 of the rack 80, on the left side of the container inspection position P outside the pallet placing portion, in the Y-axis direction (base 8
The installation portion of the Y-axis actuator 121 is set toward (in the depth direction of FIG. 1), and the Y-axis actuator 121 is installed on the installation portion while being supported by the gantry 5 having a predetermined height. On the right side of the base 81 opposed to this, a guide rail installation section is set outside the pallet mounting section, and the guide rail 122 is installed on this installation section. On the other hand, the X-axis actuator 123 has the support leg 18 at one end thereof slidably mounted on the guide rail 122 by the slider 19, and has the other end mounted on the slide plate 15 of the Y-axis actuator 121 via a bracket. Fixed. Thus, X
The axis actuator 123 is movable between the Y-axis actuator 121 and the guide rail 122 in the Y-axis direction on a plane area including the pallet 1 on the base 81 and the inspection position P of the container outside the pallet 1. Are located.

The Z drive mechanism 13 of the chuck device is shown in FIG.
As shown in FIG. 5, an air cylinder 131 and an elevating plate 135 are provided. The air cylinder 131 includes a box-shaped outer case 132, and a lifting guide 133 is formed on the front surface thereof. The elevating plate 135 is made of a plate to which the servomotor 21 of the rotating mechanism 20 can be attached, and is slidably mounted on the elevating guide 133 on the front surface of the outer case 132. A pressed plate 136 is integrally provided below the elevating plate 135, and the operating rod 134 of the air cylinder 131 is connected thereto. In the Z drive mechanism 13, an air cylinder 131 is fixed to the slide plate 15 of the X-axis actuator 123, and the servomotor 21 of the chuck device 11 is mounted on the elevating plate 135 with the chuck 111 facing downward. In this manner, the chuck device 11 can be moved in the X-axis direction by the X-axis actuator 123 on the plane area including the pallet 1 on the base 81 and the inspection position P of the container outside the pallet 1. It is arranged to be able to move up and down by the drive mechanism 13 and to be rotatable by the rotation mechanism 20.

As shown in FIG. 2, the illumination device 30 includes an illumination head 31, a fiber cable 32 for illumination, and an illumination power supply 33. A mounting hole 85 for an illumination head is drilled on the base 81 of the rack 80 directly below the inspection position P of the container, and the illumination head 31 directs the optical axis to the inspection position P of the container above in the mounting hole 85. Is fixed. The fiber cable 32 and the illumination power supply 33 connected to the illumination head 31 are connected to the lower space 80D of the rack 80.
Is housed in

As the camera 40, a CCD camera is used as in the prior art. As shown in FIGS. 1 to 3, on the base 81 of the rack 80, on the left side, on the front (outside the pallet mounting portion, on the left side of the container inspection position P, substantially in front of the Y-axis actuator 121). A manual camera elevating stage 41 is fixed, and a camera 40 is set on the camera elevating stage 41 with the lens facing the inspection position P of the container. In addition, a background plate 42 for photographing is installed at the opposing position. The camera 40 is connected to an image processing device 50 via an optical fiber cable (not shown). The image processing device 50 includes a video monitor 51, a video printer 52, and other related devices, and a rack 80.
In the lower space 80D.

1 to 3, a personal computer 70 and its peripheral devices such as a liquid crystal display 61, a printer 62,
As the keyboard 71, the mouse 72, and the like, those widely and generally used are used. Here, the personal computer 70
Is used as a control device of each unit of the foreign matter in liquid inspection apparatus in addition to the image processing device 50 and the transport mechanism 10, and is housed in the lower space 80 </ b> D of the rack 80. The liquid crystal display 61 and the printer 62 are used as output devices of various data in addition to the output of the judgment result of the image processing device 50. The liquid crystal display 61 is installed on a table 82 of a rack 80. It is installed on the top. The keyboard 71 and the mouse 72 are used as input devices of the personal computer 70 in addition to the operation of the liquid foreign substance inspection device.
It is installed on a table 82 of a rack 80.

Next, the operation of the liquid foreign matter inspection device will be described. In FIG. 1, a pallet 1 containing containers 6 to be inspected is placed on a base 81 of a rack 80, and a personal computer 70 and other peripheral devices are activated. When necessary initial settings such as the inspection range of the container 6 on the pallet 1 are input by the keyboard 71 or the mouse 72 on the operation screen (see FIG. 7) displayed on the liquid crystal display 61, first, the transport mechanism 10 XY drive mechanism 12 is operated. The entire X-axis actuator 123 is moved in the Y-axis direction by the Y-axis actuator 121 and the guide rail 122, and the X-axis actuator 123
The chuck device 11 and its Z drive mechanism 13 are moved in the X-axis direction. The XY drive mechanism 12 is stopped when the chuck device 11 has been moved to a position immediately above the container 6 to be first taken out on the pallet 1 in advance.

Next, the Z drive mechanism 13 of the transport mechanism 10 is operated. The operating rod 134 of the air cylinder 131 is driven, whereby the pressed plate 136 of the lifting plate 135 is pressed downward, and the lifting plate 1
35 descends on the elevation guide 133 in front of the air cylinder 131. The lowering of the elevating plate 135 moves the entire chuck device 11 in the Z-axis direction (downward). At the same time, air is supplied to the chuck device 11 to drive the chuck opening / closing unit 112 and the chuck 111 is opened. When the chuck device 11 is lowered to a predetermined position, the Z drive mechanism 13 is stopped. Then, chuck 1
11 is closed, and the lid of the container 6 taken out first by the chuck 111 is held. Here, the Z drive mechanism 13 is operated, and by driving the air cylinder 131, the lifting plate 135 is raised on the lifting guide 133 on the front surface of the air cylinder 131, and the entire chuck device 11 is moved in the Z-axis direction (upward). To go. Chuck device 11
Is raised to a predetermined height, and when the container 6 is completely separated from the pallet 1, the Z drive mechanism 13 is stopped.

Next, the XY driving mechanism 1 of the transport mechanism 10
2 is activated. The entire X-axis actuator 123 is moved in the Y-axis direction by the Y-axis actuator 121 and the guide rail 122, and at the same time, the X-axis actuator 123 is moved.
Thereby, the chuck device 11 and its Z drive mechanism 13 are moved in the X-axis direction, and the container 6 suspended by the chuck device 11 is transported toward the inspection position P of the container. When the container 6 reaches the inspection position P of the container, this is detected by the position detection sensor 3, and the XY drive mechanism 12 is stopped.

Next, the rotation mechanism 20 of the chuck device 11
Due to the rotational drive of the (servo motor 21), the container 6 rotates by a predetermined rotation angle and stops. The illumination head 31 emits light in synchronization with the shooting timing of the camera 40, and the container 6
The container 6 is irradiated with light for photographing from below, and the container 6 is photographed through the camera 40 multiple times. The photographing time and the number of times of photographing per container 6 differ depending on the type of container to be inspected, and these values are initially set.

When the fluoroscopic imaging of the container 6 is completed, the chuck device 11 is moved in the XY axis direction by the operation of the XY drive mechanism 12 of the transport mechanism 10, and the container 6 is transported onto the pallet 1. Is done. When the chuck device 11 has been moved to a position immediately above the container housing section 2 from which the container 6 has been taken out, the XY drive mechanism 12 is stopped. Subsequently, the entire chuck device 11 is moved in the Z-axis direction (downward) by the operation of the Z drive mechanism 13 of the transport mechanism 10, and the container 6 is inserted into the original container storage unit 2. When the container 6 is returned to the original container storage section 2, the Z drive mechanism 13 is stopped. Here, the chuck opening / closing unit 112 of the chuck device 11 is driven, and the chuck 11 is moved.
1 is opened, and the container 6 is detached from the chuck device 11.

Next, similarly by the transport mechanism 10,
The chuck device 11 is moved toward the container 6 to be taken out next, and the same operation is repeated.

In this way, each container 6 is photographed in a fluoroscopic manner, and image-processed by the image processing device 50. That is, the eye drops filled in the container 6 contain insoluble solid foreign matter,
For example, when fiber dust of clothes or molding dust of a container is mixed, light emitted from the illumination head 31 at the time of photographing is
The solid foreign matter floating in the eye drops by the rotation of the container 6 is reflected toward the camera 40, and the reflected light is taken into the image processing device 50 from the camera 40. Since the brightness of the reflected light portion is higher than the surrounding brightness, as shown in FIG.
Solid foreign matters appear as dots or shadows in the captured image. In addition, since the same position of the container 6 is photographed through a plurality of times, the probability that reflected light from the solid foreign matter is taken into the image processing device 50 from the camera 40 is improved, and the solid foreign matter floating in the eye drops is improved. Is constantly fluctuating with the flow of eye drops, and when comparing the plurality of captured images with the image processing device 50, if there are points or shadows having different relative positions, the image processing device 50 It is determined that solid foreign matter is mixed in the eye drops filled in the container 6. Also, if there are no points or shadows in which the relative positions are different even when the captured images of a plurality of times are compared by the image processing device 50, the image processing device 50 causes solid foreign matter to be mixed in the eye drops filled in the container 6. Judge that you have not. When a plurality of captured images are compared by the image processing apparatus 50, points that appear repeatedly at the same position in the captured images, shadows of the same shape, and the like are, for example, stains and dust attached to the outer surface of the container 6, or the container. The image processing device 50 determines that there is a flaw existing, or dirt or dust attached to the lens of the camera 40, and distinguishes it from a solid foreign substance floating in the eye drops.

The result of the determination is displayed on the liquid crystal display 61. Note that the determination result can be printed out from the printer 62 as needed. The determination result is displayed on the liquid crystal display 61 as shown in FIG. The inspection results are shown in a matrix table corresponding to the container storage section 2 of the pallet 1. In addition, the first inspection result (the number of pixels indicating the area value of the foreign substance) is displayed in the upper part of each square of the table, and the second inspection result (the number of pixels indicating the area value of the foreign substance) is displayed in the lower part. . ? Indicates a processing error, and * indicates a defect determination.

As described above, according to the above embodiment, the transport distance of the container between the pallet 1 and the inspection position P of the container is shortened, the entire transport mechanism 10 is reduced in size, and
Since the minimum capacity required for research and experimental inspections is set, the entire pallet 1 is made smaller, and each device and each component are collectively arranged and stored in a rack 80 in a three-dimensional manner. It is possible to reduce the size of the entire foreign matter inspection apparatus, to save space in installation, and to reduce costs. Further, the use of the movable rack 80 makes it possible to easily move the liquid foreign matter inspection device.

Further, the inspection system is equivalent to a production machine on a production line, and it is possible to obtain the same level of accuracy as a production machine. In particular, when the container is rotated at a predetermined rotation speed by a predetermined number of rotations and stopped, the liquid in the container flows, and this is photographed through the camera 40, so that bubbles in the liquid in the container are generated. While suppressing the generation, the precipitated solid foreign matter can be suspended in the liquid, and the solid foreign matter can be reliably captured by the camera 40. Moreover, since the light for photographing is emitted from below the container, even if a part of this light is reflected on the outer surface of the bottom of the container, the reflected light is hardly taken directly into the camera 40, and the light inside the container is hardly taken. The light reflected by the solid foreign matter mixed into the liquid can be efficiently taken into the camera 40. Therefore, it is possible to improve the inspection accuracy of the presence / absence of solid foreign matter mixed in the liquid filled in the container. In addition, the container can be rotated at a high speed in accordance with the photographing ability of the camera, the transport distance between the container storage position and the inspection position is short, and the time required for taking out and returning the container can be shortened. The inspection time per line can be shortened, and the inspection efficiency as well as the inspection accuracy can be improved. Further, since the container is suspended and transported by using the chuck device 11 capable of holding the lid of the container as the transport mechanism, the container may fall down during the transport, or may interfere with the fluoroscopic imaging of the container. Absent.

In the above-described embodiment, the container rotating mechanism is exemplified as being provided in the container transporting mechanism. However, the container rotating mechanism may be independently provided on the inspection position of the container. Further, a CCD camera is exemplified as the photographing means, but is not limited thereto, and may be, for example, a digital camera, an X-ray camera, or the like. In addition, as an object to be inspected by the liquid foreign substance inspection device, an ophthalmic container filled with a liquid eye drop is illustrated, but an ampoule bottle, a container containing various drugs, a PET bottle, and other various soft drinks are contained. It can be used for inspection of various containers such as containers.

[0031]

According to the present invention, as is apparent from the above embodiments, means for accommodating a plurality of containers filled with liquid in the XY axis directions on a plane, and holding the containers to XY on the plane. Means for moving the container from its storage position to the inspection position by moving in the axial direction and the Z-axis direction, means for rotating the container at the inspection position of the container, means for perspective imaging of the container, and image data of the container. Means for determining the presence or absence of solid foreign matter mixed in the liquid in the container, means for outputting the determination result, means for controlling each means, etc., and the transport distance of the container between the container accommodation means and the inspection position is provided. To shorten the entire transport means,
The minimum capacity required for laboratory and experimental inspections is set in the container storage means, the entire container storage means is reduced, and each means is three-dimensionally arranged and stored in a rack. Therefore, the entire device can be miniaturized and installed in a small space so that it can be used in a laboratory or a laboratory. Moreover,
The entire apparatus can be easily moved by the movable rack. Further, the cost can be reduced by downsizing the entire device. Further, since the same inspection method as that of the actual production machine can be adopted, the inspection can be performed automatically (unmanned operation) by the auto sampler, and the inspection accuracy equivalent to that of the actual production machine can be obtained.

[Brief description of the drawings]

FIG. 1 is a plan view of a liquid foreign matter detector according to an embodiment of the present invention.

FIG. 2 is a front view of the liquid foreign matter inspection device;

FIG. 3 is a side view of the liquid foreign matter inspection device.

FIG. 4 is a diagram showing a chuck device and a Z used in the liquid foreign matter inspection device.
Front view of drive mechanism

FIG. 5 is a diagram showing a chuck device and a Z used in the liquid foreign matter inspection device.
Side view of drive mechanism

FIG. 6 is a plan view of a transport mechanism of a container used in the liquid foreign matter inspection device.

FIG. 7 is a front view of a screen displayed on a liquid crystal display used in the liquid foreign matter inspection device;

FIG. 8 is a diagram illustrating an example of captured image data;

FIG. 9 is a perspective view of a conventional liquid foreign matter inspection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Pallet (container of container) 2 Container accommodating part 3 Position detection sensor 4 Reflector 5 Mount 6 Container P Container inspection position 10 Transport mechanism (Container transport means) 11 Chuck device (Container holding means) 111 Chuck 112 Chuck Opening / closing section 113 Air supply tube 12 XY drive mechanism 121 Y-axis actuator 122 Guide rail 123 X-axis actuator 13 Z drive mechanism 131 Air cylinder 132 Exterior case 133 Lifting guide 134 Operating rod 135 Lifting plate 136 Pressed plate 14 Guide Plate 15 Slide plate 16 Feed screw mechanism 17 Servo motor 18 Support leg 19 Slider 20 Rotation mechanism (rotation means of container) 21 Servo motor 22 Rotation axis 30 Illumination device (light emitting means for photographing) 31 Illumination head 32 F Cable 33 Lighting power supply 40 Camera (photographing means of container) 41 Camera elevating stage 42 Background plate 50 Image processing device (determining means) 51 Video monitor 52 Video printer 61 Liquid crystal display (output means) 62 Printer (output means) 70 Personal computer ( Control means) 71 keyboard 72 mouse 80 rack 80U upper space 80D lower space 81 base 82 table 83 caster 84 adjuster 85 mounting hole

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Jun Fukami 3-24-1, Takada, Toshima-ku, Tokyo Inside Taisho Pharmaceutical Co., Ltd. (72) Tomohiro Otsuki 3-24-1, Takada, Toshima-ku, Tokyo Taisho Pharmaceutical Co., Ltd. (72) Inventor Junko Ouchi 3-24-1, Takada, Toshima-ku, Tokyo Taisho Pharmaceutical Co., Ltd. (72) Inventor Rumi 3-24-1, Takada, Toshima-ku, Tokyo Taisho Pharmaceutical Co., Ltd. F-term (reference) 2G051 AA28 AB15 BB17 CA04 CB01 DA03 DA08 ED02 ED03 ED11 FA01

Claims (8)

[Claims] A container accommodating means for arranging a plurality of containers filled with liquid in the XY axis direction on a plane, and a container accommodating means and a container inspection position set outside the container accommodating means. Container conveying means installed and arranged so as to be able to move the container gripping means on the plane in the XY axis direction and the Z axis direction, rotating means for rotating the container at the inspection position, and facing the container inspection position A photographing unit that is installed at a position and performs fluoroscopic photographing of the container; a judging unit that judges the presence or absence of solid foreign matter mixed in the liquid in the container based on photographed image data output from the photographing unit; And a control unit for controlling each unit. 2. The liquid foreign matter inspection device according to claim 1, wherein each means is collectively arranged on a movable rack. 3. The liquid foreign matter inspection device according to claim 1, wherein the container housing means has a plurality of container housing portions into which a container can be inserted from above, formed in a matrix. 4. The container transport means includes a Z drive mechanism for moving the container gripping means in the Z-axis direction on a plane, and an XY drive mechanism for moving the Z drive mechanism in the XY axis direction on a plane. The liquid foreign matter inspection device according to any one of claims 1 to 3, further comprising: 5. The liquid foreign matter inspection according to claim 4, wherein the Z drive mechanism includes an elevating guide for guiding the container gripping means in the Z-axis direction and a driving device for driving the container gripping means up and down. Machine. 6. An XY drive mechanism comprising: an X-axis direction guide for guiding and driving a Z drive mechanism in the X-axis direction;
The liquid foreign matter inspection device according to claim 4 or 5, further comprising a Y-axis direction guide that drives the X-axis direction guide in the Y-axis direction and a feeder thereof. 7. The container rotating means includes: container gripping means;
7. The liquid foreign matter inspection device according to claim 1, further comprising a servo mechanism operatively connected to the container gripping means. 8. A light projecting means for irradiating the container with light for photographing from below at the inspection position of the container.
8. The liquid foreign matter inspection device according to any one of claims 1 to 7.