JPWO2005031328A1 - Inspection system - Google Patents

Abstract

A system 20 for inspecting an object to be inspected 1 in which a liquid 2 is filled in a container 2 having optical transparency, the object to be inspected 1 is held, and the held inspected object 1 is tilted or inverted to return to the original posture. The reversing device 51 for returning to the position, the image capturing devices 91 to 96 for capturing the inspected object 1 immediately after being tilted or inverted by the reversing device 51 and returned to the original posture, and the images by the image capturing devices 91 to 96 are processed. And an imaging processing apparatus 100 that determines the quality of the device under test 1. The reversing device 51 includes a chuck 55 that holds the upper end portion of the device under test 1 and a chuck rotation mechanism 56 that rotates the chuck 55 about a rotation center axis O2 in the horizontal direction.

Description

  The present invention relates to an inspection system that automatically determines the quality of a product in the manufacture of a product in which a light-transmitting container such as an ampoule or an infusion bag is filled with a liquid.

  For example, in the manufacturing process of products in which liquid contents such as pharmaceuticals are filled in light-transmitting containers such as ampoules and infusion bags, foreign substances such as dust are not mixed into the liquid after filling the liquid. We are conducting an inspection to confirm. In such inspection, the product is irradiated with light by a lamp, light is transmitted through the container and contents, and the state is imaged by a camera. In addition, by analyzing the captured image with an image processing device, the presence of foreign matter mixed in the liquid is detected, and the quality of the product is determined.

  Conventionally, as a system for performing such an inspection, a rotating table that holds the lower part of the product at the outer periphery and an upper rotating member that is arranged on the upper part of the rotating table and is supported rotatably around the rotation center of the rotating table, While holding the top and bottom of the product by holding members respectively provided on the outer peripheral part of the rotary table and the outer peripheral part of the upper rotary member, the rotary table and the upper holding member are rotated synchronously, and the product is transported along this rotation In a known configuration, the lamp and the camera are moved so as to be synchronized with the movement of the product, and imaging is performed (see, for example, Patent Documents 1 and 2). In these systems, the product is rotated during imaging, and the rotation is stopped instantaneously, whereby the foreign matter is suspended in the liquid and the foreign matter can be detected more accurately.

Japanese Patent Publication No. 2002-139505 Japanese Patent Publication No. 10-142113

  Among the products described above, there are, for example, five, etc., in which a plurality of containers are arranged in a horizontal row and connected. However, there is no system for automatically inspecting such products, and visual inspection has been performed. In addition, with conventional inspection systems, it was difficult to inspect containers made of flexible materials such as infusion bags. Furthermore, the conventional inspection system sometimes cannot detect the foreign matter accurately when the foreign matter settles on the bottom of the container or sticks to the inner wall.

  An object of the present invention is to provide an inspection system capable of automatically detecting foreign matter in an inspection of a product in which a liquid-filled container such as an ampule or an infusion bag filled with liquid is filled with liquid.

  In order to solve the above problems, according to the present invention, there is provided a system for inspecting an object to be inspected in which a light-transmitting container is filled with a liquid, which holds the object to be inspected and tilts the object to be inspected. Alternatively, the reversing device that is inverted and returned to the original posture, the imaging device that captures the object to be inspected immediately after being tilted or inverted by the reversing device and returned to the original posture, and the image by the imaging device are processed. An inspection system is provided that includes an imaging processing device that determines the quality of an object to be inspected. According to such an inspection system, the object to be inspected is tilted or inverted and returned to the original posture again, whereby the foreign matter that has settled on the bottom of the container and the foreign matter that has adhered to the inner wall of the container can be floated. Therefore, foreign matter can be detected reliably.

  In this inspection system, it is preferable that the reversing device includes a chuck that holds the upper end portion of the object to be inspected, and a chuck rotation mechanism that rotates the chuck around a rotation center axis in the horizontal direction. In this case, the chuck rotating mechanism includes a servo motor, for example. Moreover, it is preferable to provide the 1st imaging device which images a to-be-inspected object from the side, and the 2nd imaging device which images to-be-inspected object from the downward direction. In this case, foreign matter near the bottom surface of the container can be reliably detected.

  And a rotating table having a plurality of reversing devices arranged in a circumferential direction. The rotating table is rotated to convey an object to be inspected held by the reversing device, and the inspection device is synchronized with the object to be inspected. The object to be inspected is imaged while being rotated, and after the image is taken, the inspection apparatus is rotated in the opposite direction to the object to be inspected, and the inspection apparatus is moved to an initial position for starting synchronous rotation with the object to be inspected. It is preferable to make it the structure which returns. In this case, the product can be inspected while being transported, so it is efficient. The object to be inspected may be composed of a plurality of connected containers. Moreover, the said to-be-inspected object is what filled the liquid with the container which consists of a flexible material, and to-be-inspected object may be hold | maintained at the inversion apparatus using the jig | tool which prevents a deformation | transformation of a container.

  According to the present invention, the foreign matter mixed in the liquid in the container can be floated by tilting or inverting the object to be inspected and returning it to the original posture again. And detection becomes easy by detecting a foreign material in the suspended state. Even if it consists of a plurality of containers connected to the object to be inspected or a container made of a flexible material, the present invention can be suitably applied and foreign objects can be automatically detected.

It is a front view of the ampule as a to-be-inspected object. It is a side view of the ampule as a to-be-inspected object. It is a schematic plan view explaining the structure of an inspection system. It is explanatory drawing explaining the structure of a supply part. It is explanatory drawing explaining the structure of an inversion apparatus. It is explanatory drawing explaining the inversion operation | movement and return operation | movement of an inversion apparatus. It is explanatory drawing explaining the structure of a test | inspection part. It is explanatory drawing which shows arrangement | positioning of a lamp, a camera, and a product. It is explanatory drawing which shows arrangement | positioning of a lamp, a camera, and a product. It is explanatory drawing explaining operation | movement of an inversion apparatus. It is a front view of the infusion bag as a to-be-inspected object. It is explanatory drawing of the state which attached the infusion bag as a to-be-inspected object to the jig | tool. It is explanatory drawing of the inversion apparatus using a servomotor as a chuck | zipper rotation mechanism. It is explanatory drawing which shows the state rotated by the reversing apparatus shown in FIG. It is explanatory drawing which shows the state which rotates a to-be-inspected object 180 degree | times from an upright position, inverts, and then reverse | inverts 180 degree | times and returns to an upright position again. It is explanatory drawing which shows the state which makes a to-be-inspected object rotate by arbitrary angle from the upright attitude | position, and then inverts and returns to the upright attitude again. It is explanatory drawing which shows the state which rotates a to-be-inspected object 360 degree | times from the attitude | position which stood upright. Rotational speed until the object is tilted to an arbitrary angle from an upright posture, rotational speed until the object is tilted to another arbitrary angle, and another arbitrary angle It is explanatory drawing which shows the state which switched arbitrarily the rotational speed until it returns to an upright attitude | position from the state made to incline to high speed and low speed. It is explanatory drawing which shows the state which makes a to-be-inspected object incline to an arbitrary angle from the upright attitude | position, and then inverts and inclines to another arbitrary angle. It is explanatory drawing which shows the state which makes the infusion bag which is a to-be-inspected object incline to an arbitrary angle from an upright posture, and then inverts and inclines to another arbitrary angle. An arrangement of an example in which two first and second upper and lower two image pickup devices are provided as the first image pickup device for picking up the object to be inspected from the side, and five as the second image pickup devices for picking up images from below are shown. It is a side view. It is a top view of FIG. It is a side view which shows arrangement | positioning of the example imaged with six cameras which arranged the infusion bag which is a to-be-inspected object 3 pieces up and down, and arranged in 2 rows horizontally. It is a top view of FIG. It is a schematic front view explaining the structure of the test | inspection system concerning another embodiment. It is a schematic side view explaining the structure of the test | inspection system concerning another embodiment. It is a schematic side view explaining the structure of the test | inspection system concerning another embodiment. It is explanatory drawing explaining the structure of a defoamer. It is explanatory drawing explaining the rotation mechanism of a defoamer. It is explanatory drawing explaining the rotation mechanism of a defoamer. It is a table | surface which shows an experimental result.

Explanation of sign

DESCRIPTION OF SYMBOLS 1 Product 1 'Infusion bag 2 Ampoule 3 Liquid 20 Inspection system 21 Supply part 22 Inspection part 23 Discharge part 30 Supply conveyor 31 Transfer screw 32 Star wheel 40 Product holding part 43 Guide member 50 Rotary table 51 Reversing device 55 Air chuck 56 Rotary actuator 65 Power supply unit 80, 81 Arm 83, 84 Defective product chute 90 Lamp 91-96 Camera 98 Oscillator 100 Image processing device 110 Turntable 111 Discharge conveyor 112 Guide member 200 Jig 210 Reversing device 211 Servo motor 216 Reducers 220-226 230 Camera 120 Inspection system 121 Supply conveyor 122 Reversing device 123 Moving mechanism 126 Rail 127 Reversing device lifting mechanism 130 Air chuck 131 Rotary actuator 140 Lamp 41-146 camera 150 image processing apparatus 160 lamp 161 to 163 camera 170 defoamer machine 171 rotation mechanism 172 rotating table

Hereinafter, preferred embodiments of the present invention will be described. As shown in FIG. 1, a product 1 which is an object to be inspected in this embodiment is a product in which five ampoules 2 are arranged in a horizontal row and connected. Each ampoule 2 is filled with a liquid 3 such as a medicine. A gas 4 such as air is enclosed together with the liquid 3. The ampoule 2 serving as a container for filling the liquid 3 is formed of, for example, a resin having optical transparency, and the state of the internal liquid 3 can be observed through the ampoule 2. The liquid 3 is also light transmissive.
As shown in FIGS. 1 and 2, the ampoule 2 includes a cylindrical tube portion 10, a bottom portion 11 that closes the lower portion of the tube portion 10, a constricted portion 12 formed on the upper portion of the tubular portion 10, and a constricted portion 12. A closed space 15 is formed by the cylindrical portion 10, the bottom portion 11, and the constricted portion 12. The sealed space 15 is filled with the liquid 3 and the gas 4. As shown in FIG. 1, the product 1 has a shape in which five ampoules 2 are arranged in a line and the outer surfaces of adjacent cylindrical portions 10 are joined to each other. The thin piece portion 13 is formed in a thin plate shape so as to protrude upward from the upper end portion of the constricted portion 12 in the same plane as the horizontal direction in which the ampules 2 are arranged.

  As shown in FIG. 3, the inspection system 20 that inspects the product 1 as an object to be inspected includes a supply unit 21 that supplies the product 1 to the inspection system 20 and an inspection unit 22 that inspects the product 1 supplied by the supply unit 21. And a discharge unit 23 for discharging the product 1 from the inspection unit 22.

  As shown in FIG. 4, the supply unit 21 includes a supply conveyor 30 that conveys the products 1 in a horizontal row, a transfer screw 31, and a star wheel 32 that receives the product 1 from the supply conveyor 30 and conveys the product 1 to the inspection unit 22. It is configured. The transfer screw 31 is provided on the side of the end portion of the supply conveyor 30. A groove 36 is formed in a spiral shape on the outer periphery of the transfer screw 31, and the side of each ampoule 2 of the product 1 can be supported by the groove 36. The star wheel 32 is formed in a substantially disk shape, is provided on the side facing the transfer screw 31 with the supply conveyor 30 in between, and rotates around the center of the disk. On the periphery of the star wheel 32, product holding portions 40 are formed at six positions that are equally spaced along the periphery. Each product holding portion 40 is formed with three protrusions 41 protruding from the periphery of the star wheel 32. The three protrusions 41 arranged in each product holding part 40 are provided at the same pitch as the interval between the joints of the ampule 2 in the product 1, and are formed between the protrusions 41 in each product holding part 40. The side portions of the two ampoules 2 can be supported by the individual concave portions 42. An arcuate guide member 43 is provided along the periphery of the star wheel 32. The guide member 43 is formed from the end portion of the transfer screw 31 to a position adjacent to the inspection unit 22 along the rotation direction of the star wheel 32. The guide member 43 is disposed at a position spaced from the outer periphery of the star wheel 32 by a predetermined distance, and the tube portion 10 of the ampoule 2 is sandwiched between the outer periphery of the star wheel 32 and the inner surface of the guide member 43. Thus, (Product 1) is conveyed from the terminal end of the transfer screw 31 to the inspection unit 22 as the star wheel 32 rotates.

  As shown in FIG. 3, the inspection unit 22 includes a rotary table 50. The rotary table 50 is formed in a disk shape, and rotates around a vertical rotation center axis O1 located at the center of the disk. Sixteen reversing devices 51 that hold the product 1 are mounted on the peripheral portion of the rotary table 50. The 16 reversing devices 51 are arranged at equal intervals in the circumferential direction of the rotary table 50. That is, they are arranged so that the central angle between adjacent reversing devices 51 is about 22.5 °. By rotating the turntable 50, the reversing device 51 is moved in the circumferential direction, and the product 1 held by the reversing device 51 is conveyed.

  As shown in FIG. 5, support columns 52 are provided on the peripheral edge of the upper surface of the rotary table 50. The reversing device 51 includes an air chuck 55 that holds the upper end of the product 1 and a rotary actuator 56 as a chuck rotating mechanism. The rotary actuator 56 is fixed to the upper end portion of the support column 52. The rotation center axis O <b> 2 of the rotary actuator 56 is arranged in the horizontal direction along the radial direction of the rotary table 50. An air chuck support member 57 is attached to the rotary shaft of the rotary actuator 56 so as to face outward. The main body 60 of the air chuck 55 is fixed to the tip of the air chuck support member 57. The air chuck 55 opens and closes the pinching portions 61a and 61b, thereby holding the product 1 with the thin piece portion 13 of the product 1 (five ampoules 2 joined) sandwiched, and releasing the holding. ing. In the example shown in FIG. 5, the upper portions of the sandwiching portions 61a and 61b are supported so as to be rotatable about the central axis in the horizontal direction with respect to the main body 60, whereby the sandwiching portions 61a and 61b are rotated relative to each other. By opening and closing the lower portions of 61a and 61b, the lower portions of the sandwiching portions 61a and 61b are closed to each other and the thin piece portion 13 of the product 1 is gripped (the state shown by the solid line in FIG. 5), and the sandwiching portions 61a and 61b. Are switched to a state in which the thin piece portions 13 of the product 1 are released (the state indicated by the one-dot chain line in FIG. 5). Note that the opening and closing method of the sandwiching portions 61a and 61b may be a sliding method that opens and closes by moving them close and apart in the horizontal direction.

  As shown in FIGS. 5 and 6, the reversing device 51 can rotate the air chuck 55 about the rotation center axis O <b> 2 via the air chuck support member 57 by driving the rotary actuator 56. The rotary actuator 56 can change the rotation direction. By rotating the rotary actuator 56, the product 1 held on the air chuck 55 can be rotated from the lower side to the upper side, and the inverted product 1 is rotated from the upper side to the lower side. Can return to the posture.

  As shown in FIG. 7, a power supply unit 65 for supplying power to the reversing device 51 is provided above the rotary table 50. The power supply unit 65 includes a rotating body 66 that is fixed to the center of the upper surface of the rotating table 50 and rotates together with the rotating table 50, and a fixed cylinder 67 that arranges the rotating body on the inside. A slip ring 70 is provided therebetween. The fixed cylinder 67 is supported by a fixed support member 71 fixed to the outside of the rotary table 50. The rotating body 66 includes a wiring 72, and the end of the wiring 72 is connected to each reversing device 51. That is, power is supplied to each reversing device 51 from a power supply source (not shown) via the slip ring 70 and the wiring 72. Further, an air supply path 73 for supplying air is disposed inside the rotating body 66. An end of the air supply path 73 is connected to each air chuck 55, and air is supplied to each air chuck 55 from an air supply source (not shown) via the air supply path 73.

  On the other hand, as shown in FIGS. 3 and 7, the inspection unit 22 is provided with two arms 80 and 81 that are rotatable about the same rotation center axis O <b> 1 as the rotary table 50. Each arm 80, 81 is disposed below the rotary table 50. Next to the arms 80 and 81, defective product shoots 83 and 84 for disposing the product 1 determined to be defective are disposed, respectively.

  As shown in FIG. 8, at the tip of each arm 80, 81, a lamp 90 that irradiates the product 1, and three cameras 91, 92, 93, and 2 as a first imaging device that images the product 1. Three cameras 94, 95, and 96 as image pickup apparatuses are attached. As shown in FIGS. 8 and 9, the lamp 90 is disposed on the inner side of the product 1 held by the reversing device 51, and irradiates the entire product 1 with light from the inner side. As the lamp 90, for example, a metal halide lamp or the like is used. The three cameras 91, 92, 93 constituting the first imaging device are arranged side by side outside the product 1 held by the reversing device 51, and the side (outside) facing the lamp 90 across the product 1. 2, the light transmitted through the product 1 is imaged. On the other hand, the three cameras 94, 95, and 96 constituting the second image pickup device are arranged side by side below the product 1 held by the reversing device 51, and take an image of the product 1 from below. . In this embodiment, among the three cameras 91, 92, 93 constituting the first imaging device, the camera 91 counts the first and second ampules 2 counted from the leading end of the product 1. Images are taken from the side, the camera 92 is arranged to image the third and fourth ampules 2 from the side, and the camera 93 is arranged to image the fifth ampoule 2 from the side. Of the three cameras 94, 95, and 96 constituting the second imaging device, the camera 94 images the first and second ampules 2 from below, and the camera 95 is the third and fourth. The ampule 2 is imaged from below, and the camera 96 is arranged to image the fifth ampule 2 from below. As shown in FIG. 9, the three cameras 94, 95, and 96 as the second imaging devices are all directions in which the bottom 11 of each ampoule 2 is inclined from the vertical direction to the lamp 90 side by about 5 °, for example. It is good to provide so that it may image from.

  As shown in FIG. 7, an oscillate 98 that rotates the rotary table 50 and the arms 80 and 81 in conjunction with each other is provided below the rotary table 50. By driving the oscillate 98, as shown in FIG. 3, the arms 80 and 81 rotate synchronously with the rotary table 50 within a range of a predetermined rotation angle from the initial position, and then rotate in the opposite direction to the rotary table 50. The operation of returning to the initial position is repeated. By this operation, the lamp 90 and the cameras 91, 92, 93, 94, 95, 96 attached to the arms 80, 81 are rotated and moved in synchronization with the product 1 held by the reversing device 51, respectively. The operation of rotating the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arms 80 and 81 in the opposite directions to the product 1 and returning to the initial position where the synchronous rotation with the product 1 is started. Is to repeat. Cameras 91, 92, 93, 94, 95, and 96 attached to the arms 80 and 81 are configured to image the product 1 while rotating in synchronization with the product 1.

  As shown in FIG. 7, the cameras 91, 92, 93, 94, 95, and 96 attached to the arms 80 and 81 are configured to transmit captured images to the image processing apparatus 100, respectively. The image processing apparatus 100 processes the images captured by the cameras 91, 92, 93, 94, 95, and 96 to determine whether the product 1 is good or bad. The image processing is performed by, for example, an inter-image calculation method. That is, a plurality of images continuously captured by the same camera are taken into the image processing apparatus 100, and a foreign object moving in the liquid 3 is detected by comparing the first image with another image. . If a foreign object is detected by the inter-image calculation, the image processing apparatus 100 determines that the product 1 is a defective product. In addition to the method based on the inter-image calculation method, the product 1 may be judged as a defective product when a foreign object appears in one of the captured images.

  As shown in FIG. 3, the discharge unit 23 includes a turntable 110 that receives and conveys a product from the inspection unit 22, and a discharge conveyor 111 that unloads the product 1 from the turntable 110. The turntable 110 is formed in a substantially disk shape, and rotates around the center of the disk. Above the turntable 110, a pair of guide members 112 disposed along the peripheral edge of the turntable 110 are provided. The pair of guide members 112 are spaced apart by a length slightly longer than the thickness of the product 1 (the outer diameter of the tube portion 3 of the ampoule 2), and the inner and outer sides above the peripheral edge of the turntable 110. In FIG. 2, the arcs are arranged between the inspection unit 22 and the discharge conveyor 111. As a result, the product 1 received from the inspection unit 22 is placed on the upper periphery of the turntable 110 and conveyed through the pair of guide members 112 as the turntable 110 rotates, and the next discharge conveyor 111. The product 1 is to be delivered. The turntable 110 of the discharge unit 23, the star wheel 32 of the supply unit 21, and the rotary table 50 of the inspection unit 22 are interlocked with each other by the drive of the oscillate 98 shown in FIG. The turntable 110 of the discharge unit 23 and the above-described supply so that the product 1 can be smoothly delivered and transported in order from the star wheel 32 of the unit 21 to the turntable 50 of the inspection unit 22 and the turntable 110 of the discharge unit 23. The star wheel 32 of the unit 21 and the rotary table 50 of the inspection unit 22 are configured to rotate at a predetermined rotation direction and a predetermined rotation speed, respectively.

  Next, an inspection method using the above inspection system 20 will be described. First, as shown in FIG. 4, the plurality of products 1 are continuously conveyed toward the transfer screw 31 by the supply conveyor 30. The product 1 is conveyed with the thin piece 13 of the ampoule 2 facing upward. When the product 1 reaches the transfer screw 31, each ampule 2 of the product 1 comes into contact with the groove 36, and the product 1 is moved toward the star wheel 32 as the groove 36 is moved by the rotation of the transfer screw 31. . On the other hand, the star wheel 32 rotates in the clockwise direction (CW) as viewed from above. When the product 1 arrives at the star wheel 32, the product holding part 40 of the star wheel 32 moves to the position of the product 1 that has just arrived. And among the five ampules 2 of the product 1, counting from the head, between the third and fourth ampules 2, between the fourth and fifth ampules 2, and behind the fifth ampule 2. In addition, the projections 41 of the star wheel 32 respectively enter. The product 1 is moved toward the inspection unit 22 along the periphery of the star wheel 32 while being guided by the guide member 43 as the product holding unit 40 is moved by the rotation of the star wheel 32. In this way, the products 1 continuously conveyed by the supply conveyor 30 are delivered one by one to the product holding unit 40 of the star wheel 32 and sequentially conveyed to the inspection unit 22.

  As shown in FIG. 3, in the inspection unit 22, when the rotary table 50 rotates counterclockwise (CCW) when viewed from above, and the product 1 arrives at the inspection unit 22 side, the reversing device 51 is moved to the product. Just move to position 1. And the thin piece part 13 of the product 1 which arrived by the air chuck 55 is pinched | interposed and it hold | maintains so that the cylinder part 10 may be suspended. The product holding part 40 after delivering the product 1 to the air chuck 55 moves again toward the transfer screw 31 by the rotation of the star wheel 32 and receives the product 1. After receiving the product 1, the reversing device 51 first moves to the position of the arm 80 by the rotation of the rotary table 50. Further, the next reversing device 51 adjacent to the reversing device 51 moves to a position for receiving the product 1 from the product holding unit 40 and receives the product 1 from the next product holding unit 40. Thus, the products 1 conveyed by the product holding unit 40 are successively held by the reversing device 51 and are conveyed in the circumferential direction of the rotary table 50.

  The reversing device 51 that holds the product 1 inverts the product 1 while conveying the product 1 received from the star wheel 32 to the position of the arm 80, and returns the posture of the product 1 again after the inversion. Perform the action. First, when the product 1 received from the star wheel 32 is held by the air chuck 55, the rotary actuator 56 is driven to rotate the air chuck 55 and the product 1 counterclockwise as viewed from the outside of the rotary table 50 as shown in FIG. Rotate approximately 180 ° in the direction (CCW). As a result, the flake 13 is on the bottom, the bottom 11 is on the top, and the product 1 is in an inverted posture. When the product 1 is inverted as described above, the liquid 3 in each ampoule 2 is agitated, and when foreign matter is mixed in the liquid 3, the foreign matter rises in the liquid 3 and floats. When foreign matter is deposited on the bottom 11 of each ampoule 2 or foreign matter is stuck on the inner wall of the tube portion 10 or the constricted portion 12, these foreign matter can be suspended in the liquid 3. Next, the air chuck 55 and the product 1 are rotated about 180 ° in the clockwise direction (CW) when viewed from the outside of the rotary table 50. Thereby, the thin piece part 13 of each ampoule 2 is on the top and the bottom part 11 is on the bottom, and the posture of the product 1 is returned to the same upright posture as before the inversion. Each reversing device 51 receives the product 1 from the product holding unit 40 and then performs the above-described operation for inverting the product 1 and the operation for returning the product 1 to the upright, and the arm from the star wheel 32 side by rotating the rotary table 50. Move towards 80.

  On the other hand, the arm 80 moves in the clockwise direction (CW) as viewed from above in FIG. 3, and the product 1 and the arm 80 immediately after the posture is returned approach each other. Then, the lamp 90 moves inside the product 1, the cameras 91, 92, 93 move outside the product 1, and the cameras 94, 95, 96 move below the product 1. Thus, when the cameras 91, 92, 93, 94, 95, 96 are arranged so that the ampule 2 can be imaged, the rotation direction of the arm 80 is set to the counterclockwise rotation direction (CCW), and the same rotation speed is synchronized with the rotary table 50. Rotate with As a result, the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 move in synchronization with the product 1, and the lamp 90, the cameras 91, 92, 93, 94, 95, 96 are relatively stationary. Then, the arm 80 is rotated synchronously with the rotary table 50 until a predetermined rotation angle.

  Thus, the product 1 is inspected for the first time while the lamp 90 and the cameras 91, 92, 93, 94, 95, 96 mounted on the arm 80 are synchronously rotated. The product 1 is irradiated by the lamp 90 of the arm 80, the light beam of the lamp 90 is transmitted through the product 1, and the product 1 is continuously imaged by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 80. . The camera 91 captures the first and second ampules 2 from the side counting from the top end of the product 1, and the camera 92 images the third and fourth ampules 2 from the side. The camera 93 images the fifth ampoule 2 from the side. The camera 94 images the first and second ampules 2 from below, the camera 95 images the third and fourth ampules 2 from below, and the camera 96 captures the fifth ampule 2. Take an image from below. Such imaging by each camera 91, 92, 93, 94, 95, 96 is performed a plurality of times, for example, four times. In this manner, the product 1 immediately after being inverted by the reversing device 51 and returned to the original posture is imaged by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 80. The product 1 immediately after being inverted by the reversing device 51 and returned to the original upright posture is in a state in which the foreign matter floats in the liquid 3, so that the foreign matter can be effectively detected by the inter-image calculation method. . In this case, the foreign matter can be reliably detected by preventing the foreign matter from remaining on the bottom 11 of the ampoule 2 or sticking to the inner wall of the ampoule 2. In addition, by picking up an image of the ampoule 2 from below with the cameras 94, 95, and 96, foreign matter near the bottom 11 can be reliably detected.

  Image information captured by the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 is taken into the image processing apparatus 100, and inter-image calculation is performed in the image processing apparatus 100. That is, out of the images obtained by the four times of imaging, the image obtained at the first time is used as a reference, and then the images picked up after that are compared with the images of the first time, and the difference between the images is detected. Thereby, when the foreign substance is floating in the liquid 3, the foreign substance is detected and can be determined as a defective product. Here, even if the gas 4 enclosed in the ampoule 2 is a bubble, the bubble rises and comes to a standstill before the foreign object falls, and is not detected as a difference between images. Accordingly, it is possible to prevent bubbles from being mistakenly detected as foreign matters. The image processing apparatus 100 determines whether the product 1 is a defective product based on the result of the inter-image calculation process. If no foreign matter is detected by imaging with the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80, the product 1 is determined to be a non-defective product. If a foreign object is detected by any of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80, the product 1 is determined to be defective.

  After imaging, when the arm 80 is rotated to a predetermined rotation angle, the rotation direction of the arm 80 is switched to the opposite direction, and the arm 80 is rotated in the direction opposite to the rotary table 50. That is, the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 are rotationally moved in the opposite direction to the product 1. Then, the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 are returned to the initial position where the synchronous rotation with the product 1 is started. Then, the arm 80 is in a state of just approaching the product 1 after the inversion operation and the return operation held by the next reversing device 51. Then, the arm 80 is again rotated in synchronization with the rotary table 50, and the cameras 91, 92, 93, 94, 95, 96 are rotated in synchronization with the product 1, and the product 1 is imaged and processed. Thus, the first inspection is sequentially performed on the product 1 by the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80.

  On the other hand, the product 1 that has completed the first inspection by the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 is then moved upward of the defective product chute 83 by the rotation of the rotary table 50. Moving. Here, when the image processing apparatus 100 determines that the product 1 is a non-defective product, the reversing device 51 and the product 1 pass directly above the defective product chute 83 and move toward the arm 81. On the other hand, when the image processing apparatus 100 determines that the product 1 is defective, when the product 1 passes above the defective product chute 83, the holding of the air chuck 55 is released, and the product 1 is rejected. It falls into 83. In this way, the defective product 1 is collected.

  Further, the reversing device 51 that holds the product 1 determined to be non-defective is again the inverted operation and the inverted posture of inverting the product 1 while moving from the position of the arm 80 toward the position of the arm 81. To return the posture of the product 1 to the upright posture. That is, the rotary actuator 56 is driven to rotate the air chuck 55 and the product 1 about 180 ° in the counterclockwise direction (CCW) when viewed from the outside of the rotary table 50 as shown in FIG. As a result, the product 1 is turned upside down, and the foreign matter is suspended in the liquid 3. Next, the air chuck 55 and the product 1 are rotated about 180 ° in the clockwise direction (CW) when viewed from the outside of the rotary table 50. As a result, the posture of the product 1 is returned to the same upright posture as before the inversion. Each reversing device 51 is moved from the position of the arm 80 toward the position of the arm 81 by the rotation of the rotary table 50 while sequentially performing the inversion operation and the return operation as described above.

  On the other hand, the arm 81 moves in the clockwise direction (CW) when viewed from above in FIG. 3, and the arm 81 approaches the product 1 immediately after being returned to the upright posture. Then, the lamp 90 attached to the arm 81 moves inside the rotary table 50 with respect to the product 1 held by the reversing device 51, and the cameras 91, 92, 93 attached to the arm 81 outside the product 1. The camera 94, 95, 96 attached to the arm 81 moves below the product 1. When the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 are arranged so that the product 1 (ampoule 2) can be imaged, the rotation direction of the arm 81 is set to the counterclockwise rotation direction (CCW). The arm 81 is rotated in synchronization with the rotary table 50. As a result, the lamp 90 and the cameras 91, 92, 93, 94, 95 and 96 attached to the arm 81 move in synchronization with the product 1, and the lamp 90 and the cameras 91, 92 and 93 attached to the arm 81 are moved. , 94, 95, 96 are stationary relative to the product 1. Then, the arm 81 rotates synchronously with the turntable 50 up to a predetermined rotation angle.

  While the product 1 and the lamp 90 attached to the arm 81 and the cameras 91, 92, 93, 94, 95, 96 are synchronously rotated, the second inspection of the product 1 is performed. That is, the product 1 is irradiated by the lamp 90 attached to the arm 81, and the product 1 is continuously imaged by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 81. The camera 91 captures the first and second ampules 2 from the side counting from the top end of the product 1, and the camera 92 images the third and fourth ampules 2 from the side. The camera 93 images the fifth ampoule 2 from the side. The camera 94 captures the first and second ampules 2 from below, the camera 95 captures the third and fourth ampules 2 from below, and the camera 96 captures the fifth ampule 2 from below. Take an image. Imaging with each camera 91, 92, 93, 94, 95, 96 is performed a plurality of times, for example, four times. In this manner, the product 1 immediately after being inverted by the reversing device 51 and returned to the original posture is imaged by the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81. The product 1 immediately after being inverted by the reversing device 51 and returned to the original upright posture is in a state in which foreign matter is floating in the liquid 3 and thus can be detected by the inter-image calculation method. Yes. Further, the foreign matter can be reliably detected by preventing the foreign matter from remaining on the bottom 11 of the ampoule 2 or sticking to the inner wall of the ampoule 2. In addition, by picking up an image of the ampoule 2 from below with the cameras 94, 95, and 96, foreign matter near the bottom 11 can be reliably detected.

  Image information captured by the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 is taken into the image processing apparatus 100, and inter-image calculation is performed in the image processing apparatus 100. That is, using the image obtained at the first time as a reference, the image captured thereafter is compared with the first image, and the difference between the images is detected. Thereby, when the foreign substance is floating in the liquid 3, the foreign substance is detected. The image processing apparatus 100 determines whether the product 1 is a defective product based on the result of the inter-image calculation process. If no foreign matter is detected by any of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81, the product 1 is determined to be a non-defective product. If a foreign object is detected by any of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81, the product 1 is determined to be defective. In this way, by performing the inspection of the product 1 twice at each position of the arms 80 and 81, the foreign matters missed in the first time can be detected, and defective products can be found reliably.

  After imaging, when the arm 81 is rotated to a predetermined rotation angle, the rotation direction of the arm 81 is switched to the opposite direction, and the arm 81 is rotated in the direction opposite to the rotary table 50. That is, the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 are rotationally moved in the opposite direction to the product 1. Then, the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 are returned to the initial positions where the synchronous rotation with the product 1 is started. Then, the arm 81 approaches the position of the product 1 immediately after the second inversion operation and return operation held by the next reversing device 51. Then, the arm 81 is again rotated in synchronization with the rotary table 50, and the cameras 91, 92, 93, 94, 95, 96 are moved in synchronization with the product 1, and imaging and image processing of the product 1 are performed. In this way, the second inspection is performed for each product 1 one after another.

  On the other hand, the product 1 for which the second inspection by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 81 has been completed moves upward of the defective product chute 84 by the rotation of the rotary table 50. Here, if the image processing apparatus 100 determines that the product 1 is a non-defective product by the second inspection, the reversing device 51 and the product 1 pass directly above the defective product chute 84 and move toward the turntable 110 side. To do. On the other hand, when the image processing apparatus 100 determines that the product 1 is defective, when the product 1 passes above the defective product chute 84, the holding of the air chuck 55 is released, and the product 1 is rejected. Falls into 84. In this way, defective products 1 are collected.

  The product 1 that is determined to be a non-defective product and passes above the defective product chute 84 moves toward the turntable 110 by the rotation of the rotary table 50. The reversing device 51 opens the air chuck 55 at the entrance of the guide member 112 to release the holding of the product 1 and delivers the product 1 onto the turntable 110. The turntable 110 rotates in the clockwise direction (CW) when viewed from above, and the product 1 is moved toward the discharge conveyor 111 while being guided between the guide members 112 as the turntable 110 rotates. It is done. Then, the product 1 is carried out of the turntable 110 by the discharge conveyor 111. On the other hand, the reversing device 51 that has delivered the product 1 to the turntable 110 moves from the turntable 110 side toward the star wheel 32 side, and receives the product 1 from the product holding unit 40 again.

  According to the inspection system 20, the product 1 in which a plurality of ampules 2 are connected can be automatically inspected. A plurality of products 1 can be inspected continuously. Moreover, since the inversion operation, the return operation, and the inspection can be performed while transporting without stopping the transport of each product 1, the efficiency is high. By inverting the product 1, the liquid 3 in the ampoule 2 is agitated, and if there is a foreign substance in the ampoule 2, the foreign substance is suspended in the liquid 3 so that it can be detected by the inter-image calculation method. be able to. Further, the foreign matter can be reliably detected by preventing the foreign matter from remaining on the bottom 11 of the ampoule 2 or sticking to the inner wall of the ampoule 2. Further, by taking an image not only from the side of the product 1 but also from below, foreign matter near the bottom 11 of the ampoule 2 can be reliably detected.

  Although an example of a preferred embodiment of the present invention has been described above, the present invention is not limited to the embodiment described here. For example, in the above embodiment, the ampule 2 is used as the container, and the product 1 is the product 1 in which five ampules 2 are connected side by side, but the container is not limited to the ampule, and the number of containers is not limited to five. For example, the present invention can be suitably applied to inspection of a product composed of one container. Further, the container may be a bottle, a vial or the like in addition to an ampule. The kind of the liquid 3 filled in the container is not particularly limited.

  As shown in FIG. 11, the inspected object in the present invention may be an infusion bag 1 ′ in which a container 3 ′ made of a flexible material is filled with a liquid 3 ′ such as a ring solution. However, when the object to be inspected such as the infusion bag 1 'is inclined or inverted, the container 2' may be deformed due to its flexibility. In such a case, due to the deformation of the container 2 ', there is a possibility that the foreign object cannot be correctly detected by the inter-image calculation method. There is also a concern that the foreign matter that has settled at the bottom of the container 2 'or the foreign matter that has adhered to the inner wall of the container 2' cannot be sufficiently suspended in the liquid 3 'due to the deformation of the container 2'. The Therefore, when an infusion bag 1 ′ or the like in which a container 2 ′ made of such a flexible material is filled with a liquid 3 ′ such as a ring fluid is used as an object to be inspected, as shown in FIG. It is preferable to hold the bag 1 'and prevent deformation of the container 2'.

  This jig 200 has a vertically long rectangular shape in which horizontal frames 203 and 204 are attached to the upper and lower sides of a pair of left and right vertical frames 201 and 202. Using this jig 200, as shown in FIG. 12, the neck 1a ′ of the infusion bag 1 ′ is fixed to the horizontal frame 203 by the binder 205, and the bottom 1b ′ of the infusion bag 1 ′ is fixed to the horizontal frame 204 by the binder 206. Fix it. Thus, the infusion bag 1 ′ is held on the jig 200 while preventing the container 2 ′ from being deformed. Then, the thin piece portion 13 ′ extended on the upper part of the horizontal frame 203 that fixes the neck portion 1 a ′ of the infusion bag 1 ′ is held by the air chuck support member 57 of the reversing device 51, so that in FIGS. The foreign matter can be inspected in the same manner as the product 1 (ampoule 2) described.

  For example, FIG. 3 illustrates an example in which 16 reversing devices 51 are mounted on the rotary table 50, but the number of reversing devices 51 can be appropriately increased or decreased depending on the size of the rotary table 50.

  For example, in FIGS. 5 and 6, the object to be inspected (product 1) is rotated about 180 ° in the counterclockwise direction (CCW) when viewed from the outside. However, the rotation angle of the object to be inspected is an arbitrary angle, for example, , About 90 °, about 135 °, etc. In addition, the direction in which the object to be inspected is rotated can be arbitrarily set. In any case, the foreign object can be suspended in the liquid by tilting or inverting the object to be inspected by the reversing device and returning to the original posture again.

  Here, FIG. 13 is an explanatory diagram of a reversing device 210 having a configuration different from that of the reversing device 51 described in FIG. Similar to the reversing device 51 described with reference to FIG. 5 and the like, also in this reversing device 210, a support column 52 'is provided on the periphery of the upper surface of the rotary table 50'. However, the reversing device 210 includes a servo motor 211 as a chuck rotating mechanism that rotates an air chuck 55 ′ that holds the upper end of a non-inspection object (product 1 in the drawing). That is, the air chuck 55 ′ is fixed to the tip of the rotating shaft 213 that is horizontally supported by the L-shaped support member 212 attached to the upper end of the support column 52 ′. Rotational power input from the rotational drive shaft 215 of the motor 211 is transmitted via the speed reducer 216. As a result, the non-inspection body whose upper end is held by the air chuck 55 ′ around the rotation center axis O2 ′ disposed in the horizontal direction along the radial direction of the turntable 50 ′ by the operation of the servo motor 211. (Product 1 in the figure) is rotated.

  In this way, by using the servo motor 211 instead of the rotary actuator 56 as the chuck rotating mechanism, the non-inspection object (product 1) held by the air chuck 55 ′ is turned into the rotation center axis O2 as shown in FIG. It can be rotated at any angle and rotation speed around '. A rotary actuator that uses hydraulic or pneumatic power as a power source has a stepwise rotation angle and is difficult to control the rotation speed. However, if the servo motor 211 is used as the chuck rotation mechanism, the rotation angle and rotation speed can be easily controlled. Therefore, it is possible to prevent the foaming of the liquid filled in the object to be inspected.

  FIGS. 15 to 19 are examples of the case where the servo motor 211 is used as the chuck rotating mechanism and the rotation angle and the rotation speed of the device under test 1 are controlled as described above. As shown in FIG. 15, the device under test 1 may be rotated 180 degrees from an upright posture and inverted, and then inverted 180 degrees to return to an upright posture again. In that case, the inspected object 1 may be temporarily stopped in an inverted posture, and then reversed 180 degrees to return to an upright posture again. When the inspected object 1 is rotated 180 degrees from an upright posture and inverted, the object 1 may be rotated in the clockwise direction or may be rotated in the counterclockwise direction. Further, when the object to be inspected 1 is rotated 180 degrees from an inverted posture and returned to an upright posture again, it may be rotated clockwise or counterclockwise. Their combination is arbitrary.

  As shown in FIG. 16, the device under test 1 may be tilted by rotating an arbitrary angle (for example, 120 degrees) from an upright posture, and then reversed to return to the upright posture again. In that case, the inspected object 1 may be temporarily stopped in a tilted posture, and then reversed and returned to an upright posture again. When the inspection object 1 is tilted at an arbitrary angle from an upright posture, it may be rotated in the clockwise direction or may be rotated in the counterclockwise direction. Further, when the inspection object 1 is rotated from the tilted posture and returned to the upright posture again, it may be rotated clockwise or counterclockwise. Their combination is arbitrary.

  As shown in FIG. 17, the device under test 1 may be rotated 360 degrees from an upright posture. In this case, the device under test 1 may be rotated in the clockwise direction or may be rotated in the counterclockwise direction. Alternatively, the inspected object 1 may be rotated more than 360 degrees from an upright posture, tilted at an arbitrary angle, and then inverted to return to an upright posture again. In that case, the inspected object 1 may be temporarily stopped in a tilted posture, and then reversed and returned to an upright posture again. Also in this case, the rotation direction of the device under test 1 is arbitrary.

  As shown in FIG. 18, the rotational speed until the device under test 1 is tilted from an upright posture to an arbitrary angle (for example, 120 degrees) and the state in which the object is tilted at an arbitrary angle (for example, 120 degrees) are further separated. The rotational speed until tilting to an arbitrary angle (for example, 240 degrees) and the rotational speed until returning to an upright posture after tilting to another arbitrary angle (for example, 240 degrees) are arbitrarily high. It may be switched to a low speed. In that case, the inspected object 1 may be temporarily stopped in a posture inclined at an arbitrary angle or in a posture inclined at another arbitrary angle. Further, the inspected object 1 may be rotated in the clockwise direction between the upright posture, the posture inclined at an arbitrary angle (for example, 120 degrees), the posture inclined at another arbitrary angle, It may be rotated in the counterclockwise direction. Their combination is arbitrary.

  As shown in FIG. 19, the device under test 1 is tilted from an upright posture to an arbitrary angle (for example, 60 degrees), and then inverted and tilted to another arbitrary angle (for example, -60 degrees). The inspected object 1 may be moved in a pendulum manner. In that case, the inspected object 1 may be temporarily stopped in a posture inclined at an arbitrary angle or in a posture inclined at another arbitrary angle. Further, the subject 1 is rotated in the clockwise direction between an upright posture, a posture inclined at an arbitrary angle (for example, 60 degrees), a posture inclined at another arbitrary angle (for example, -60 degrees). You may make it rotate, and you may make it rotate counterclockwise. Their combination is arbitrary.

  15 to 19, the product 1 in which five ampoules 2 are arranged and connected is described as an example of the object to be inspected. However, even when the infusion bag 1 ′ is used as the non-inspection body, the non-inspection body (the infusion bag 1) is used. It becomes possible to rotate ') around the rotation center axis O2' at an arbitrary angle and rotation speed. However, in the case of using a container 2 ′ made of a flexible material filled with a liquid 3 ′ such as a ring fluid, such as an infusion bag 1 ′ as a non-inspection body, as described above with reference to FIG. The infusion bag 1 ′ is preferably held by the jig 200 to prevent deformation of the container 2 ′.

  As shown in FIG. 20, the object to be inspected (infusion bag 1 ′) held by the jig 200 is inclined at an arbitrary angle (for example, 60 degrees) from the upright posture, and then inverted to another arbitrary angle. The infusion bag 1 ′ may be moved in a pendulum manner by inclining (for example, −60 degrees). In this case as well, the inspected object 1 may be temporarily stopped in a posture inclined at an arbitrary angle or a posture inclined at another arbitrary angle. Further, the infusion bag 1 'is rotated in the clockwise direction between the upright posture, the posture inclined at an arbitrary angle (for example, 60 degrees), the posture inclined at another arbitrary angle (for example, -60 degrees). You may make it rotate, and you may make it rotate counterclockwise. Their combination is arbitrary. In addition, as for the infusion bag 1 ′, similarly to the case described above with reference to FIGS. 15 to 18, the servomotor 211 is used as the chuck rotation mechanism to arbitrarily control the rotation angle and rotation speed of the inspection object 1 ′. It is possible.

  8 and 9, the example in which the lamp 90 is arranged inside the product 1 and the cameras 91, 92, 93 are arranged outside the product 1 has been described. However, the lamp 90 is arranged outside the product 1, The cameras 91, 92, and 93 may be disposed inside the product 1.

  8 and 9, cameras 91, 92, and 93 are arranged on the side facing the lamp 90 with the product 1 in between, and the light from the lamp 90 is transmitted to the product 1 and transmitted light directed to the opposite side is used. In this example, the cameras 91, 92, and 93 are imaged, and the images of the cameras 94, 95, and 96 are described using the transmitted light directed downward from the product 1. However, the reflected light reflected by the product 1 is used. In this case, the direction in which the product 1 is irradiated with light and the direction in which the image is taken may be on the same side. For example, in the arms 80 and 81, the lamp 90 and the cameras 91, 92, and 93 are both disposed outside the product 1, and light reflected from the outside is reflected toward the cameras 91, 92, and 93. What is necessary is just to image.

  8 and 9, the configuration in which the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 are respectively attached to the two arms 80 and 81 to inspect the product 1 twice has been described. It may be times. Further, three or more arms having lamps 90 and cameras 91, 92, 93, 94, 95, and 96 may be provided, and the inspection may be performed three or more times.

  8 and 9, the example in which the product 1 is imaged from the side by the cameras 91, 92, and 93 and the product 1 is imaged from the bottom by the cameras 94, 95, and 96 has been described. However, if the foreign matter detection rate is high, imaging from below may be omitted. Further, imaging from the side may be omitted and only imaging from below may be performed. Furthermore, it is not limited to imaging from the side and below, but may be taken from various directions such as above and obliquely. It is not limited to the combination of the imaging from the side and the imaging from the lower side, but the imaging from two or more directions among the upper, the lower, the side, the diagonal, etc. is appropriately combined, or from any one direction It may be only imaging. Moreover, although the example which image | photographed the state which returned the product 1 to the attitude | position before inversion, ie, the state which the thin piece part 13 of the product 1 turned up, and the bottom part 11 turned down, the state which turned the product 1 upside down, In the tilted state, the product 1 may be configured to be able to capture images from various directions such as above, below, side, and obliquely.

  8 and 9, the three cameras 91, 92, and 93 are used to divide the five ampules 2 of the product 1 from the side so as to be divided one by two, and the three cameras 94, 95, 96, the example in which five ampoules 2 are imaged from below by dividing one or two ampules 2 has been described. However, the number of cameras 91, 92, 93, 94, 95, 96, and each camera 91, The number of ampules 2 captured by 92, 93, 94, 95, 96 is not limited to this number. For example, the product 1 may be imaged from the side or from below with one camera. Alternatively, the five ampules 2 of the product 1 may be imaged one by one from the side or below with five cameras.

  As shown in FIGS. 21 and 22, two cameras 220 and 221 are arranged side by side in five rows as a first imaging device that images the product 1 in which five ampoules 2 are arranged in a row and connected from the side. The five cameras 222, 223, 224, 225, and 226 as second imaging devices that image the product 1 from below may be provided side by side. According to the example shown in FIGS. 21 and 22, the first ampoule 2 is imaged from the side by two cameras 220 and 221 and from the lower side by one camera 222, and the second ampoule 2 is imaged. The two cameras 220 and 221 are imaged from the side, the image is captured by one camera 223 from below, the third ampoule 2 is imaged by the two cameras 220 and 221 from the side, and one camera is viewed from below. The second ampule 2 is imaged by the two cameras 220 and 221 from the side, the first ampule 2 is imaged from the lower side, and the fifth ampule 2 is imaged by the two cameras 220 from the side. , 221 and a single camera 226 from below.

  Further, when the object to be inspected is the infusion bag 1 ′, the number and arrangement of cameras for imaging the object to be inspected are arbitrary. As shown in FIGS. 23 and 24, the subject to be inspected may image the infusion bag 1 'with six cameras 230 arranged in two rows horizontally at the top and bottom.

  In the illustrated embodiment, the reversing device 51 is attached to the rotary table 50, and the arms 80 and 81, to which the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 are attached, are rotated in synchronization with the rotary table 50. 1 and the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 are configured to take images while moving in synchronization with each other. However, the present invention is not limited to such a configuration. For example, the arms 80 and 81 may be fixed without being rotated, and the reversing device 51 may be temporarily stopped at the positions of the arms 80 and 81 to perform imaging. The reversing device mounting member is assumed to linearly move, and the reversing device 51 is temporarily stopped at the position of the inspection device mounting member while the inspection device mounting member is reciprocated linearly moved within a predetermined range. Also good.

  25 and 26 show an inspection system 120 according to another embodiment of the present invention. The inspection system 120 includes a supply conveyor 121 that conveys the products 1 in a horizontal row, a reversing device 122 that holds the products 1 and performs an inversion operation and a returning operation, and a moving mechanism 123 that linearly moves the reversing device 122 in the horizontal direction. And a discharge conveyor 124 for discharging the product 1. The moving mechanism 123 includes a rail 126 extending in the horizontal direction, and the reversing device lifting mechanism 127 reciprocates in the horizontal direction along the rail 126. The reversing device 122 is attached to the lower end of the reversing device lifting mechanism 127 and is lifted and lowered by driving the reversing device lifting mechanism 127. The reversing device 122 includes an air chuck 130 that holds the upper end of the product 1 and a rotary actuator 131 as a chuck rotating mechanism. The rotary actuator 131 is supported at the lower end of the reversing device lifting mechanism 127. The rotation center axis O3 of the rotary actuator 131 is arranged in the horizontal direction. The air chuck 130 is attached to the outer periphery of the rotary actuator 131, and the air chuck 130 can be rotated about the rotation center axis O3 by driving the rotary actuator 131. Further, a lamp 140 as an irradiation device, and cameras 141, 142, and 143 as first imaging devices that image the product 1 from the side, and cameras 144 and 145 as second imaging devices that image the product 1 from below. , 146, and the product 1 is disposed between the lamp 140 and the cameras 141, 142, and 143. The camera 141 images the first and second ampules 2 counted from the side of the product 1 from the side, and the camera 142 images the third and fourth ampules 2 from the side. 143 arrange | positions so that the 5th ampoule 2 may be imaged from the side. The camera 144 images the first and second ampules 2 from below, the camera 145 images the third and fourth ampules 2 from below, and the camera 146 captures the fifth ampule 2 from below. Arrange for imaging. The cameras 144, 145, and 146 are provided so as to capture images from a direction in which the bottom 11 of each ampoule 2 is inclined about 5 ° toward the lamp 140. Cameras 141, 142, 143, 144, 145, and 146 are connected to the image processing apparatus 150 and transmit captured images. The image processing method of the image processing apparatus 150 is the same as that of the image processing apparatus 100 described above.

  In this inspection system 120, first, the product 1 is conveyed by the supply conveyor 121, the reversing device 122 is lowered, the thin section 13 is sandwiched by the air chuck 130, and the reversing device 122 is lifted by the reversing device lifting mechanism 127. Lift 1 Then, the reversing device 122 is moved to the inspection position between the lamp 140 and the cameras 141, 142, and 143 by the moving mechanism 123, and the inversion operation for inverting the product 1 and the posture of the product 1 after the inverting are performed before the inspection. The returning operation to return to the original is performed in order, and the foreign matter in the liquid 3 is floated. Thereafter, the product 1 is irradiated with the lamp 140, and the cameras 141, 142, 143, 144, 145, and 146 are continuously imaged several times, and the captured images are analyzed by the image processing device 150. It is determined whether it is a non-defective product. After imaging, the reversing device 122 is moved toward the discharge conveyor 124 by the moving mechanism 123, the reversing device 122 is lowered by the reversing device lifting mechanism 127, the air chuck 130 is opened, and the holding of the product 1 is released. Hand over product 1.

  In the inspection system 120, the inspection may be performed twice or more so as to reliably detect the foreign matter. In addition, as shown in FIG. 27, a lamp 160 and cameras (third imaging devices) 161, 162, and 163 for inspecting the product 1 in an inverted state may be provided above the rotary actuator 131. That is, when the product 1 is inverted, the product 1 is moved between the lamp 160 and the cameras 161, 162, and 163, and the inverted product 1 is imaged from the side by the cameras 161, 162, and 163. Then, the captured image is analyzed by the image processing device 150 to determine whether or not the product 1 is a defective product. Thereafter, the posture of the product 1 is returned to the original posture before the inversion, and images are taken by the cameras 141, 142, 143, 144, 145, 146, the captured images are analyzed by the image processing device 150, and the product 1 is defective. It is determined whether or not. In this case, a total of two inspections can be performed with the product 1 in an inverted state and a posture returned, and foreign objects can be detected more reliably.

  When many bubbles are generated in the ampoule 2 of the product 1, it is preferable to use software that can detect only foreign matters such as dust without detecting the bubbles as foreign matters in the image processing apparatuses 100 and 150. Further, the product 1 may be supplied to the inspection system 20 or the inspection system 120 after performing the process of removing the bubbles by the defoamer. FIG. 28 shows an example of a defoaming machine. The defoamer 170 includes a rotation mechanism 171 that holds four products 1, and a rotation table 172 that has the rotation mechanism 171 attached to a plurality of locations at regular intervals along the peripheral edge.

  As shown in FIGS. 29 and 30, four product holding portions 176 that are swingably attached to the peripheral portion of the rotating mechanism 171 are attached to the peripheral portion of the rotating mechanism 171. When the rotation mechanism 171 is rotated, the product holding part 176 is inclined so that the lower part moves outward. The product 1 is held by the product holding portion 176, and bubbles in the ampule 2 of the product 1 are removed by a centrifugal force generated by the rotation of the rotation mechanism 171.

  As shown in FIG. 28, the products 1 are loaded in a horizontal row by the supply conveyor 180 and transferred to the end of the supply conveyor 180 by the rotation of the transfer screw 181. A supply disk 182 is disposed at the end of the supply conveyor 180, and four product holding grooves 183 are provided around the supply disk 182. The product 1 is sequentially transferred to the product holding unit 183 one by one by rotating the transfer screw 181 while the supply disk 182 is rotated, and when the four products 1 are held around the supply disk 182, the carry-in mechanism 185 The four products 1 are collectively grasped and lifted from the supply disk 182, transported to the rotary table 172 side, and the products 1 are inserted into the product holding portions 176 of the rotation mechanism 171. As the turntable 172 rotates, the rotation mechanism 171 sequentially moves to the product insertion position of the carry-in mechanism 185, and the product 1 is inserted. After the product 1 is inserted, the rotating mechanism 171 starts rotating (spinning) sequentially and moves by rotating the rotary table 172 while removing bubbles in the product 1. The rotation speed of each rotation mechanism 171 is about 1000 to 4000 rpm, for example. When the rotating mechanism 171 approaches the product unloading position of the unloading mechanism 190, the rotation of the rotating mechanism 171 is stopped. Then, the product 1 is collectively grasped and extracted from each product holding portion 176 of the rotating mechanism 171 by the carry-out mechanism 190, conveyed to the discharge disk 191 side, and held by the four products provided around the discharge disk 191. The products 1 are inserted into the grooves 192, respectively. A discharge conveyor 195 is connected to the discharge disk 191, and the products 1 are sequentially transferred to the discharge conveyor 195 one by one while rotating the discharge disk 191. The discharge conveyor 195 is connected to the supply conveyor 30 of the inspection system 20 or the supply conveyor 121 of the inspection system 120 described above, and the product 1 from which bubbles are removed is supplied from the defoamer 170 to the inspection system 20 or the inspection system 120. The According to the defoamer 170, a large amount of the product 1 can be efficiently processed while being continuously conveyed.

  The inventor conducted an experiment to confirm the effect of the present invention. As an experimental machine, an inspection system 120 shown in FIG. 25 was used. As a test sample for product 1, we prepared five consecutive bottles with five 20 ml ampules connected, five consecutive bottles with five 10 ml ampules connected, and five consecutive bottles with five 5 ml ampules connected. A product in which no foreign matter is mixed in the liquid in the ampoule) and a defective product in which about 500 μm long hair is mixed as a foreign matter in the liquid in the first ampoule in each of the 5 bottles. Mixed defective products, defective products mixed with about 5 mm long hair, defective products mixed with about 500 μm long fibers, defective products mixed with about 1 mm long fibers, mixed with about 5 mm long fibers Created a defective product. Each of these 21 types of test samples was used as an object to be tested. The lamp 140 was a metal halide lamp. The first ampule 2 of the inspected object is imaged four times from below by the camera 144 (C2 in FIG. 25), and the first ampule 2 of the inspected object is captured by the camera 141 (C1 in FIG. 25). Images were taken four times from the side. MUVSGA100 manufactured by Matsushita Electric Works Co., Ltd. was used as the image processing apparatus 150 that performs the inter-image calculation.

  In this experiment, the object to be inspected is kept stationary for about 2 seconds, and after about 1 second has passed since the posture of the object to be inspected is returned, imaging from below by the camera 144 (C2) is started. Further, it has been found that, after about 2 seconds have passed since the posture of the object to be inspected is returned, foreign matter can be effectively detected by starting imaging from the side by the camera 141 (C1). That is, the foreign object can be sufficiently floated by allowing the object to be inspected to stand for 2 seconds. Immediately after returning the posture of the object to be inspected, the bubbles are in the middle of moving upward from the liquid, and there is a risk that the bubbles will be mistakenly detected as foreign objects. After 2 seconds, the bubbles finish rising from the liquid prior to the fall of the foreign matter, and only the foreign matter floats in the liquid. Therefore, it is possible to prevent air bubbles from being erroneously detected as foreign matters by performing imaging from the side with the camera 141 (C1) after 2 seconds have passed since the posture of the inspection object is returned. However, if the foreign object is large, the foreign object will drop to the bottom of the ampoule within 2 seconds after returning the posture of the object to be inspected, and the detection of the foreign object will be detected by imaging from the side by the camera 141 (C1). The rate went bad. In view of this, imaging from the lower side by the camera 144 (C2) is started after 1 second has passed since the posture of the object to be inspected is returned from the inversion. That is, the foreign matter descending to the bottom is detected while waiting for the bubble to rise. In this way, it is possible to prevent the bubbles from being mistakenly detected as foreign matters and to prevent the foreign matters that fall quickly from being overlooked.

  Furthermore, an experiment was conducted to examine the detection rate of foreign matter in the inspection method using the inspection system 120. The inspection method in this experiment is as follows. The object to be inspected is kept stationary for about 2 seconds, and after about 1 second has elapsed since the posture of the object to be inspected is returned to the posture before inversion, imaging from below by the camera 144 (C2) is performed four times. In addition, after about 2 seconds have passed since the posture of the object to be inspected is returned, the image processing apparatus 150 detects the foreign matter by performing the imaging from the side by the camera 141 (C1) four times. If a foreign object is detected by either the camera 144 (C2) or the camera 141 (C1), the image processing apparatus 150 determines that the foreign object is mixed in the first ampoule 2 of the object to be inspected. A series of inspections consisting of these inversion operations, return operations, and foreign object detections were performed 10 times for each of the above 21 types of test samples. FIG. 31 shows the experimental results. In this experiment, for the defective product mixed with hair or fiber, foreign matter can be detected by camera 144 (C2) and / or camera 141 (C1) at least 7 times out of 10 times. 2 could be judged to contain foreign matter. However, there is a case where a foreign object near the inner surface (side) of the tube portion of the ampoule 2 cannot be detected. In the actual inspection system, the lamp 140 and the cameras 141, 142, 143, 144, 145, and 146 are additionally provided at other locations, and after the first inspection, the reversing device 122 and the product 1 are moved. Therefore, it is considered that a foreign matter detection rate close to 100% can be expected by performing the second inspection using the lamp 140 and the cameras 141, 142, 143, 144, 145, and 146 different from the first one. It is done. In addition, as shown in FIG. 27, it is considered that the foreign object detection rate is improved by taking an image when the image is inverted above the rotary actuator 131.

  INDUSTRIAL APPLICABILITY The present invention can be used for inspection of products in which liquid is filled in a light transmissive container such as an ampoule or an infusion bag.

Claims (7)

A system for inspecting an inspected object filled with a liquid in a light transmissive container,
A reversing device that holds the object to be inspected and tilts or inverts the object to be inspected to return it to its original posture;
An imaging device for imaging the object to be inspected immediately after being tilted or inverted by the reversing device and returned to the original posture;
An inspection system comprising: an imaging processing device that processes an image by the imaging device and determines whether the object to be inspected is good or bad. The inspection system according to claim 1, wherein the reversing device includes a chuck that holds an upper portion of an object to be inspected, and a chuck rotation mechanism that rotates the chuck around a rotation center axis in a horizontal direction. The inspection system according to claim 2, wherein the chuck rotation mechanism includes a servo motor. The inspection system according to claim 1, comprising a first imaging device that images the object to be inspected from the side and a second imaging device that images the object to be inspected from below. It has a rotary table with multiple reversing devices arranged in the circumferential direction.
Transporting the object to be inspected held by the reversing device by rotating the rotary table,
While the inspection apparatus is rotated in synchronization with the inspection object, the inspection object is imaged, and after the imaging, the inspection apparatus is rotated in a direction opposite to the inspection object, and the inspection apparatus is rotated with the inspection object. 2. The inspection system according to claim 1, wherein the inspection system is returned to the initial position where the synchronous rotation is started. 2. The inspection system according to claim 1, wherein the object to be inspected comprises a plurality of connected containers. The inspected object is a container made of a flexible material filled with a liquid, and the inspected object is held by a reversing device using a jig for preventing deformation of the container. Inspection system.

Images