JP2020085604A - Device and method for inspecting foreign substance in material filled in transparent container - Google Patents

Abstract

To provide a device and a method for inspecting foreign substance in a transparent container, the device and the method improving the circulation fluidity of the material filled in the transparent container.SOLUTION: The present invention relates to a foreign substance inspection device for inspecting the presence or the absence of foreign substance in the material filled in the transparent container. The device includes: a revolution equal moving unit for causing the transparent container to revolve and/or reciprocate; a vibration mechanism for vibrating the transparent container when the transparent container is revolution-moving or reciprocation-moving. The revolution equal moving unit includes a path changing mechanism for changing a revolution movement path or a reciprocation movement path of the transparent container.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a foreign substance inspection apparatus and a foreign substance inspection method for inspecting a foreign substance mixed in a filled substance filled in various transparent containers such as vials, ampoules, or bottles. Also, the present invention relates to a foreign substance inspection apparatus and a foreign substance inspection method capable of efficiently inspecting the presence of foreign substances in the case of a fluid such as a liquid.

2. Description of the Related Art Conventionally, various transparent containers such as vials and ampoules in which a filling material such as powder, granules, or liquid is contained are provided in various fields. When providing the filling material in the transparent container, a foreign matter inspection apparatus is also provided as an apparatus for performing a foreign matter inspection for confirming that no foreign matter is mixed in the filling material.

In such a foreign matter inspection apparatus, image processing technology has also been applied in recent years, and by rotating or vibrating a transparent container such as a vial bottle, the powder and the foreign matter in the powder are separated from each other by a specific gravity difference. A foreign matter inspection apparatus that detects a foreign matter by imaging the separated state and performing image processing has also been proposed.

For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2000-298103), a transparent container capable of accurately detecting a foreign substance mixed in the powder filled in the transparent container and detecting a foreign substance having a specific gravity substantially equal to that of the powder As a foreign matter inspection device for inner powder, a vibrating means for vibrating the container to convect the powder in the container, and an imaging means for imaging the powder surface in the container vibrated by the vibrating means a plurality of times. There has been proposed a foreign substance inspecting apparatus for powder in a transparent container, which is provided with a foreign substance detecting unit that detects a foreign substance according to a gray level in the image using a plurality of images captured by the image capturing unit.

Further, in Patent Document 2 (Japanese Patent Laid-Open No. 3-51748), the appearance inspection of the container itself and the foreign substance inspection in the sealed powder are automatically continuously performed on a transparent container in which powder is sealed such as an ampoule and a vial. We propose an automatic inspection device for powder-sealed transparent containers. In this document, a large number of container support frames are arranged in a radial pattern with a narrow gap on the entire circumference of the rotating disk, and a suction chuck for holding the container is attached to the tip of each support frame to make the powder sealed transparent. It is disclosed that the container is held and that the powder-sealed transparent container is vibrated by the first vibrator and the second vibrator arranged on the outer circumference of the rotating disk.

Then, the patent applicant of the present application can inspect even a powder that adheres to the inner wall of the transparent container or a powder having poor fluidity in Patent Document 3 (JP 2010-8339A). The present invention proposes a method and apparatus for inspecting foreign matter in powder in a transparent container, which is capable of easily and surely inspecting foreign matter in powder filled in a transparent container without being limited by its specific gravity. That is, in a foreign matter inspection method for inspecting the presence or absence of foreign matter in powder filled in a transparent container, the transparent container is subjected to a vibration that is a combination of longitudinal reciprocating vibration and lateral reciprocating vibration, While circulating the powder in the container, an image of the powder is imaged through the wall surface of the transparent container having the powder adhering to the inner surface, and a foreign substance inspection method for inspecting the presence or absence of a foreign substance using the obtained image is proposed.

JP-A-2000-298103 JP, 03-51748, A JP, 2010-8339, A

As described above, some devices have been proposed for inspecting foreign substances mixed in the filler contained in the transparent container. However, Patent Document 1 is configured to convect the powder in the container by vibration, and there is a concern that sufficient convection will not be performed with powder having high viscosity.

Further, in Cited Document 2, it is disclosed that the powder-sealed transparent container is rotated on a rotating disk and vibration is applied, but it is difficult to realize convection of the contents according to the inspection object. Therefore, it is feared that a powder having a high viscosity does not have sufficient convection.

Further, in Patent Document 3, it is disclosed that the transparent container is oscillated by reciprocating vibration in the vertical direction and reciprocating vibration in the lateral direction to circulate the powder in the transparent container. However, when the object to be inspected is a powder that adheres to the inner wall of the transparent container or a powder having poor fluidity, it is desirable to further improve the circulating flow of the powder in the transparent container.

Therefore, it is an object of the present invention to provide a foreign matter inspection device and a foreign matter inspection method in a transparent container, in which the circulating flow of the filler in the transparent container is further improved.

In order to solve the above problems, the present invention has finally completed the present invention as a result of improving the method of moving the transparent container while verifying the circulation flow of the filler in the transparent container.

That is, the present invention is a foreign matter inspection device for inspecting the presence or absence of foreign matter in a filling material filled in a transparent container, comprising a revolving movement unit for revolving and/or reciprocating the transparent container, The revolution or the like moving unit provides a foreign matter inspection device in a filling in a transparent container, which is provided with a trajectory changing mechanism for changing the revolution movement trajectory and/or the reciprocation movement trajectory of the transparent container.

The revolution or the like movement unit revolves and/or reciprocates the transparent container containing the filling object to be inspected in various shapes (trajectories) such as a circular shape, an elliptical shape, and a rounded polygon. The trajectory changing mechanism provided in the orbital movement unit can change the trajectory of the orbital movement into an arbitrary shape, for example, a similar shape or a different shape with a changed aspect ratio, or the length and inclination of the reciprocating movement. Can be changed.

Therefore, for example, the revolution or the like moving portion can be formed so as to move the transparent container along an elliptical revolution movement locus. At that time, the trajectory changing mechanism provided in the orbiting or the like moving portion can be formed so as to change at least one of the major axis, the minor axis, and the inclination of the elliptical trajectory.

Further, the orbital movement unit orbits the transparent container such that the center of the orbital movement locus and/or the reciprocal movement locus exists outside the orbital movement surface and/or the reciprocation movement surface of the transparent container. It is also possible, but preferably, the center of the revolution movement trajectory of the transparent container is within the revolution movement surface of the transparent container, and/or the center of the reciprocating movement trajectory of the transparent container is Revolves so that it exists in the reciprocating plane. By reducing the trajectory of the orbital movement and/or the reciprocating movement, it is possible to more efficiently stir the filling material in the transparent container.

In addition, the foreign matter inspection device for a filling material in a transparent container according to the present invention may further include a container holding portion that holds the transparent container. For example, when the transparent container is formed in a shape having a cylindrical peripheral wall surface (cylindrical shape), a container holder that holds the peripheral wall surface can be provided.

The container holding unit can be configured to hold the transparent container in an upright state, a laid sideways state, or an inclined state. It is desirable to hold the cylindrical wall so that it faces sideways. By holding the transparent container sideways, downward gravity can be applied to the contents and the contents can be pressed against the side surface of the container. In particular, since the side surface of the container often has a larger area than the bottom surface, it is possible to inspect the presence or absence of foreign matter in the content in a wider area. Further, when holding the transparent container sideways, it is desirable that the orbital movement unit revolves the transparent container in a direction intersecting the central axis of the cylindrical peripheral wall surface. This allows the contents to be moved along the inner peripheral surface of the container.

Furthermore, it is desirable that the foreign matter inspection apparatus according to the present invention be provided with a vibration mechanism that vibrates the transparent container that is revolving and/or reciprocating. Such a vibration mechanism can use a vibration device, and can be configured to apply vibration from either one of the transparent containers or from the opposite direction. Further, the vibration mechanism can change the frequency of the vibration applied from any one of them and the frequency of the vibration applied from the other direction. When the respective frequencies are made different, a larger vibration can be given at the synchronized timing. In addition, the vibrating mechanism can be provided separately to exclusively give vibration to the transparent container, or the transparent container can be vibrated via the holding portion. By vibrating the transparent container by such a vibrating mechanism, the inspection target in the transparent container can be effectively stirred in combination with the revolution and/or the reciprocating movement.

Further, it is preferable that the foreign matter inspection apparatus according to the present invention further includes an inclination changing mechanism that can change the inclination of the transparent container. Such a tilt changing mechanism can be configured by a piston mechanism or the like to change the tilt of the orbiting transparent container, and in the case of a cylindrical transparent container such as a vial bottle, the tilt in the central axis direction is changed. Can be changed. Such an inclination changing mechanism can be formed so as to change the inclination of the transparent container before the revolution movement, and also change the inclination of the transparent container during the revolution movement. In particular, if the inclination of the transparent container during orbital movement is changed, the direction of gravitational acceleration with respect to the container can be changed by the inclination change mechanism, and the deviation due to the frictional resistance between the inner surface of the container and the contents and the cohesiveness of the contents themselves can be changed. The bias can be eliminated by changing the gravitational acceleration direction.

The foreign matter inspection device for filling in a transparent container according to the present invention may include an image pickup device for picking up an image of the contents circulated and flowed by the revolving movement unit. It is desirable to install such an image pickup device so as to pick up an image from the gravity direction side (that is, the lower side) of the container that revolves, and when the transparent container is arranged sideways and revolves, the lower side of the container. It is desirable to provide so as to image the side wall surface. Therefore, the foreign matter inspection device according to the present invention further includes an imaging device that images the circulating flowing filler from the side wall surface side of the transparent container held horizontally while circulating the filler in the transparent container. be able to.

Further, in the foreign matter inspection device for a filling material in a transparent container according to the present invention, the image pickup device may include an image pickup device control mechanism for controlling the image pickup operation in conjunction with the operation of the moving unit such as the revolution. It is desirable that the imaging device control mechanism controls the imaging device so that the filling material in the transparent container is imaged when it is pressed against the inner wall surface of the transparent container.

Further, in the present invention, in order to solve the above-mentioned problems, by efficiently stirring the filling in the transparent container, it is possible to inspect the presence or absence of foreign matter mixed in it in the filling in the transparent container Provide a foreign material inspection method.

That is, a foreign matter inspection method for inspecting the presence or absence of foreign matter in a filling material filled in a transparent container, wherein the transparent container is revolved and/or reciprocally moved, and the revolving movement and/or reciprocating movement is performed. While filling the transparent container by circulating the container by vibrating the container, the image of the circulating packing is imaged, and the obtained image is used to inspect the presence or absence of foreign matter in the transparent container. Provide a method for inspecting foreign matter inside.

In such a foreign matter inspection method, when the transparent container is revolved and/or reciprocally moved, its revolution movement locus is changed according to the amount and characteristics of the filling material (that is, the inspection object) in the transparent container. Is desirable.

Further, in the foreign matter inspection method, when the transparent container is revolved, its orbit of movement is made elliptical, and the elliptical shape is made according to the amount and characteristics of the filling (that is, the inspection object) in the transparent container. It is also desirable to change at least one of the major axis, the minor axis, and the inclination of the locus. Further, when the transparent container is reciprocated, it is also desirable to change the moving length and inclination.

Further, in the foreign matter inspection method, when the transparent container is revolved, it is desirable that the center of the locus be within the revolving surface of the transparent container. Further, when the transparent container is reciprocated, it is desirable that the center of the locus thereof be present within the reciprocating surface of the transparent container.

Further, in the foreign matter inspection method, the transparent container is a transparent container having a cylindrical peripheral wall surface, and the cylindrical wall surface is held laterally, and the revolving movement and/or the reciprocating movement is performed by the transparent container. Is preferably moved in a direction intersecting the central axis of the cylindrical peripheral wall surface.

In the foreign matter inspection method, it is desirable that while the filling material in the transparent container is circulated and flowed, an image of the circulated filling material is imaged from the side wall surface side of the horizontally held transparent container.

In the foreign matter inspection method, the imaging of the circulating and flowing filling material is interlocked with the operation of the orbiting moving unit, and the imaging is performed when the filling material in the transparent container is pressed against the inner wall surface of the transparent container. Is desirable.

According to the foreign substance inspection device and foreign substance inspection method in the filling material in the transparent container of the present invention, the transparent container that contains the filling material to be inspected is revolved and/or reciprocally moved while vibrating, thereby making it transparent. A foreign matter inspection device and a foreign matter inspection method in a transparent container, which further improve the circulation flow of the filling material in the container, are realized. Further, when the inclination of the transparent container that revolves and/or reciprocates is changed, the deviation of the inspection target in the transparent container can be further eliminated.

In particular, in the foreign matter inspection device for filling in a transparent container according to the present invention, the revolving or the like moving unit is provided with a trajectory changing mechanism for changing the revolving trajectory of the transparent container. The circulating flow in the container can be finely adjusted according to the amount and characteristics of the material (filling material), and as a result, it is a powder that adheres to the inner wall of the transparent container or a powder with poor fluidity. However, it is possible to provide a foreign substance inspection device and a foreign substance inspection method in a transparent container that can be sufficiently circulated and flown.

Front view showing the overall operation of the foreign matter inspection apparatus according to the present embodiment Operation explanatory view showing a part of the orbital movement part in the foreign matter inspection device An exploded perspective view showing the connection state of the left and right rotating shafts, the left and right crank members, and the left and right swing members in the left and right eccentric mechanism. Enlarged view of main parts showing a mode in which the eccentric distances of the left and right crank members are different Schematic diagram showing the trajectory change mechanism in moving parts such as revolution Schematic diagram showing the trajectory change mechanism in moving parts such as revolution Schematic diagram showing the trajectory change mechanism in moving parts such as revolution Enlarged view of the main parts showing the operation of the container holder and the vibration mechanism Enlarged view of main parts showing the operation of the container holder and the vibration mechanism according to another embodiment

Hereinafter, the foreign matter inspection apparatus 10 according to the present embodiment will be specifically described with reference to the drawings. In the present embodiment, a specific example of a foreign matter inspection device 10 configured to inspect foreign matter in powder contained in a transparent container such as a vial bottle is shown. However, the inspection object P is not necessarily limited to powder, and a fluid such as liquid can be used.

FIG. 1 is a front view showing the entire operation of the foreign matter inspection device 10 according to the present embodiment, FIG. 2 is an operation explanatory diagram showing a part of a revolution or the like moving part of the foreign matter inspection device 10, and FIG. FIG. 4A is an exploded perspective view showing a connected state of the left and right rotary shaft portions 21, the left and right crank members 22, and the left and right swinging members 23 in the left and right eccentric mechanism, and FIGS. 8 is an enlarged view of an essential part showing a mode in which the eccentric distance is changed, FIGS. 5 to 7 are schematic views showing a trajectory changing mechanism in a revolving or the like moving part, and FIG. 8 shows the operation of the container holding part 12 and the vibration mechanism. FIG. 9 is an enlarged view of a main part shown in FIG. 9, and FIG. 9 is an enlarged view of a main part showing operations of the container holding part 12 and the vibration mechanism according to another embodiment.

As shown in FIG. 1, a foreign matter inspection apparatus 10 according to the present embodiment is a transparent housing in which an object P to be inspected (that is, a powder P which is a filling material of a transparent container B) is housed on the front side of a housing 11. A container holding part (12) holding a container (B) is provided. In particular, in the present embodiment, the container holder 12 is provided with a vibrating mechanism for vibrating the transparent container B that it holds, preferably the transparent container B that is revolving and/or reciprocating.

Further, the container holding unit 12 is provided with a revolution or the like movement unit for revolving and/or reciprocating movement, and the revolution or the like movement unit is composed of the vertical movement mechanism 40 and the horizontal movement mechanism 20 in the present embodiment. I am configuring. Further, the foreign matter inspection device 10 according to the present embodiment includes an image pickup device 60 for taking an image of the inspection object P in the transparent container that revolves and/or reciprocates. The imaging device 60 is formed by using an optical element, uses a device capable of capturing a still image or a moving image, and moves the inspection target P in a transparent container that revolves and/or reciprocates to the transparent state. It can be provided so as to capture an image from the lower side of the container B. The imaging device 60 may directly image the lower side of the transparent container B, and may also take an indirect image using a mirror surface or the like.

In the present embodiment, the container holding unit 12 is provided in the vertical movement mechanism 40 that moves the container holding unit 12 in the vertical direction.

The up-and-down moving mechanism 40 is provided with the container holding section 12 and also includes an up-and-down moving member 44 that reciprocates in the up-and-down direction. The up-and-down moving member 44 is pivotally attached to the up-and-down swing member 43. The vertical rocking member 43 is pivotally mounted on a vertical crank member 42 connected to a vertical rotary shaft portion 41 that is rotationally driven by a rotary shaft of a rotary drive mechanism such as a motor. As a result, when the vertical rotation shaft portion 41 rotates, the vertical crank member 42 provided eccentrically with respect to the vertical rotation shaft portion 41 rotates around the rotation axis of the vertical rotation shaft portion 41. The rotation of the vertical crank member 42 is a circular motion having a radius of an eccentric distance from the vertical rotation shaft portion 41, and the vertical swinging member 43 follows the circular motion and the shaft of the vertical moving member 44. It moves vertically while swinging around the attachment part. As a result, the vertical moving member 44 can move in the vertical direction. At that time, it is desirable to provide a slider or a guide rail for restricting the vertical movement member 44 from moving in the left-right direction with respect to other members (a left-right movement member 24, etc. described later). In the present embodiment, the vertical rocking member 43 is formed in a plate shape, but it can also be formed in a rod shape, and the vertical crank member 42 is also formed in a disk shape. This can also be formed in a rod shape or a plate shape.

Further, in the present embodiment, the horizontal movement mechanism 20 for moving the vertical movement member 44 in the horizontal direction is provided.

The left-right moving mechanism 20 includes a left-right moving member 24 that reciprocates the vertical moving member 44 in the left-right direction, and the left-right moving member 24 is pivotally attached to the left-right swinging member 23. The left/right swing member 23 is pivotally attached to a left/right crank member 22 connected to a left/right rotation shaft portion 21 that is rotationally driven by a rotary shaft of a rotary drive mechanism such as a motor. As a result, when the left/right rotation shaft portion 21 rotates, the left/right crank member 22 provided eccentrically with respect to the left/right rotation shaft portion 21 rotates about the rotation axis of the left/right rotation shaft portion 21. The rotation of the left and right crank members 22 becomes a circular motion having a radius of an eccentric distance from the left and right rotating shaft portion 21, and the left and right swinging members 23 follow the circular motion and the shafts of the left and right moving members 24. Moves to the left and right while swinging around the attachment. As a result, the left/right moving member 24 can move in the left/right direction. At this time, it is desirable to provide a slider or a guide rail for restricting the vertical movement of the left and right moving member 24 with respect to other members (such as a member fixed to the housing 11). In the present embodiment, the left and right rocking member 23 is formed in a plate shape, but it can also be formed in a rod shape, and the left and right crank members 22 are also formed in a disk shape. This can also be formed in a rod shape or a plate shape.

In the foreign matter inspection device 10 according to the present embodiment configured as described above, the revolving or the like moving unit is configured by the vertical moving mechanism 40 and the horizontal moving mechanism 20, and the vertical moving mechanism 40 performs vertical reciprocating movement. The left and right movement mechanism 20 can generate a left and right reciprocating movement. By combining the movements of both mechanisms by this, the transparent container B held by the container holding portion 12 can be moved on a revolving orbit such as a circle or an ellipse, and can be reciprocated in a linear direction at an arbitrary angle. The movement can be realized.

Next, with reference to FIG. 2, the operation of each mechanical unit that produces vertical or horizontal movement will be described.

2, (A) is a B1-B1 cross-sectional view, (B1) is a schematic view showing a state in which the crank member is rotated 90° counterclockwise from a vertically upward direction, and (B2) is a crank member (B1). Is a schematic diagram showing a state in which the crank member is further rotated counterclockwise by 90°, (B3) is a schematic diagram showing a state in which the crank member is further rotated counterclockwise by 90° from (B2), and (B4) is a crank member. Is a schematic diagram showing a state of further rotating 90 degrees counterclockwise from (B3), and (C1) to (C4) are schematic diagrams schematically showing (B1) to (B4).

As described above, the left-right moving mechanism 20 shown in FIG. 2 includes the left-right moving member 24, the left-right swinging member 23, the left-right crank member 22, and the left-right rotating shaft portion 21. Of these, the left-right moving member 24 and the left-right swing member 23 are connected in a rotating pair by a swing rotation shaft 26, and the left-right swing member 23 and the left-right crank member 22 rotate by a crank rotation shaft 25. Connected by. The left and right moving member 24 is connected to the rail member 27 fixed to the housing 11 by a sliding pair.

As shown in FIG. 2(B1), for example, the left/right moving mechanism 20 has a position in which the left/right moving portion is separated from the left/right rotating shaft portion 21 in a state of being rotated 90° counterclockwise from a vertically upward direction. Exists in. In the embodiment shown in FIG. 2, in the state shown in FIG. 2(B1), the left and right moving parts are located at a position farthest from the left and right rotating shaft parts 21 (far left side in the drawing). Become.

After that, as shown in FIG. 2B2, the left and right moving shafts of the left and right crank members 22 are rotated by the left and right crank members 22 by rotating the crank member 22 by 90° counterclockwise from the state of (B1). Therefore, the eccentric distance L approaches the side of the left and right rotary shafts 21. At this time, since the center of rotation of the left and right crank members 22 is located right below the left and right rotating shaft portions 21, the eccentric distance L becomes substantially zero, and the left and right moving members 24 move in the left and right direction. It will be located at the center of the reciprocating movement.

Then, as shown in FIG. 2(B3), the crank member is further rotated by 90° in the counterclockwise direction from the state of (B2), whereby the left/right moving unit is further moved to the left/right rotating shaft portion 21 by the eccentric distance L. You will get closer. In the state shown in FIG. 2(B3), the left/right moving unit is located at a position closest to the left/right rotation shaft unit 21 (rightmost in the drawing). Then, as shown in FIG. 2(B4), the left/right moving member 24 is rotated by 90° in the counterclockwise direction from the state of (B3), so that the left/right moving member 24 is moved to the left/right rotating shaft portion 21 side by the distance L. Will be away from. At this time, since the center of rotation of the left and right crank members 22 is located right above the left and right rotating shaft portions 21, the eccentric distance L becomes substantially zero, and the left and right moving mechanisms 20 in It exists at the center position of the reciprocating movement in the direction.

As the left-right rotating shaft portion 21 continuously rotates as described above, the rotational movement is converted into a reciprocating movement in the left-right moving member 24, and the left-right moving member 24 is moved at a distance twice the eccentric distance L. It can reciprocate left and right.

Although FIG. 2 particularly illustrates the horizontal movement mechanism 20, the vertical movement mechanism 40 also operates in the same manner. That is, by the continuous rotation of the vertical rotation shaft portion 41, the rotational motion thereof is converted into a reciprocating motion in the vertical direction by the vertical crank member 42 and the vertical swinging member 43, and the vertical crank member 42 moves from the vertical rotation shaft portion 41. The vertical movement member 44 can reciprocate in the vertical direction at a distance twice the eccentric distance L. It should be noted that the vertical movement mechanism 40 is similar if the horizontal direction is replaced with the vertical direction, and thus detailed description thereof will be omitted.

Next, the eccentric operation of the vertical movement mechanism 40 and the horizontal movement mechanism 20 in the present embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is an exploded perspective view showing a connected state of the left and right rotating shaft portions 21, the left and right crank members 22, and the left and right swinging members 23 in the left and right eccentric mechanism, and FIGS. FIG. 7 is an enlarged view of a main part showing a mode in which the eccentric distance of the crank member 22 is changed.

In the present embodiment, on the tip side of the left and right rotary shaft portion 21, a ridge portion 31 that extends in a diametrical direction and projects is provided, and a joint surface with the left and right rotary shaft portion 21 in the left and right crank members 22. A groove portion 32 for receiving the ridge portion 31 is provided in the. As a result, the left and right rotary shaft portions 21 and the left and right crank members 22 are fitted in the corresponding ridge portions 31 and the groove portions 32, and the left and right crank members 22 slide and move in the length direction of the ridge portions 31. It is configured to be able to. Then, in the left and right crank members 22, a cylindrical convex portion (crank rotation shaft 25) is provided at the center on the surface opposite to the side where the groove portion 32 is formed. A through hole 33 formed on the base end side of the left and right swinging member 23 is inserted into the convex portion, and the left and right swinging member 23 is connected by a rotating pair. The left and right rocking member 23 is prevented from coming off by a retaining ring 34.

The left and right swinging member 23 configured as described above can adjust the eccentric distance of the left and right crank members 22 by slidingly moving the ridge portion 31 and the groove portion 32 as shown in FIG. That is, as shown in FIG. 4(A), the left and right crank members 22 are slid from the left and right rotary shaft portions 21 by a distance L1, so that the left and right crank members 22 have an eccentric distance L1. To turn the mind. As a result, the base end side of the left and right rocking member 23 also rotates the axis of the left and right rotary shaft portion 21 at the eccentric distance L1, and the tip end side of the left and right rocking member 23 is twice the eccentric distance L1. It can reciprocate left and right by the length.

Then, as shown in FIG. 4(B), the left and right crank members 22 are slid toward the left and right rotation shaft portions 21 to adjust the distance between the rotation center of the left and right rotation shaft portions 21 and the rotation center of the left and right swing members 23. In the case of L2, the base end side of the left and right rocking member 23 rotates the axis of the left and right rotary shaft portion 21 at the eccentric distance L2, and the tip end side of the left and right rocking member 23 is the eccentric distance. It is possible to reciprocate in the left-right direction by a length twice as long as L2.

Then, as shown in FIG. 4C, when the center of rotation of the left and right rotating shaft portion 21 and the center of rotation of the left and right rocking member 23 are made to coincide with each other, the eccentric distance between them becomes zero. As a result, even when the left/right rotation shaft portion 21 rotates, the left/right swing member 23 does not reciprocate in the left/right direction.

Thereafter, as shown in FIG. 4(D), the left and right crank members 22 are slid in a direction away from the left and right rotating shaft portion 21 so that the center of rotation of the left and right rotating shaft portion 21 and the center of rotation of the left and right swinging member 23. When the distance is L3, the base end side of the left and right rocking member 23 rotates the shaft center of the left and right rotary shaft portion 21 at the eccentric distance L3, and the tip end side of the left and right rocking member 23 is It is possible to reciprocate in the left-right direction by a length twice the eccentric distance L3. At this time, when the eccentric distance L3 is the same as the eccentric distance L2, the reciprocating distance is the same.

Then, as shown in FIG. 4(E), the left and right crank members 22 are slid in a direction away from the left and right rotation shaft portion 21 so that the rotation center of the left and right rotation shaft portion 21 and the rotation center of the left and right swinging member 23 are separated from each other. When the distance is L3, the base end side of the left and right rocking member 23 rotates the axis of the left and right rotating shaft portion 21 at the eccentric distance L3, and the tip end side of the left and right rocking member 23 is the biasing side. It is possible to reciprocate in the left-right direction by a length twice the core distance L3. At this time, when the eccentric distance L3 is the same as the eccentric distance L2, the reciprocating distance is the same. Further, as shown in FIG. 4(F), when the left and right crank members 22 are slid further in the direction away from the left and right rotary shaft portions 21 and the eccentric distance is set to L4, the left and right swinging members are the same as above. 23 The tip end side can reciprocate in the left-right direction by a length that is twice the eccentric distance L4. At this time, when the eccentric distance L4 is the same as the eccentric distance L1, the reciprocating distance is the same.

As described above, by changing the distance between the center of the left and right crank members 22 and the center of the left and right rotating shaft portions 21, the reciprocating movement distance of the tip end side of the left and right swinging member 23 can be arbitrarily changed. .. As a result, it is possible to adjust the revolution distance and/or the reciprocating movement distance of the left/right moving unit. In particular, in the present embodiment, the left and right crank members 22 are configured to be slidable over the center of rotation of the left and right rotary shafts 21, but may be configured to move only in any radial direction. good. Further, as long as the distance between the rotation center of the left and right rocking members 23 on the proximal end side and the rotation center of the left and right rotation shaft portions 21, that is, the eccentric distance can be adjusted, the configuration is not limited to the slide movement, and other configurations are possible. It is also possible to realize. Further, since the vertical movement mechanism 40 can be implemented by changing the horizontal direction of the horizontal movement mechanism 20 to the vertical direction, detailed description thereof will be omitted.

Next, with reference to FIGS. 5 to 7, the trajectory changing mechanism in the orbital movement unit in the present embodiment will be described. In the embodiments of FIGS. 5 to 7, the lateral eccentricity of the horizontal movement mechanism 20 is L1, and the vertical eccentricity of the vertical movement mechanism 40 is L2. In particular, in the present embodiment, L2 is set to half the distance of L1.

In the embodiment shown in FIG. 5(A), the rotation start position of the center of rotation of the left and right crank members 22 in the left and right moving mechanism 20 is the leftmost position (L1) of the left and right rotation shaft portion 21, Further, the rotation start position of the rotation center of the vertical crank member 42 in the vertical movement mechanism 40 is set to the uppermost position (L2) above the vertical rotation shaft portion 41. At this time, the coordinate position (X, Z) of the transparent container B held in the container holder 12 and containing the inspection object P (that is, the powder P which is the filling material of the transparent container B) is (-L1 , L2).

After that, as shown in FIG. 5B, the left and right rotary shaft portions 21 and the vertical rotary shaft portion 41 are rotated 90 degrees counterclockwise in the drawing to rotate the rotation center of the left and right crank members 22 left and right. The shaft 21 is moved to the lower side, and the rotation center of the vertical crank member 42 is moved to the left side of the vertical rotation shaft 41. At this time, the coordinate position (X, Z) of the transparent container B becomes (0, 0).

Then, as shown in FIG. 5C, the left and right rotary shaft portions 21 and the vertical rotary shaft portion 41 are further rotated counterclockwise by 90° from the above-mentioned FIG. It is moved to the farthest position (L1) on the right side of the left and right rotary shaft portion 21, and the rotation center of the upper and lower crank members 42 is moved to the farthest position (L2) below the vertical rotary shaft portion 41. .. At this time, the coordinate position (X, Z) of the transparent container B becomes (L1, -L2).

Thereafter, as shown in FIG. 5(D), the left/right rotation shaft portion 21 and the up/down rotation shaft portion 41 are further rotated counterclockwise by 90° from FIG. 5(C), and the rotation center of the left/right crank member 22 is rotated. Is moved to the upper side of the left and right rotary shaft portion 21, and the rotation center of the upper and lower crank members 42 is moved to the right side of the vertical rotary shaft portion 41. At this time, the coordinate position (X, Z) of the transparent container B becomes (0, 0) again.

As described above, by continuously rotating the respective rotary shafts at the same rotational speed, in the coordinate system schematically shown in FIG. 5, the transparent container B is moved from the coordinate position (−L1, L2) to (L1, It is possible to reciprocate linearly in the range of (-L2) through the origin. At this time, if the vertical moving mechanism 40 and the horizontal moving mechanism 20 have the same eccentric distance, the trajectory of the container holding unit 12 passes through the coordinate origin and is linearly reciprocated with an inclination of -1. Further, when the eccentric distance in the vertical movement mechanism 40 is set to be twice the eccentric distance in the horizontal movement mechanism 20, the trajectory of the container holding section 12 passes through the coordinate origin and is tilted. It is possible to make a linear reciprocating movement with -2. Further, when the rotation start position of the center of rotation of the left and right crank members 22 in the left and right moving mechanism 20 is set to the farthest position (L1) on the right side of the left and right rotating shaft portion 21, the inclination of the linear reciprocating movement is It can be a positive value, and when the eccentricity distance is set to zero in either the horizontal movement mechanism 20 or the vertical movement mechanism 40, the Z-axis or X-axis is moved by the eccentricity distance of the other movement mechanism. It can be a linear movement back and forth in the axis field. That is, the inclination of the reciprocating movement can be changed by changing the reciprocating movement distance according to the eccentric distance of the left and right crank members 22 and changing the relative rotation start positions of the left and right moving mechanism 20 and the up and down moving mechanism 40. ..

Next, with reference to FIG. 6, a method of changing the trajectory on the revolution trajectory will be described. Particularly, in the embodiment shown in FIG. 6, by changing the relative rotation start positions of the horizontal movement mechanism 20 and the vertical movement mechanism 40, the revolution path of the container holding portion 12 holding the transparent container B is changed. There is.

That is, in the embodiment shown in FIG. 6, the rotation start position of the rotation center of the left/right crank member 22 in the left/right moving mechanism 20 is set to the upper side of the left/right rotating shaft portion 21, and the rotation of the up/down crank member 42 in the up/down moving mechanism 40. The center rotation start position is the upper side of the vertical rotation shaft portion 41, as in the embodiment shown in FIG. At this time, the coordinate position (X, Z) of the transparent container B held by the container holder 12 is (0, L2).

After that, as shown in FIG. 6B, the left and right rotary shaft portions 21 and the vertical rotary shaft portion 41 are rotated 90° counterclockwise in the drawing so that the center of rotation of the left and right crank members 22 is moved to the left and right. The rotation center of the vertical crank member 42 is moved to the left side of the vertical rotation shaft 41 by moving the rotation shaft 21 to the left side. At this time, the coordinate position (X, Z) of the transparent container B becomes (-L1, 0).

Then, as shown in FIG. 6(C), the left/right rotary shaft portion 21 and the vertical rotary shaft portion 41 are further rotated counterclockwise by 90° from FIG. The left and right rotary shaft portions 21 are moved to the lower side, and the rotation center of the upper and lower crank members 42 is moved to the lower side of the vertical rotary shaft portions 41. At this time, the coordinate position (X, Z) of the transparent container B becomes (0, -L2).

Thereafter, as shown in FIG. 6(D), the left/right rotation shaft portion 21 and the up/down rotation shaft portion 41 are further rotated counterclockwise by 90° from FIG. 6(C), and the rotation center of the left/right crank member 22 is rotated. Is moved to the right side of the left/right rotation shaft part 21, and the rotation center of the upper/lower crank member 42 is moved to the right side of the up/down rotation shaft part 41. At this time, the coordinate position (X, Z) of the transparent container B becomes (0, 0) again.

As described above, in the present embodiment, in the horizontal movement mechanism 20 and the vertical movement mechanism 40, container holding is performed by synchronizing the relative positional relationship between the rotation center of each crank member and the rotation center of each rotation shaft portion. The revolution trajectory of the portion 12 can be formed in a horizontally long elliptical shape. That is, the orbit of the container holding portion 12 has an elliptical shape having a major axis twice the length L1 and a minor diameter twice the length L2 and having the major axis oriented in the left-right direction (X-axis direction). You can At this time, if the eccentric distance in the vertical movement mechanism 40 is the same as L1, the trajectory of the container holder 12 can be circular, and the eccentric distance in the horizontal movement mechanism 20 is L2. When the eccentric distance with respect to the vertical movement mechanism 40 is L1, the major axis can have an elliptical shape directed in the vertical direction (Z-axis direction).

FIG. 7 shows an embodiment in which the rotation start position of the rotation center of the left and right crank members 22 in the left and right moving mechanism 20 is further changed.

That is, in the embodiment shown in FIG. 7, the rotation start position of the rotation center of the left and right crank members 22 in the left and right moving mechanism 20 is on the right side of the left and right rotation shaft portion 21 and rotates counterclockwise from the horizontal direction (X coordinate direction). Direction (counterclockwise) by a position rotated by an angle Θ, and the rotation start position of the rotation center of the vertical crank member 42 in the vertical movement mechanism 40 is the same as that of the embodiment of FIG. The upper side. At this time, the coordinate position (X, Z) of the transparent container B held by the container holding unit 12 is (L1cosΘ, L2).

After that, as shown in FIG. 7B, the left and right rotary shaft portions 21 and the vertical rotary shaft portion 41 are rotated 90° counterclockwise in the drawing to rotate the rotation center of the left and right crank members 22. The center of rotation of the vertical crank member 42 is moved to a position above the center of rotation and rotated by an angle Θ from the vertical direction (Z coordinate direction) in the counterclockwise direction (counterclockwise direction). Move it to the left. At this time, the coordinate position (X, Z) of the transparent container B becomes (-L1sin Θ, 0).

Then, as shown in FIG. 7(C), the left/right rotary shaft portion 21 and the vertical rotary shaft portion 41 are further rotated counterclockwise by 90° from FIG. 7(B) to set the rotation center of the left/right crank member 22. It is moved to the left side of the left and right rotary shaft portion 21 and is rotated from the horizontal direction (X coordinate direction) by the angle Θ in the counterclockwise direction (counterclockwise direction), and the rotation center of the vertical crank member 42 is moved up and down. It is moved to the lower side of the part 41. At this time, the coordinate position (X, Z) of the transparent container B becomes (-L1cos?, -L2).

Thereafter, as shown in FIG. 7(D), the left/right rotary shaft portion 21 and the vertical rotary shaft portion 41 are further rotated counterclockwise by 90° from FIG. 7(C), and the rotation center of the left/right crank member 22 is rotated. On the lower side of the rotation shaft portion and rotated from the vertical direction (Z coordinate direction) in the counterclockwise direction (counterclockwise direction) by an angle Θ, and the rotation center of the vertical crank member 42 is vertically rotated. The shaft 41 is moved to the right side. At this time, the coordinate position (X, Z) of the transparent container B becomes (L1sin Θ, 0).

As described above, in the present embodiment, in the horizontal movement mechanism 20 and the vertical movement mechanism 40, by setting the rotation start position of the rotation center of each crank member to an arbitrary position, the revolution trajectory of the container holding unit 12 is tilted. Can be an elliptical shape with 1/2. At this time, if the eccentric distance in the vertical movement mechanism 40 is increased, the inclination of the elliptical orbit can be set to a large value, and the rotation start position of the rotation center of the left and right crank members 22 is set to the left side of the rotation center. If set, the inclination of the elliptical orbit can be negative.

As described above, in the present embodiment, by changing the eccentric distance of each crank member, the length of the trajectory of the revolution movement and/or the reciprocating movement can be changed, and the rotation center of each crank member can be changed. By changing the rotation start position, the shape and inclination of the locus or the inclination of reciprocating movement can be changed.

Therefore, in the foreign matter inspection device 10 according to the present embodiment, it is desirable that the rotating shafts of the vertical moving mechanism 40 and the horizontal moving mechanism 20 can be independently controlled. The direction rotation drive mechanism and the vertical direction rotation drive mechanism such as a motor for rotating the vertical rotation shaft portion 41 may be separately provided.

As described above, in the foreign matter inspection device 10 according to the present embodiment, in the case where the rotation phase of the rotation shaft portion and the like can be separately controlled in the left-right direction and the up-down direction, the revolution trajectory is elliptical and/or The shape can be linear, and when the shape is elliptical, the locus of the ellipse can be inclined at an arbitrary angle. And, by tilting the elliptical orbit to an arbitrary angle, it is possible to realize the optimum tilting motion for uniformly stirring the inspection object P (powder P, etc.) in the transparent container B (vial bottle, etc.). Is possible.

Further, by making the rotational speeds of the left and right rotary shafts 21 and the vertical rotary shafts 41 different, it is possible to make the operating speeds of the left and right moving mechanism 20 and the vertical moving mechanism 40 different. The trajectory can also be changed during operation. Further, the eccentric distance of each crank member may be configured to be changed during operation, whereby the foreign matter inspection device 10 capable of changing the length of the revolution or reciprocating movement trajectory during operation can be realized. it can.

Further, in the foreign matter inspection device 10 according to the present embodiment, in the revolution movement mechanism, the center of the revolution movement trajectory and/or the reciprocation movement trajectory of the transparent container B is the revolution movement surface and/or the reciprocation movement surface of the transparent container B. Can be configured to reside within. By controlling the revolution movement locus and/or the reciprocating movement locus in this way, the revolution revolution locus can be made smaller, and thus the stirring efficiency can be improved. However, depending on the characteristics of the inspection object P and the size of the transparent container B, the center of the revolution movement trajectory or the reciprocation movement trajectory of the transparent container B is present outside the revolution movement surface or the reciprocation movement surface of the transparent container B. You can also

Further, in the present embodiment, the inspection object P in the transparent container can be stirred and agitated by the revolution movement and/or the reciprocating movement. An imaging device 60 control mechanism that controls the operation in conjunction with the operation can be provided. It is desirable that such an image pickup control device is configured to control the image pickup device 60 so that the image pickup device 60 picks up an image at the timing when the inspection object P is pressed against the inner surface of the transparent container B in the above-mentioned tilting operation. .. For example, a rotary encoder can be used as the imaging control device. By using such an imaging control device, it is possible to reduce the number of images used for inspection and the data capacity, and it is possible to increase the inspection speed of the inspection of foreign substances in the transparent container.

The image picked up by the image pickup device 60 is judged by an image judgment device constituted by using a computer or the like, and the presence or absence of a foreign substance in the inspection object P is judged. For such image determination, a known image determination method such as binarization processing can be used. The image determination result and the captured image can be held in the storage device together with the inspection information such as the management number and the inspection date and time, so that the history of the inspection object P can be traced (traceability). Secured).

The foreign matter inspection device 10 according to the present embodiment includes a container holding unit 12 that holds a transparent container B that contains the inspection object P. It is desirable that the container holding portion 12 holds the transparent container B in a horizontal direction. That is, it is desirable that the container holding section 12 holds the transparent container B such that its cylindrical wall surface faces sideways. In the case of a cylindrical container such as a vial bottle, it is possible to avoid a situation in which the inspection object P accumulates at the corner by performing the stirring/stirring operation with the peripheral wall surface facing downward. In this respect, if the bottom surface of the container is held downward and the stirring/stirring operation is performed, if the inspection object P has a high cohesive property, the inspection object is located at the corner between the container bottom surface and the peripheral wall surface. Since P may be stored, holding the transparent container B sideways improves the agitation property of the inspection object P and realizes the optimum sliring operation.

The foreign matter inspection apparatus according to the present embodiment described above preferably further includes an inclination changing mechanism that can change the inclination of the transparent container. Such an inclination changing mechanism can be configured to incline an orbital moving unit that revolves and/or reciprocates the transparent container, or inclines the housing itself. Such a tilt changing mechanism can be formed by using a jack or other piston mechanism or the like so as to tilt the moving part such as the revolution or the housing. Such an inclination changing mechanism can be formed so as to change the inclination of the transparent container before orbital movement as well as change the inclination of the transparent container during orbital movement. By changing the inclination of the transparent container during orbital movement, it is possible to change the direction of gravitational acceleration with respect to the container by the inclination change mechanism, and the deviation due to the frictional resistance between the inner surface of the container and the contents and the agglomeration of the contents themselves. Can be eliminated by changing the gravitational acceleration direction. Further, the tilt variation mechanism, the direction that intersects the revolution moving surface of the transparent container, or can be tilted in the direction along the revolution moving surface, also along the extending direction of the central axis of the transparent container, or It can be tilted in a direction intersecting the stretching direction of the central axis.

8 and 9 are front views showing an embodiment of the container holding portion 12 which holds the transparent container B containing the inspection target, and in each drawing, (A) holding state and (B) releasing state are shown. Of these, the container holding part 12 shown in FIG. 8 is configured to hold one transparent container B. That is, the container holding portion 12 shown in FIG. 8 includes two clamp members that move in the left-right direction, and is configured to hold the transparent container B between the clamp members. By moving the two clamp members in opposite directions, the transparent container B moved to a predetermined position (for example, the photographing position of the image pickup device 60) can be held at that position. For the opening/closing operation of the clamp member, a known mechanism such as an air chuck or a solenoid valve can be adopted.

Further, the container holding unit 12 in the present embodiment includes a vibrating mechanism that gives a slight vibration to the held container. It is desirable that such a vibrating mechanism uses the air vibration, the solenoid or the like to give the transparent container B a slight vibration having a frequency of about 200 to 400 Hz and an amplitude of about 0.1 to 0.2 mm. It is desirable that the frequency and the amplitude of the vibration mechanism can be adjusted arbitrarily, and the frequency and the amplitude of the slight vibration can be made different for each of the left and right clamp members. When the frequency and the amplitude of the slight vibration are made different between the opposing clamp members, the distance between the two also changes, so the surface of the clamp member facing the transparent container B receives the transparent container B. It is desirable to form a recess so that the transparent container B can be held even when the distance between the clamp members changes.

FIG. 9 is a front view showing a container holding portion 12 configured to hold two transparent containers B side by side. The container holding part 12 shown in this embodiment is formed by arranging the two container holding parts 12 shown in FIG. 8 side by side, and therefore, two sets of two clamp members arranged facing each other are provided. Since each clamp member can vibrate, it is possible to hold the two transparent containers B in parallel and apply a slight vibration to each.

As described above, microvibration is applied to the transparent container B held by the container holding unit 12, so that the inspection object P (for example, powder P) in the transparent container is coupled with the revolving movement and/or the reciprocating movement. Is sufficiently agitated and agitated, it is possible to reliably detect foreign matter if the foreign matter is mixed in the inspection object P.

INDUSTRIAL APPLICABILITY The foreign matter inspection apparatus and the foreign matter inspection method according to the present invention can be used in the inspection field such as inspecting the presence of foreign matter in a filling material filled in various transparent containers such as vials, ampoules, and bottles. .. Such an inspection device and inspection method can efficiently inspect the mixture of foreign matter particularly when the filling material is a fluid such as powder, granules, or liquid.

Further, the foreign matter inspection device and the foreign matter inspection method according to the present invention can efficiently stir the fluid filled in the container, and thus can be used not only in the inspection field but also for stirring the filling material in the container.

10 Foreign matter inspection device
11 case
12 Container holder
20 Left-right movement mechanism
21 Left and right rotating shaft
22 Left and right crank members
23 Left and right swing members
24 Left and right moving member
25 crank rotation axis
26 Oscillating rotary shaft
27 Rail member
40 Vertical movement mechanism
41 Vertical rotation shaft
42 Upper and lower crank members
43 Vertical swing member
44 Vertical movement member
60 Imaging device
B transparent container
P Inspection object (powder)

Claims (8)

A foreign matter inspection device for inspecting the presence or absence of foreign matter in a filling material filled in a transparent container,
An orbital movement unit for revolving and/or reciprocating the transparent container, and a vibration mechanism for vibrating the transparent container during revolving and/or reciprocating movement,
The foreign matter inspection device in the filling material in the transparent container, wherein the orbital movement unit includes a trajectory changing mechanism that changes an orbital movement trajectory and/or a reciprocating movement trajectory of the transparent container.
The revolution revolving movement unit can make the revolution revolving locus of the transparent container into an elliptical shape, and the trajectory changing mechanism included in the revolution revolving movement unit has a long diameter, a short diameter, and an inclination of the elliptical locus. The foreign matter inspection apparatus according to claim 1, wherein at least any one of them can be changed.
The foreign matter inspection apparatus according to claim 1 or 2, wherein the center of the revolution movement locus or the reciprocation movement locus of the transparent container exists on the revolution movement surface or the reciprocation movement surface of the transparent container.
Furthermore, a container holding portion for holding the transparent container having a cylindrical peripheral wall surface is provided,
The container holding section holds the transparent container such that its cylindrical wall surface is lateral,
The foreign matter inspection device according to any one of claims 1 to 3, wherein the orbital movement unit revolves and/or reciprocates the transparent container in a direction intersecting a central axis of a cylindrical peripheral wall surface. ..
5. The tilt variation mechanism for tilting the transparent container, which is revolving and/or reciprocating, in a direction intersecting the revolving surface and/or reciprocating surface, according to any one of claims 1 to 4. Foreign matter inspection device.
Furthermore, the imaging device which image|photographs the said filler which circulates and flows from the side wall surface side of the transparent container hold|maintained sideways is provided, circulating the filler in this transparent container. The foreign matter inspection device according to the item.
The foreign matter inspection apparatus according to claim 6, further comprising: an image pickup apparatus control mechanism that controls an image pickup operation of the image pickup apparatus in association with an operation of the orbital movement unit.
A foreign matter inspection method for inspecting the presence or absence of foreign matter in a filling material filled in a transparent container,
While revolving and/or reciprocating the transparent container, and oscillating the revolving transparent container and/or reciprocating transparent container to circulate and flow the filler in the transparent container, A method for inspecting foreign matter in a filling material in a transparent container, characterized by taking an image and inspecting the presence or absence of a foreign matter in the filling material using the obtained image.