TW202342962A - Tablet inspecting device and tablet printing device - Google Patents

Abstract

To realize high-speed data processing. A tablet inspecting device according to an embodiment comprises: a position acquisition unit 44a which acquires positional data in the conveyance direction of a tablet on a conveyance unit for each tablet conveyed by the conveyance unit; a shape detection unit which repeats imaging at a prescribed interval while irradiating the conveyance unit with slit light and obtains line data being imaging data for each prescribed interval; a storage management unit 44b which sequentially stores the line data for each prescribed interval in association with the position in the conveyance direction on the conveyance unit; a data generation unit 44c which cuts out the line data in a prescribed range for each tablet from the plurality of pieces of line data stored in the storage management unit 44b on the basis of the positional data for each tablet and generates three-dimensional shape data of the tablet for each tablet on the basis of the cut-out line data in the prescribed range for each tablet; and a determination unit 44d which performs a shape inspection of the tablet for each tablet on the basis of the three-dimensional shape data for each tablet.

Description

Tablet inspection device and tablet printing device

Embodiments of the present invention relate to a tablet inspection device and a tablet printing device.

Currently, as a method of visually inspecting a conveyed object, there is an inspection method in which the three-dimensional shape of the object is recognized and inspected using a light cutting method (for example, see Patent Document 1). In the inspection method, an object irradiated with slit light is photographed at predetermined intervals, a portion higher than a conveyance surface on which the object is placed is measured, the range of the higher portion is recognized as the object, and The range is inspected by performing three-dimensional image processing.

In the inspection method described above, it is always necessary to perform a process of confirming whether there is data indicating a high part in the row data as photographic data acquired at a predetermined interval (for example, a process of confirming the presence or shape of tablets), so it is necessary to The load exerted on the processing device becomes larger. In general, a tablet inspection device or a tablet printing device processes hundreds of thousands of tablets per hour, so it is required to process data detected from tablets at high speed. [Prior art documents] [Patent Document]

[Patent Document 1] Japanese Patent Application Laid-Open No. 2004-317126

[Problem to be solved by the invention] The problem to be solved by the present invention is to provide a tablet inspection device and a tablet printing device that can realize high-speed data processing. [Technical means to solve problems]

The tablet inspection device according to the embodiment of the present invention includes: a position acquisition unit that acquires position data of the tablet on the transportation unit in the transportation direction for each tablet transported by the transportation unit; and a shape detection unit that detects The transport unit repeatedly performs photography at predetermined intervals while irradiating slit light, and obtains line data as photographic data at each predetermined interval; a memory management unit is configured to store the position of the transport unit in the transport direction The row data at the predetermined intervals calculated by the shape detection unit are sequentially stored in association with each other; and the data generation unit is based on the position data of each of the tablets acquired by the position acquisition unit. , from the plurality of row data stored by the memory management unit, cut out the row data in a prescribed range for each of the tablets, based on the regulations of each of the cut out tablets The row data of the range generates three-dimensional shape data of the tablet for each of the tablets; and a determination unit generates three-dimensional shape data of each tablet based on the three-dimensional shape data of each tablet generated by the data generation unit. , perform a shape inspection of the tablet on each of the tablets.

A tablet printing device according to an embodiment of the present invention includes the tablet inspection device. [Effects of the invention]

Through the embodiment of the present invention, high-speed data processing can be realized.

<First Embodiment> The first embodiment will be described with reference to FIGS. 1 to 5 .

(Configuration example of tablet printing device) As shown in FIG. 1 , the tablet printing device 1 of the first embodiment includes a supply device 10 , a first printing device 20 , a second printing device 50 , a recovery device 30 , and a control device 40 .

The supply device 10 includes a hopper 11 , an array feeder 12 , and a transfer feeder 13 . The supply device 10 is positioned at one end side of the first printing device 20 and is configured to be able to supply the tablet T as a printing object to the first printing device 20 . The hopper 11 accommodates a large number of tablets T, and sequentially supplies the accommodated tablets T to the array feeder 12 . The array feeder 12 arranges the supplied tablets T in a row and conveys them in the conveyance direction A1 (clockwise direction) toward the delivery feeder 13 . As the array feeder 12, a belt conveyor or a vibrating feeder can be used, for example. The transfer feeder 13 sequentially sucks the tablets T arranged in a row on the array feeder 12 from the upper side of the tablets T, holds the tablets T, and transports the held tablets T in a row to the first printing device 20 and passed to the first printing device 20 . As the delivery feeder 13, a tape conveyance mechanism can be used, for example. The tape conveying mechanism that delivers the feeder 13 rotates in the conveying direction A2 (counterclockwise). The supply device 10 is electrically connected to the control device 40 , and the driving of the supply device 10 is controlled by the control device 40 .

The first printing device 20 includes a conveyance unit 21 , a detection unit 22 , a first imaging unit 23 , a shape detection unit 26 , an inkjet head 24 , a second imaging unit 25 , and a drying unit 27 . The inkjet head 24 is an example of a printing unit.

The conveyance part 21 has a conveyor belt 21a, a drive pulley 21b, a some driven pulley 21c, a motor 21d, a position detector 21e, and a suction chamber 21f. The conveyor belt 21a is an endless belt and is stretched over the driving pulley 21b and each driven pulley 21c. The driving pulley 21b and each driven pulley 21c are rotatably provided on the device main body (not shown), and the driving pulley 21b is connected to the motor 21d. The motor 21d is electrically connected to the control device 40, and the driving of the motor 21d is controlled by the control device 40. The position detector 21e is a device such as an encoder, and is attached to the motor 21d. The position detector 21e is electrically connected to the control device 40 and sends a detection signal to the control device 40 . The conveyance unit 21 causes the conveyor belt 21a to travel together with the driven pulleys 21c by rotation of the drive pulley 21b by the motor 21d, and conveys the tablets T on the conveyor belt 21a in the conveyance direction A1 (clockwise direction).

As shown in FIG. 2 , a plurality of circular suction holes 21g are formed in the conveyor belt 21a. Each of these suction holes 21g is a through hole for sucking the tablet T, and is arranged in a row along the conveyance direction A1 to form a conveyance path. Each suction hole 21g is connected to the suction chamber 21f via a suction path (not shown) formed in the suction chamber 21f (see FIG. 1), and can obtain suction force through the suction chamber 21f. The pump is connected to the suction chamber 21f via a suction pipe (neither shown), and the pressure in the suction chamber 21f is decompressed by the operation of the pump. The suction pipe is connected to substantially the center of the side surface of the suction chamber 21f (a surface parallel to the conveyance direction A1). In addition, the pump is electrically connected to the control device 40 , and the driving of the pump is controlled by the control device 40 . When the pressure in the suction chamber 21f is reduced, the tablet T placed on each suction hole 21g of the conveyor belt 21a is sucked substantially near the center by the suction hole 21g, and is held on the conveyor belt 21a.

The detection unit 22 is positioned on the downstream side in the conveyance direction A1 from the position where the supply device 10 is installed, and is provided above the conveyance path in which the suction holes 21g are arranged. The detection unit 22 detects the tablet T that reaches the detection position directly below the detection unit 22 (the arrival of the tablet T), that is, the tablet T on the conveyor belt 21 a in the conveyance direction A1 by emitting and receiving laser light. detection. As the detection part 22, a displacement sensor can be used, for example. In addition, as the displacement sensor, various laser sensors such as reflective laser sensors can be used. The detection part 22 is electrically connected to the control device 40 and sends the detection signal to the control device 40 .

The first imaging unit 23 is positioned on the downstream side in the conveyance direction A1 from the position where the detection unit 22 is installed, and is provided above the conveyance path in which the suction holes 21g are arranged. The first imaging unit 23 captures the image at the first imaging timing when the tablet T reaches the imaging position directly below the first imaging unit 23 based on the position information of the tablet T in the conveying direction A1 detected by the detection unit 22. A first image including the upper surface of the tablet T is acquired, and the acquired first image is sent to the control device 40 . The first image is used to detect the position of the tablet T in the X direction, Y direction, and θ direction (see FIG. 2 ). As the first imaging unit 23 , various cameras having imaging elements such as a charge coupled device (CCD) or a complementary metal oxide film semiconductor (CMOS) can be used. The first imaging part 23 is electrically connected to the control device 40 , and the driving of the first imaging part 23 is controlled by the control device 40 . In addition, if necessary, also set up lighting for photography.

Here, the positions of the tablet T in the X direction and the Y direction are, for example, positions in the XY coordinate system relative to the center (reference position) of the imaging area of the first imaging unit 23 . In addition, the position in the θ direction is, for example, a position indicating the degree of rotation of the tablet T in the horizontal plane along the XY plane in the imaging area of the first imaging unit 23 . The position in the θ direction is when the tablet T is provided with a dividing line, or when the tablet T is shaped into an ellipse, an oval, a triangle, a quadrilateral, etc., the tablet T is a directional shape. case was detected. In addition, the X direction and the Y direction are positions in the horizontal direction.

The shape detection unit 26 is positioned on the downstream side in the conveyance direction A1 from the position where the first imaging unit 23 is installed, and is provided above the conveyance path in which the suction holes 21g are arranged. The shape detection unit 26 detects the three-dimensional shape of the object using, for example, a light cutting method. In the light cutting method, while irradiating the object on the conveyance surface of the conveyor belt 21a with slit light (strip-shaped light), the object is photographed at predetermined intervals, and the transport ratio with the object placed thereon is measured. The part with a high conveying surface of belt 21a. For example, the shape detection unit 26 includes a slit light source 26a and a camera 26b. The shape detection unit 26 irradiates the object with slit light using the slit light source 26a and repeatedly takes pictures at predetermined intervals using the camera 26b, thereby acquiring one line of imaging data, that is, line data, at predetermined intervals, and records each line of the image data. Line data at predetermined intervals are sequentially sent to the control device 40. The row data at predetermined intervals becomes the height data of the object in one row (height data of the longitudinal section of the object). In addition, the row data when the object is not on the conveyor belt 21a is obtained as data in which the height of the object in one row is 0. The shape detection part 26 is electrically connected to the control device 40 , and the driving of the shape detection part 26 is controlled by the control device 40 .

Here, the prescribed interval that is a repetition interval of photographing by the camera 26 b is an interval based on time (for example, pulse or frequency) or distance (for example, 0.05 mm). That is, the predetermined interval is a predetermined time or a predetermined distance, and the imaging by the camera 26 b is repeated every predetermined time or predetermined distance.

The inkjet head 24 is positioned on the downstream side in the conveyance direction A1 from the position where the shape detection unit 26 is provided, and is provided above the conveyance path in which the suction holes 21g are arranged. The inkjet head 24 has a plurality (for example, hundreds to thousands) of nozzles 24a (see FIG. 2 ), and the direction in which the nozzles 24a are arranged in a row (nozzle row) is provided in a horizontal plane orthogonal to the conveyance direction A1 ( An example of crossover). The inkjet head 24 ejects ink from each nozzle 24a individually by operating the drive element of each nozzle 24a. As the inkjet head 24 , various inkjet printing heads having drive elements such as piezoelectric elements, heating elements, and magnetostrictive elements can be used. The inkjet head 24 is electrically connected to the control device 40 , and the driving of the inkjet head 24 is controlled by the control device 40 .

The second imaging unit 25 is positioned downstream in the conveyance direction A1 from the position where the inkjet head 24 is installed, and is provided above the conveyance path in which the suction holes 21g are arranged. The second imaging unit 25 captures the image at the second imaging timing when the tablet T reaches the imaging position directly below the second imaging unit 25 based on the position information of the tablet T in the conveyance direction A1 detected by the detection unit 22. Then, a second image including the upper surface of the tablet T is acquired, and the acquired second image is sent to the control device 40 . The second image can be used to check the printed pattern printed on the tablet T. As the second imaging unit 25 , similar to the first imaging unit 23 , various cameras having imaging elements such as CCD and CMOS can be used. The second imaging part 25 is electrically connected to the control device 40 , and the driving of the second imaging part 25 is controlled by the control device 40 . Lighting for photography is also provided if necessary.

The drying section 27 is disposed at a position facing the conveyor belt 21a, for example, below the conveyor section 21. The drying part 27 dries the ink applied to each tablet T on the conveyor belt 21a. As the drying part 27, various dryers such as a blower that uses gas such as air for drying, a heater that uses radiant heat to dry, or a blower that uses both a gas and a heater to dry using warm air or hot air can be used. The drying part 27 is electrically connected to the control device 40 , and the driving of the drying part 27 is controlled by the control device 40 .

Here, the first printing device 20 and the second printing device 50 are arranged so that parts of the conveying portion 21 and the conveying portion 51 overlap vertically, and the tablet T printed by the first printing device 20 on the upper side is turned over and delivered to the lower side. The second printing device 50 on the side of the tablet T is used to print both sides of the tablet T. Normally, in order to smoothly transfer tablets T from the first printing device 20 to the second printing device 50 , the conveyance speed of the first printing device 20 and the conveyance speed of the second printing device 50 are always the same.

The second printing device 50 has the same structure as the first printing device 20 . That is, the second printing device 50 includes the conveyance unit 51 , the detection unit 52 , the first imaging unit 53 , the shape detection unit 56 , the inkjet head 54 , the second imaging unit 55 , and the drying unit 57 . The conveying part 51 has a conveying belt 51a, a driving pulley 51b, a plurality of driven pulleys 51c, a motor 51d, a position detector 51e, and a suction chamber 51f. The conveyance unit 51 conveys the tablets T on the conveyor belt 51a in the conveyance direction A2 (counterclockwise direction). In addition, the shape detection unit 56 includes a slit light source 56a and a camera 56b. The inkjet head 54 is an example of a printing unit. In addition, since each component constituting the second printing device 50 has basically the same structure as each component constituting the first printing device 20, description thereof is omitted.

The recovery device 30 is positioned on the downstream side in the conveyance direction A2 from the position where the drying section 57 is installed, and is provided below the conveyance section 51 . The collection device 30 has a reuse product collection unit 31 , a defective product collection unit 32 , and a good product collection unit 33 . The recycling device 30 collects the tablets T that are recycle products through the recycle product collection unit 31 , the tablets T that are defective products through the defective product collection unit 32 , and the good product collection unit 33 that collects the tablets T that are good products. For example, the recyclable product is a recyclable tablet, and is a non-printed tablet that has no damage or foreign matter attached to it. In addition, defective products are non-printed pieces with foreign matter attached, or failed printing pieces (printed pieces) with no damage and no foreign matter attached, etc. Good products are printed pieces (printed pieces) with no damage and no foreign matter attached. In addition, the arrangement order of the reused product recovery part 31, the defective product recovery part 32, and the good product recovery part 33 in the conveyance direction A2 is not limited to the arrangement order shown in FIG. 1, and may be changed suitably. The recovery device 30 is electrically connected to the control device 40 , and the driving of the recovery device 30 is controlled by the control device 40 .

The recycle product recovery unit 31 has a spray nozzle 31a and a recovery box 31b. In addition, the defective product recovery unit 32 has an injection nozzle 32a and a recovery box 32b. The good product collection part 33 has a spray nozzle 33a and a collection box 33b. These injection nozzles 31a, 32a, and 33a have basically the same structure, and the recovery boxes 31b, 32b, and 33b also have basically the same structure. Therefore, the injection nozzle 31a and the recovery tank 31b will be described as representatives.

The injection nozzle 31a and the recovery box 31b are provided at positions facing each other across the conveyance path in which the suction holes of the conveyor belt 51a are arranged. The injection nozzle 31a is arranged in the suction chamber 51f, and injects gas (for example, air) toward the conveyor belt 51a, so that the tablet T falls from the conveyor belt 51a. At this time, the gas injected from the injection nozzle 31a passes through the suction hole of the conveyor belt 51a and hits the tablet T. The injection nozzle 31a is electrically connected to the control device 40, and the driving of the injection nozzle 31a is controlled by the control device 40. The recovery box 31b is provided directly below the injection nozzle 31a and below the conveyance part 51. The collection box 31b receives and stores the tablets T dropped from the conveyor belt 51a due to the gas injected from the injection nozzle 31a.

Here, the tablets T that have passed through the recycle product recovery unit 31 and the defective product recovery unit 32 are conveyed as the conveyor belt 51a moves, and reach a position near the end of each driven pulley 51c side of the conveyor belt 51a. At this position, the suction action no longer acts on the tablet T, but the gas is blown toward the tablet T from above through the injection nozzle 33a, and the tablet T falls from the conveyor belt 51a. Therefore, by providing the injection nozzle 33a, the tablet T can be reliably dropped from the conveyor belt 51a. The recovery box 33b receives and stores the tablets T dropped from the conveyor belt 51a due to the gas injected from the injection nozzle 33a.

The control device 40 controls various parts of the tablet printing device 1 , such as the supply device 10 , the first printing device 20 , the second printing device 50 , and the recovery device 30 , based on various information and various programs. In addition, the control device 40 receives detection data (for example, detection signals) etc. respectively transmitted from the position detector 21e or the detection part 22 of the transport part 21 and the position detector 51e or the detection part 52 of the transport part 51, and receives the detection data from the first The image data etc. sent by the imaging part 23 or the second imaging part 25, the shape detection part 26, the first imaging part 53, the second imaging part 55, and the shape detection part 56 respectively. The control device 40 is implemented by, for example, an electronic circuit such as an integrated circuit or a computer.

(Control device configuration example) Next, a structural example of the control device 40 will be described with reference to FIG. 3 .

As shown in FIG. 3 , the control device 40 includes an image processing unit 41 , a memory unit 42 , a control unit 43 , and a shape inspection unit 44 . The shape inspection unit 44 receives line data at predetermined intervals from each of the shape detection unit 26 and the shape detection unit 56 . Furthermore, the shape inspection unit 44, the shape detection unit 26, and the shape detection unit 56 function as a tablet inspection device.

The input device 40a, the output device 40b and the storage (storage) 40c are connected to the control device 40. The input device 40a is implemented by, for example, a switch, a touch screen, a keyboard, a mouse, etc. In addition, the output device 40b is realized by a display, a lamp, a measuring instrument, etc., for example. The storage 40c can be implemented by, for example, a semiconductor memory element such as a flash memory or a memory device such as a hard disk or an optical disk. The storage 40c functions as an external storage.

The image processing unit 41 reads the first image photographed by the first photographing unit 23 and the second image photographed by the second photographing unit 25, and processes the images using known image processing technology. For example, the image processing unit 41 processes the first image obtained from the first imaging unit 23 and obtains the positions of the tablet T in the X direction, the Y direction, and the θ direction. In addition, the image processing unit 41 processes the second image obtained from the second imaging unit 25 and obtains the printing position, shape, and size of the printed pattern (for example, characters or marks) printed on the tablet T. The image processing unit 41 sends the acquired position information of each tablet T in the X direction, the Y direction, and the θ direction, and further the printing position information, shape information, and size information of the printed pattern on each tablet T to the control unit 43 .

The memory unit 42 stores processing information, various programs, and the like. For example, it is implemented by semiconductor memory elements such as random access memory (RAM) and flash memory (Flash Memory), or memory devices such as hard disks and optical disks. The storage unit 42 stores printing data, transport speed data, and the like related to printing. Printed data includes information about printed patterns such as text or marks.

The control unit 43 is, for example, a computer such as a Central Processing Unit (CPU), a Micro Control Unit (MCU), or a Micro Processing Unit (MPU), and controls each unit. The control unit 43 may be implemented by, for example, one or both of hardware and software. For example, the control unit 43 controls the supply device 10 , the first printing device 20 , the second printing device 50 , the recovery device 30 , the image processing unit 41 , the storage unit 42 , etc. based on various information or various programs stored in the storage unit 42 . Take control. In addition, the control unit 43 receives detection signals and the like respectively transmitted from the position detector 21e or the detection unit 22 of the transportation unit 21 and the position detector 51e or the detection unit 52 of the transportation unit 51.

The shape inspection unit 44 includes a position acquisition unit 44a, a memory management unit 44b, a data generation unit 44c, a plurality of determination units 44d, and a result management unit 44e. The shape inspection unit 44 may be implemented by, for example, one or both of hardware and software.

In the first printing device 20, the position acquisition unit 44a acquires the position data of the tablet T on the conveyor belt 21a in the conveyance direction A1 for each tablet T conveyed by the conveyor unit 21 based on the information obtained by the detection unit 22. . The position acquisition unit 44a tracks the position of the tablet T detected by the detection unit 22 in the conveyance direction A1 on the conveyor belt 21a based on the information (eg, encoder signal) from the position detector 21e, and obtains the conveyor belt 21a. The position data of the tablet T in the conveying direction A1. In addition, in the second printing device 50 , the position acquisition unit 44 a acquires the position of the tablet T on the conveyor belt 51 a in the conveyance direction A2 for each tablet T conveyed by the conveyor unit 51 based on the information obtained by the detection unit 52 . Location data. The position acquisition unit 44a tracks the position of the tablet T detected by the detection unit 52 in the conveyance direction A2 on the conveyor belt 21a based on the information from the position detector 51e, and obtains the conveyance position of the tablet T on the conveyor belt 51a. Location data in direction A2. The position acquisition unit 44a transmits and stores the acquired position data of each tablet T in the memory unit 42. Furthermore, the position acquisition unit 44 a adds identification data such as a serial ID (identification/identifier) to the tablet T detected by the detection unit 22 or the detection unit 52 . Thereby, the location data of each tablet T can be managed based on the identification data of each tablet T.

In the first printing device 20 , the memory management unit 44 b associates the line data sent at predetermined intervals from the shape detection unit 26 with the position in the conveyance direction A1 on the conveyor belt 21 a (for example, the acquisition position of the line data). Memorize in sequence. In addition, in the second printing device 50 , the memory management unit 44 b compares the line data sent at predetermined intervals from the shape detection unit 56 with the position in the conveyance direction A2 on the conveyor belt 51 a (for example, the acquisition position of the line data). Memorize in sequence in relation to each other. That is, the memory management unit 44b stores a plurality of line data at predetermined intervals associated with the positions in the conveyance direction A1 (A2) on the conveyor belt 51a. The memory management unit 44b stores line data at predetermined intervals, for example, a plurality of pieces of line data equivalent to one revolution of the conveyor belt 21a. For example, the memory management unit 44b has a buffer area, and during the printing operation, line data at predetermined intervals are sequentially and continuously stored in the buffer area. Furthermore, the buffer area of the memory management unit 44b may be provided in the memory unit 42. The memory management unit 44b has, for example, a memory buffer mechanism that holds profile data (for example, line data at predetermined intervals) for a certain period of time. The profile position of the memory buffer mechanism is synchronized with a signal (eg, an encoder signal) from the position detector 21e or the position detector 51e. Thereby, line data at predetermined intervals can be associated with the position on the conveyor belt 21a in the conveyance direction A1 or the position on the conveyor belt 51a in the conveyance direction A2.

Based on the position data of each tablet T acquired by the position acquisition unit 44a (for example, the position data of the tablet T in the conveyance direction A1 or the position data of the tablet T in the conveyance direction A2), the data generation unit 44c generates The memory management unit 44b stores a plurality of line data at predetermined intervals, and cuts out a predetermined range of line data for each tablet T. For example, the data generation unit 44c cuts a plurality of line data included in a predetermined range (line data of a predetermined range) for each tablet T from a plurality of line data equivalent to one revolution of the conveyor belt 21a. Next, the data generating unit 44c generates three-dimensional shape data of the tablet T for each tablet T based on the cut-out row data of a predetermined range for each tablet T. The data generation unit 44c sends the three-dimensional shape data of each tablet T to each determination unit 44d. In addition, the data generation unit 44c transmits and stores the three-dimensional shape data of each tablet T in the memory unit 42. Furthermore, the three-dimensional shape data of each tablet T can be managed based on the identification data of each tablet T.

As shown in FIG. 4 , the predetermined range L1 is set to a range that is longer than the longest length of the tablet T in a plane such as the horizontal plane and has a predetermined margin (for example, the longest length ±1 mm). Furthermore, in the example of FIG. 4 , the tablet T has a triangular shape when viewed from above. The position of the tablet T on the conveyor belt 21a in the conveyance direction A1 is determined based on the position data of the tablet T (for example, the position data of the center of the tablet T). Therefore, for example, the data generation part 44c reads it from the memory management part 44b. Line data of a predetermined range L1 centered on the position are output. For each tablet T, the row data of the specified range L1 is read out. That is, the data generation unit 44c reads the data corresponding to one piece of tablet T from a plurality of line data (line data at predetermined intervals) corresponding to one revolution of the conveyor belt 21a stored in the memory management unit 44b. Multiple rows of data contained in the specified range L1 corresponding to the amount. From this, the row data of the amount of one tablet T can be obtained for each tablet T.

In the example of FIG. 4 , the predetermined range L1 corresponding to "tablet (1)" is the range from "(1) start position" to "(1) end position". The predetermined range L1 corresponding to "tablet (2)" is the range from "(2) starting position" to "(2) ending position". The predetermined range L1 corresponding to "tablet (3)" is the range from "(3) start position" to "(3) end position". The start position is the starting position of reading line data (cutting start position), and the end position is the ending position of reading line data (cutting end position). Furthermore, since the tablets T are arranged not at regular intervals but at random intervals on the conveyor belt 21a, there are cases where the tablets are different from the "tablets (2)" and "tablets (3)" in Fig. 4 The "prescribed range L1" corresponding to "tablet (2)" overlaps with the "prescribed range L1" corresponding to "tablet (3)".

Each determination unit 44d performs a shape inspection of the tablet T for each tablet T based on the three-dimensional shape data of each tablet T generated by the data generation unit 44c. For example, each determination unit 44d executes a process of determining whether predetermined three-dimensional shape data exists in the three-dimensional shape data generated by the data generation unit 44c, and determines whether the three-dimensional shape of the tablet T is acceptable or not. For example, when predetermined three-dimensional shape data is included in the three-dimensional shape data generated by the data generation unit 44c, the tablet T has no abnormality (for example, damage such as a chip or adhesion of foreign matter), and the inspection result is passed. On the other hand, when the predetermined three-dimensional shape data does not exist in the three-dimensional shape data generated by the data generation unit 44c, the tablet T has an abnormality and the inspection result is failed. Each determination unit 44d sends the result data of the shape inspection of each tablet T indicating whether it has passed or failed the tablet T to the result management unit 44e. Furthermore, the shape inspection result data of each tablet T can be managed based on the identification data of each tablet T.

The result management unit 44e sorts the shape inspection result data for each tablet T sent from each determination unit 44d based on the identification data (for example, the serial ID) of the tablet T, and sorts the shape inspection result data for each tablet T. It is stored in the storage unit 42 and managed. Furthermore, the control unit 43 may send the three-dimensional shape data of the tablet T or the shape inspection result data of the tablet T stored in the memory unit 42 to the output device 40b, and display it on the display of the output device 40b.

In the example of FIG. 3 , the number of determination units 44d is two, but the number is not limited to this, and the number of determination units 44d may be two or more. The data generation unit 44c sends the three-dimensional shape data of each tablet T to each determination unit 44d in a predetermined order. When there are two determination units 44d, the three-dimensional shape data of each tablet T is alternately sent to the two determination units 44d. The predetermined order is set in advance and may be changed based on the user's input operation on the input device 40a, for example. In addition, for example, the predetermined order may be set based on the priority based on the respective processing capabilities of each determination unit 44d (for example, the higher the processing capability, the higher the priority).

Here, in the first printing device 20 , based on the detection information sent from the detection unit 22 , that is, the timing of detecting the tablet T on the conveyor belt 21 a , the control unit 43 obtains the time when the tablet T is being conveyed on the conveyor belt 21 a The position in the direction A1, and based on the position information indicating the position of the tablet T in the conveyance direction A1, the first imaging timing of the first imaging unit 23, the printing start timing of the inkjet head 24, and the second imaging unit are set. 25, timing information indicating these timings is generated and stored in the memory unit 42. The printing start timing is the timing to start printing on the tablet T that reaches the printing position directly below the inkjet head 24 . The control unit 43 can obtain information such as the movement amount (rotation amount) or speed of the conveyor belt 21 a based on the detection information transmitted from the position detector 21 e. Furthermore, in the first printing device 20 , for example, the control unit 43 always captures images with the camera 26 b of the shape detection unit 26 during the printing operation. The camera 26b repeatedly takes pictures at predetermined intervals and acquires line data at predetermined intervals. This kind of processing is also the same in the second printing device 50 .

Note that the printing operation is a period from when the tablets T are sequentially supplied from the hopper 11 to the array feeder 12 until the control unit 43 determines that the inspection is completed. That is, it is the period from step S1 to "Yes" in step S12 described later.

In addition, the control unit 43 sets, in the first printing device 20 , whether or not the tablet T can be printed based on the shape inspection result data of the tablet T obtained by the determination unit 44 d as the printability information. Then, the control unit 43 sets the printing conditions for the tablet T set to be printable as the printing condition information. At this time, the control unit 43 sets printing conditions for the tablet T for which the position information has been obtained based on the position information of the tablet T in the X direction, Y direction, and θ direction sent from the image processing unit 41 . For example, the control unit 43 determines the range of the nozzle 24a used for printing the target tablet T in the inkjet head 24, that is, the use nozzle range, based on the position information of the tablet T in the Y direction or the printing data, and Set printing conditions including the above-mentioned nozzle usage range, printing start timing, and the like. Furthermore, when the tablet T has a directional shape, the control unit 43 sets the printing conditions in accordance with the position of the tablet T in the θ direction based on the position information of the tablet T in the θ direction. As an example, the control unit 43 registers in the storage unit 42 180 types of printing patterns whose orientations are rotated in units of 1 degree within the range of 0 degrees to 179 degrees, and selects from these printing patterns the ones corresponding to the tablet T. The printing conditions are set by matching the angle of the printing pattern with the position in the θ direction. This kind of processing is also the same in the second printing device 50 .

In addition, the control unit 43 controls the first printing device 20 based on the printing position information, shape information and size information of the printing pattern printed on the tablet T sent from the image processing unit 41 (these information is based on the second image information) to determine whether the printed pattern is printed in a specified position on the tablet T in a specified shape and size, that is, whether the printed pattern is printed on the tablet T normally, and set the printing quality information of the tablet T (printing status check). For example, in determining the shape and size of the printed pattern, the control unit 43 registers the printed pattern for inspection in the memory unit 42 and compares the printed pattern for inspection with the actual printed pattern on the printed tablet T ( Printed pattern printed on tablet T) for comparison. This kind of processing is also the same in the second printing device 50 .

Furthermore, the control unit 43 appropriately stores various information (for example, position information, timing information, printing availability information, printing condition information, printing quality information, etc.) of the tablet T in the memory unit 42 , so that the target tablet When T is recovered by the recovery device 30 , various information is deleted from the memory unit 42 when, for example, a predetermined time (eg, several seconds) elapses after T is dropped from the downstream end in the conveyance direction A2 of the conveyor 51 . However, if such information is needed in subsequent steps or the like, various information for each tablet T may remain without deletion, or may be stored in a storage medium (external storage) outside the device. When storing various information for each tablet T, it can also be stored in association with the information, manufacturing date, batch number, etc. For printed tablets, it can be traced back to the occurrence of defective products after shipment, etc. reason.

(printing steps) Next, the printing steps performed by the tablet printing device 1 will be described with reference to FIG. 5 . The printing step also includes an inspection step. In addition, various information such as data required for printing or inspection is stored in the memory unit 42 in advance.

As shown in FIG. 5 , in step S1 , when a large amount of tablets T to be printed are put into the hopper 11 of the supply device 10 , the tablets T begin to be sequentially supplied from the hopper 11 to the array feeder 12 , and the tablets T are sequentially supplied from the hopper 11 to the array feeder 12 . The feeders 12 are arranged in a row and moved. The tablets T moving in one line are sequentially supplied to the conveyor belt 21 a of the first printing device 20 by the delivery feeder 13 . The conveyor belt 21a rotates in the conveyance direction A1 by the rotation of the drive pulley 21b and each driven pulley 21c by the motor 21d. Therefore, the tablets T supplied to the conveyor belt 21a are aligned in a row on the conveyor belt 21a and conveyed at a predetermined conveyance speed.

In step S2, the tablet T on the conveyor belt 21a is detected by the detection part 22. Specifically, the detection unit 22 detects that the tablet T on the conveyor belt 21 a reaches the detection position (for example, the irradiation position of the laser light) directly below the detection unit 22 , and based on the timing of detecting the tablet T, the tablet T is conveyed. The position of the tablet T on the belt 21a in the conveyance direction A1 is recognized by the position acquisition unit 44a. Then, the position acquisition unit 44 a generates position data indicating the position of the tablet T in the conveyance direction A1 and stores it in the storage unit 42 .

In step S3, the tablet T on the conveyor belt 21a is imaged by the first imaging unit 23. Specifically, the tablet T on the conveyor belt 21 a is photographed by the first photographing unit 23 at the first photographing timing when it reaches the photographing position directly below the first photographing unit 23 . The first image obtained by shooting is sent to the control device 40 . Based on the first image, the image processing unit 41 generates position data of the tablet T in the X direction, the Y direction, and the θ direction, and stores the data in the memory unit 42 .

In step S4, the tablet T on the conveyor belt 21a is photographed by the camera 26b of the shape detection unit 26. Specifically, during the printing operation of the tablet printing apparatus 1, the upper surface of the conveyor belt 21a is always photographed by the camera 26b at predetermined intervals. The image data obtained by photographing with the camera 26b, that is, the line data, is sent to the control device 40, and is stored by the memory management unit 44b of the control device 40 in association with the position in the conveyance direction A1 on the conveyor belt 21a. Based on the position data of the tablet T in the conveyance direction A1 obtained by the position acquisition unit 44a, the data generation unit 44c cuts rows in a predetermined range from a plurality of row data stored at predetermined intervals by the memory management unit 44b. The data is generated, and the three-dimensional shape data of the tablet T is generated based on the cut-out row data of the specified range.

In step S5, based on the three-dimensional shape data of the tablet T generated by the data generation unit 44c, the determination unit 44d performs a tablet inspection to see whether the tablet T on the conveyor belt 21a has abnormalities (for example, damage such as chipping or adhesion of foreign matter). Agent shape check. For example, when predetermined three-dimensional shape data is included in the three-dimensional shape data generated by the data generation unit 44c, the determination unit 44d determines that the tablet T has no abnormality and sets the inspection result as passing. On the other hand, when the predetermined three-dimensional shape data does not exist in the three-dimensional shape data generated by the data generation unit 44c, the determination unit 44d determines that the tablet T has an abnormality and sets the inspection result as failed. Furthermore, predetermined three-dimensional shape data is set in advance and stored in the memory unit 42 and the like. For example, when the type of tablet T to be printed is changed and the shape of the tablet T is changed, the data is determined based on the user's input. Changes are made by input operations on the device 40a.

In step S6, the control unit 43 determines whether printing on the target tablet T is possible based on the tablet shape inspection result data. When it is determined that printing on the target tablet T is possible (Yes in step S6 ), the process proceeds to step S7 . Furthermore, based on the position information or printing pattern information of the tablet T in the ) printing conditions including the nozzle range used or printing start timing. Based on the printing start timing (the timing to start printing on the tablet T), the ejection timing for the tablet T (the timing to eject the ink on the tablet T) is determined. On the other hand, when it is determined that the target tablet T is not to be printed (No in step S6 ), the operation related to printing or inspection of the target tablet T is limited, and the process proceeds to step S11 middle. Furthermore, the printability information of the tablet T is appropriately stored in the memory unit 42 . In addition, "restriction" of operations related to printing or inspection means that at least processing related to printing and printing status inspection of the target tablet T is not performed.

In step S7, printing is performed by the inkjet head 24 based on the printing conditions. That is, the inkjet head 24 is controlled by the control unit 43 so as to print a predetermined printing pattern on the printable tablet T on the conveyor belt 21a. Specifically, when the printable tablet T that has passed on the conveyor belt 21 a below the first imaging unit 23 reaches the printing position directly below the inkjet head 24 , the printable tablet T is printed by the inkjet head 24 based on the printing conditions. For printing. The inkjet head 24 appropriately ejects ink from each nozzle 24 a to print a printing pattern (for example, numbers, letters, katakana, symbols, graphics) on the surface to be printed, which is the upper surface of the tablet T.

In step S8, the second imaging unit 25 photographs the printed tablet T on the conveyor belt 21a. Specifically, the printed tablet T on the conveyor belt 21a is photographed by the second photographing unit 25 at the second photographing timing when it reaches the photographing position directly below the second photographing unit 25, and is captured by the second photographing unit 25. The second image obtained from the shooting performed at 25 is sent to the control device 40 . The second image is processed by the image processing unit 41 of the control device 40 . Specifically, the image processing unit 41 acquires information related to the printed printing pattern printed on the tablet T, that is, the printing position, shape, and size of the printed printing pattern. The second image sent from the second imaging unit 25 is processed by the image processing unit 41 to generate inspection information indicating the printing position, shape, and size of the printed pattern printed on the tablet T, and stores it in the memory unit 42 middle.

In step S9, based on the inspection information, the control unit 43 executes a printing status inspection. Specifically, based on the inspection information related to the printing position, shape, and size stored in the memory unit 42, the control unit 43 determines whether the printing pattern is normally printed on the tablet T, and generates a data indicating whether the printing quality of the tablet T is good or not. The quality information is printed and stored in the memory unit 42 . For example, in the printing state inspection, the printing pattern used for printing is stored in the storage unit 42 as the printing pattern for inspection, and the good product information related to the predetermined printing position, shape, and size of the printing pattern for inspection, and It is compared with inspection information on the printing position, shape, and size of the actual printed printing pattern stored in the memory unit 42 to determine whether the printing pattern is normally printed on the tablet T (pass or fail).

In step S10 , the processes of steps S2 to S9 are repeated in the second printing device 50 . The tablet T printed by the first printing device 20 is reversed and delivered to the lower second printing device 50 , and the second printing device 50 executes the processing of steps S2 to S9 . This enables double-sided printing of the tablet T. In addition, the conveyor belt 51a rotates in the conveyance direction A2 by the rotation of the drive pulley 51b and each driven pulley 51c by the motor 51d. Therefore, the tablets T transferred to the conveyor belt 51a are aligned in a row on the conveyor belt 51a and conveyed at a predetermined conveyance speed.

In step S11 , the tablets T on the conveyor belt 51 a of the second printing device 50 are recovered by the recovery device 30 . Specifically, when the tablet T that is a recyclable product reaches the recyclable product recovery unit 31 as the conveyor belt 51a moves, the gas is blown toward the tablet T from above the tablet T through the injection nozzle 31a, and the tablet T is T falls from the conveyor belt 51a and is received in the collection box 31b. Similarly, when the defective tablet T reaches the defective product recovery unit 32 as the conveyor belt 51a moves, gas is blown toward the tablet T from above the tablet T through the injection nozzle 32a, and the tablet T is moved from the conveyor belt 51a to the defective product recovery unit 32. The belt 51a falls and is received by the recovery box 32b. In addition, when the good-quality tablet T reaches a position near the end of each driven pulley 51c side of the conveyor belt 51a, the suction effect is not exerted on the tablet T, and the tablet T is ejected from the top of the tablet T through the injection nozzle 33a. The gas is blown toward the tablet T, and the tablet T falls from the conveyor belt 51a and is accommodated in the recovery box 33b. The control related to the blowing of such gas is executed by the control unit 43 based on various information such as position information of the tablet T, tablet shape inspection result information, printability information, and printing quality information (printing status inspection result information). .

In step S12, the control unit 43 determines whether printing has ended. For example, the number of printed tablets T is counted, and when the number reaches a predetermined production number, it is determined that printing is completed. When it is determined that printing is completed (YES in step S12), the process ends. On the other hand, when it is determined that printing has not been completed (NO in step S12 ), the process returns to step S1 . Furthermore, the end of printing may be determined based on the user's input operation on the input device 40a, for example, the user presses the end of printing button.

According to this printing step, based on the position data of each tablet T acquired by the position acquisition unit 44a, a plurality of row data (a plurality of row data) stored at predetermined intervals are stored in the memory management unit 44b for each Row data of a predetermined range are cut out for each tablet T, and based on the cut row data of a predetermined range for each tablet T, three-dimensional shape data of the tablet T is generated for each tablet T. In this way, the row data in the predetermined range corresponding to the position where the tablet T exists is cut out. Therefore, it is not necessary to always check whether there is data indicating the presence of tablets in the row data obtained at predetermined intervals. This can reduce the processing load.

Here, a case will be considered in which during the printing operation, imaging is not always performed by the shape detection unit 26 ( 56 ), but based on the position data of the tablet T acquired by the position acquisition unit 44 a, the image is captured by the shape. The detection unit 26 ( 56 ) captures an image of a partially aligned state of the two tablets T (see the tablet ( 2 ) and the tablet ( 3 ) in FIG. 4 ). In this case, the shape detection unit 26 ( 56 ) performs imaging every time based on the position data, and the line data at predetermined intervals is not stored in the memory management unit 44 b. Therefore, in order to obtain row data of a predetermined range based on the position data of the tablet T, it is necessary to image each tablet T by the shape detection unit 26 ( 56 ).

For example, the shape detection unit 26 performs imaging to detect the tablet ( 2 ) in FIG. 4 , and obtains line data in a predetermined range based on the position data created by the position acquisition unit 44 a. Next, the tablet (3) in FIG. 4 is detected, and a signal is sent to the shape detection unit 26 to obtain line data in a predetermined range based on the position data generated by the position acquisition unit 44a. However, since the shape detection unit 26 images a predetermined range of the tablet (2) and then images a predetermined range of the tablet (3), defects may occur in the imaged data of the tablet (3). Specifically, the shape detection unit 26 starts imaging the tablet (3) after imaging the range from "(2) start position" to "(2) end position" in FIG. 4 . In this case, there is a possibility that the line data between "(3) start position" and "(2) end position" in FIG. 4 cannot be obtained during the imaging of tablet (3).

In the tablet printing apparatus 1 of the embodiment, the position of the tablet T is determined based on the position of the tablet T from a plurality of line data at predetermined intervals obtained by the shape detection unit 26 always taking images during the printing operation of the tablet printing apparatus 1. The data is cut into a predetermined range of line data, so even if a part of two tablets T is arranged on the detection line of the conveyor belt 21a (51a) detected by the shape detection unit 26 (56) (refer to the tablet (see Fig. 4 2) and tablets (3)), line data within the respective specified ranges are also available. That is, even if part of two tablets T are arranged on the detection line, three-dimensional shape data without defects can be obtained for each tablet T. Furthermore, when a part of the plurality of tablets T is repeatedly arranged and conveyed in the Y direction (the direction orthogonal to the conveying direction A1), the possibility of conveying is increased. For tablets having a shape such as an ellipse, an ellipse, or a triangle when viewed from above, When processing the tablet T, it is suitable to cut a predetermined range of line data from a plurality of line data at predetermined intervals based on the position data of the tablet T.

As described above, according to the first embodiment, the tablet printing device 1 includes the position acquisition unit 44 a that acquires the tablet T on the transport unit 21 ( 51 ) for each tablet T transported by the transport unit 21 ( 51 ). The position data in the conveyance direction A1; the shape detection unit 26 (56) repeats photography at predetermined intervals while irradiating the conveyance unit 21 (51) with slit light, and obtains line data as the photographed data at predetermined intervals; The memory management unit 44b sequentially stores line data at predetermined intervals determined by the shape detection unit 26 (56) in association with the position in the transport direction A1 on the transport unit 21 (51); the data generation unit 44c is based on The position data of each tablet T acquired by the position acquisition unit 44a is cut out for each tablet T from the plurality of row data stored by the memory management unit 44b. The row data of the prescribed range of each tablet T generates three-dimensional shape data of each tablet T for each tablet T; and the determination unit 44d generates three-dimensional shape data of each tablet T based on the three-dimensional shape data of each tablet T generated by the data generation unit 44c, The shape of the tablet T is inspected for each tablet T. Thereby, a predetermined range of row data is cut out for each tablet T from a plurality of row data, and based on the cut-out row data of a prescribed range of each tablet T (ie, the row data of each tablet T Three-dimensional shape data) performs a shape check for each tablet T. Therefore, compared with the case where the process of confirming whether there is data indicating the presence of high portions (for example, the process of confirming the presence or shape of tablets) is always performed on all rows of data at predetermined intervals, high-speed data can be realized handle. As a result, rapid inspection can be performed.

<Second Embodiment> The second embodiment will be described with reference to FIG. 6 . In the second embodiment, differences from the first embodiment will be described.

In FIG. 6 , the determination unit 44 d is shown as two examples, and one is shown as the determination unit A and the other is shown as the determination unit B. As shown in FIG. 6 , in the second embodiment, the data generation unit 44c of the control device 40 sends a confirmation signal to each determination unit 44d, that is, to the determination unit A and the determination unit B in the example of Fig. 6 . The confirmation signal is a request signal to request transmission of the status (status data) of the determination unit A or the determination unit B.

In the example of FIG. 6 , the data generation unit 44c alternately transmits a confirmation signal requesting the transmission status to the determination unit A and the determination unit B at regular intervals. The determination unit A or the determination unit B that has received the confirmation signal sends a signal notifying the ready state (R) or the busy state (B) to the data generation unit 44c according to its own state (processing state). In addition, the so-called ready state is a state of waiting without performing inspection processing. The so-called busy state is a state in which new three-dimensional shape data cannot be accepted because inspection processing is in progress.

When receiving a signal notifying a ready state, the data generating unit 44c sends the three-dimensional shape data to the judging unit A or B that sent the signal. When receiving a signal notifying a busy state, the data generating unit 44c does not The three-dimensional shape data is sent to the judgment unit A or the judgment unit B that sent the signal. After the inspection process is completed, the determination unit A and the determination unit B add the identification data (for example, the serial ID) of the tablet T to the shape inspection result data and send it to the result management unit 44e. The result management unit 44e refers to the identification data of the photo T, sorts and manages the result data of the shape inspection.

Here, based on the shape/posture of the tablet T, or the presence or absence of defects and the amount of defects, in each determination unit 44d (in the example of FIG. 6, determination unit A and determination unit B), from the start of the inspection process to the inspection The time it takes for results to be sent to complete can sometimes vary. According to the second embodiment, since the idle determination unit 44d can be used, processing can be performed efficiently.

As described above, the second embodiment can obtain the same effects as those of the first embodiment. In addition, the data generation unit 44c sends a confirmation signal requesting transmission of the status of each determination unit 44d to each determination unit 44d. This allows the data generation unit 44c to know the status of each determination unit 44d. Therefore, it is possible to avoid, for example, instructing the determination unit 44d in a busy state to perform inspection processing (for example, transmitting three-dimensional shape data) and causing processing stagnation. That is, the data generation unit 44c can appropriately allocate inspection processing (for example, three-dimensional shape data) to each determination unit 44d, thereby realizing high-speed data processing.

Furthermore, the data generation unit 44c transmits the confirmation signal to each determination unit 44d at regular intervals. However, it is not limited to this. For example, the data generation unit 44c may transmit the confirmation signal after the inspection time required for one tablet T has elapsed from the transmission timing of the three-dimensional shape data. Confirmation signal, or sending a confirmation signal after a specified time has elapsed after sending a confirmation signal. In addition, each determination unit 44d may receive the three-dimensional shape data from the data generation unit 44c as a trigger and send a signal notifying the busy state respectively. In addition, the confirmation signal may not be required. When transmitting the result data of the shape inspection of the tablet T, the determination unit 44d may transmit a signal notifying the ready state to the data generation unit 44c.

＜Third Embodiment＞ The third embodiment will be described with reference to FIG. 7 . In the third embodiment, differences from the first embodiment will be described.

In the third embodiment, the memory management unit 44b causes the data stored in the buffer area or the memory unit 42 to be stored (for example, at predetermined intervals) while the tablet printing apparatus 1 is being maintained (for example, while transportation and printing are stopped). row data, cut row data in a specified range, three-dimensional shape data (image data) of the tablet T, shape inspection result data of the tablet T or various image data) are moved to other storage 40c in. The so-called movement of the data means deleting the data in the original location from the original location and moving it to another location for storage. In addition, maintenance of the tablet printing device 1 includes maintenance of any one or all of the supply device 10 , the first printing device 20 , the second printing device 50 , the recovery device 30 , the control device 40 , and the like.

For example, the memory management unit 44b moves the data stored in the buffer area or the memory unit 42 to the storage 40c in association with the manufacturing date (printing date), lot number, or the like. This allows the printed tablet T to be traced back to the occurrence of defective products after shipment from the factory and to investigate the cause. In addition, the manufacturing date, lot number, etc. are set in advance and stored in the storage unit 42 or the like, and may be changed based on the user's input operation on the input device 40a, for example.

As shown in FIG. 7 , in step S21 , the control unit 43 determines whether the maintenance time has arrived. When it is determined that the maintenance time has arrived (YES in step S21 ), in step S22 , the control unit 43 controls each unit to be maintained (for example, the supply device 10 or the first printing device 20 , the second printing device 50 , the collection Any or all of the device 30, the control device 40, etc.) issues maintenance instructions.

Next, in step S23, a data move command is issued from the control unit 43 to the memory management unit 44b. The data stored in the buffer area of the memory management unit 44b or the memory unit 42 is moved to the storage 40c by the memory management unit 44b. In step S24, the control unit 43 determines whether the data movement has been completed. When it is determined that the data movement has been completed (Yes in step S24 ), in step S25 , the control unit 43 determines whether the maintenance has been completed. When it is determined that the maintenance has been completed (YES in step S25), the process ends. Completion of maintenance is indicated by a user's input operation on the input device 40a, for example.

As described above, the third embodiment can obtain the same effects as those of the first embodiment. In addition, the memory management unit 44b moves the data stored in the buffer area or the memory unit 42 to another storage 40c during maintenance of the tablet printing device 1 . This allows the user to confirm the data later, thereby improving user convenience. For example, the memory management unit 44b moves the data stored in the buffer area or the memory unit 42 to the storage 40c in association with the manufacturing date (printing date), lot number, or the like. In this way, for the printed tablet T, it is possible to trace back to the occurrence of defective products after shipment from the factory and investigate the cause.

＜Other embodiments＞ In the above description, the tablet T is printed using the tablet printing device 1 (tablet printing method) of the embodiment. This can also be said to mean that the tablet printing device 1 (tablet printing method) of the embodiment is used. The tablet T is printed to produce a printed tablet T. That is, the tablet printing device 1 can be expressed as a tablet manufacturing device, and the tablet printing method can be expressed as a tablet manufacturing method.

In addition, in the above description, the structure of the embodiment is applied to the tablet printing device 1, but it can also be applied to the tablet inspection device. In addition, when the structure of the embodiment is applied to the tablet printing apparatus 1 , the operation mode also includes an inspection mode, and when the inspection mode is selected, only inspection may be performed without using the inkjet head 24 ( 54 ). During the inspection operation, the upper surface of the conveyor belt 21a is always photographed by the camera 26b at predetermined intervals. In addition, the inspection step may only perform shape inspection, or may also perform printing inspection on the tablet T by another device at the same time. When printing inspection is performed by another device, the printing inspection may be performed by the first imaging unit 23 or the second imaging unit 25, or any one may be used. In addition, if there is an abnormality as a result of the shape inspection, the printing inspection can be omitted. Furthermore, imaging by the shape detection unit 26 ( 56 ) is always performed during operation of the apparatus. The operation of the apparatus includes not only the printing operation in the above description, but also the inspection operation (only the inspection step is performed).

In addition, in the above description, the position acquisition unit 44a generates the position data of the tablet T based on the information obtained by the detection unit 22 (52), and based on the position data, the memory management unit 44b stores a plurality of tablets. A predetermined range of line data is cut for each tablet T from the line data at predetermined intervals, but the method is not limited to this. The row data may also be clipped based on the position data generated based on the first image obtained by shooting by the first shooting unit 23 ( 53 ). In addition, the position data obtained by the detection unit 22 (52) and generated by the position acquisition unit 44a may be corrected based on the first image. In this case, the first image is captured by the first imaging unit 23 ( 53 ) based on the position data indicating the position of the tablet T in the conveyance direction A1 generated by the position acquisition unit 44 a. Based on the first image, the image processing unit 41 generates position data of the tablet T in the X direction and the Y direction. Next, the position data of the center (including the center of gravity) of the tablet T is obtained based on the position data of the tablet T in the X direction and the Y direction. The image processing unit 41 corrects the position data indicating the position of the tablet T in the conveyance direction A1 based on the position data of the center of the tablet T. The image processing unit 41 sends corrected position data indicating the position of the tablet T in the conveyance direction A1 (corrected position data) to the position acquisition unit 44a. Based on the corrected position data, the data generation unit 44c cuts line data of a predetermined range from a plurality of line data stored at predetermined intervals by the memory management unit 44b, and generates based on the cut line data of the predetermined range. Three-dimensional shape data of tablet T. In this way, the position of the center of the tablet T can be obtained more accurately, and the predetermined margin of the predetermined range can be further narrowed.

In addition, in the above description, a plurality of determination sections 44d are provided, but the present invention is not limited to this, and one determination section 44d may be provided. In addition, a plurality of determination units 44d are provided, but the data generation unit 44c and the determination unit 44d are inspection software, and a plurality of the inspection software may be provided.

In addition, in the above description, the shape detection unit 26 (56) is provided upstream of the position where the inkjet head 24 (54) is installed in the conveyance direction A1 (A2). However, the shape detection unit 26 (56) is not limited to this. It can be installed further downstream in the conveyance direction A1 (A2) than the above-mentioned position.

In addition, in the above description, the tablets T are conveyed in one row as an example, but the invention is not limited to this. The number of rows may be two or more and is not particularly limited. The number of conveyor belts 21a (51a) It can also be two or more and is not particularly limited. In addition, the number of inkjet heads 24 (54) may be two or more and is not particularly limited.

In the above description, the inkjet head 24 ( 54 ) is exemplified as a print head in which the nozzles 24 a are arranged in one row. However, the present invention is not limited to this. For example, a print head in which the nozzles 24 a are arranged in a plurality of rows may also be used. Alternatively, a plurality of inkjet heads 24 ( 54 ) may be arranged in a horizontal plane in a direction orthogonal to the conveyance direction A1.

In addition, in the above description, the inkjet head 24 ( 54 ) is exemplified so that the direction in which the nozzles 24 a are arranged becomes a direction orthogonal to the conveyance direction A1 in the horizontal plane. However, the inkjet head 24 ( 54 ) is not limited to this. For example, it may also be provided. The direction in which the nozzles 24 a are arranged is a direction that obliquely intersects the conveyance direction A1 (A2) in the horizontal plane.

In addition, in the above description, the tablets T are supplied to the conveyor belt 21a (51a) randomly, not at regular intervals, but the tablets are not limited to this and may be supplied at regular intervals. In addition, in the above description, the tablet T is suctioned and held by the suction hole 21g formed in the conveyor belt 21a (51a), but it is not limited to this, and it may be stored and held in a pocket or the like for transportation, or it may be It can be conveyed by holding it on the conveyor belt 21a (51a) by its own weight.

Here, the tablet T may include tablets used for medical use, dietary use, cleaning use, industrial use, or aromatic use. Tablets T include bare tablets (uncoated tablets), sugar-coated tablets, film-coated tablets, enteric-coated tablets, gelatin-coated tablets, multilayer tablets, cored tablets, etc., and various capsule tablets such as hard capsules and soft capsules. May be included in Tablet T. Furthermore, as the shape of the tablet T, there are various shapes such as a disk shape, a lens shape, a triangle, an ellipse, and the like. In addition, when the tablet T to be printed is for medical use or dietary use, edible ink is suitable as the ink used. As the edible ink, any of synthetic dye ink, natural dye ink, dye ink, and pigment ink can be used.

Several embodiments of the present invention have been described above. However, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments or modifications thereof are included in the scope or gist of the invention, and are included in the scope of the invention described in the scope of the invention claims and their equivalents.

1: Tablet printing device 10: Supply device 11: Hopper 12: Arrange feeder 13: Handover of feeder 20:First printing device 21, 51: Transport Department 21a, 51a: Conveyor belt 21b, 51b: driving pulley 21c, 51c: driven pulley 21d, 51d: motor 21e, 51e: position detector 21f, 51f: suction chamber 21g: Suction hole 22, 52: Inspection Department 23, 53: First Photography Department 24, 54: Inkjet head 24a:Nozzle 25, 55: Second shooting department 26, 56: Shape detection department 26a, 56a: Slit light source 26b, 56b: camera 27, 57: Drying Department 30:Recycling device 31: Recycling Department 31a, 32a, 33a: injection nozzle 31b, 32b, 33b: recycling bin 32:Defective product recycling department 33:Good product recycling department 40:Control device 40a: Input device 40b: Output device 40c: storage 41:Image processing department 42:Memory Department 43:Control Department 44:Shape Inspection Department 44a: Location acquisition part 44b:Memory Management Department 44c: Data generation department 44d: Judgment Department 44e: Results Management Department 50: Second printing device A1:Transportation direction A2:Transportation direction A, B: Judgment Department L1: Specified range S1～S12, S21～S25: steps T:tablet X, Y, θ: direction

FIG. 1 is a diagram showing an example of the schematic structure of the tablet printing device according to the first embodiment. FIG. 2 is a diagram showing an example of the schematic structure of the printing device according to the first embodiment. FIG. 3 is a diagram showing an example of the schematic structure of the control device according to the first embodiment. FIG. 4 is a diagram for explaining clipping of line data in a predetermined range in the first embodiment. FIG. 5 is a flowchart showing an example of the flow of printing steps in the first embodiment. FIG. 6 is a diagram for explaining the transmission of the confirmation signal in the second embodiment. FIG. 7 is a flowchart showing an example of the flow of maintenance procedures in the third embodiment.

40:Control device

40a: Input device

40b: Output device

40c: storage

41:Image processing department

42:Memory Department

43:Control Department

44:Shape Inspection Department

44a: Location acquisition part

44b:Memory Management Department

44c: Data generation department

44d: Judgment Department

44e: Results Management Department

Claims (11)

A tablet inspection device comprising: a position acquisition unit that acquires, for each tablet transported by the transport unit, position data of the tablet on the transport unit in the transport direction; The shape detection unit repeatedly performs imaging at predetermined intervals while irradiating the transport unit with slit light, and obtains line data as the imaging data at each of the predetermined intervals; a memory management unit that sequentially stores the line data obtained by the shape detection unit at each predetermined interval in association with a position on the conveyance unit in the conveyance direction; The data generation unit generates a clip for each tablet from the plurality of row data stored in the memory management unit based on the position data of each tablet acquired by the position acquisition unit. Cut the row data in a specified range, and generate three-dimensional shape data of the tablet for each tablet based on the row data in the specified range cut out for each tablet; and The determination unit performs a tablet shape inspection on each tablet based on the three-dimensional shape data of each tablet generated by the data generation unit. The tablet inspection device according to claim 1, wherein, The shape detection unit always performs the imaging during the printing operation of the tablet printing device. The tablet inspection device as claimed in claim 2 further includes: The first photography unit captures a first image based on the location data generated by the location acquisition unit; and The image processing unit generates position data of the tablet in the X direction and Y direction based on the first image, and obtains the position data of the tablet, The image processing unit corrects the position data generated by the position acquisition unit according to the position data of the tablet, obtains the corrected position data, and sends the corrected position data to the location acquisition department, The data generation unit cuts a predetermined range of the line data for each tablet from the plurality of line data memorized by the memory management unit based on the corrected position data. The tablet inspection device according to claim 3, wherein, The position acquisition unit adds identification data to each tablet. The tablet inspection device according to claim 3, wherein, There are multiple determination parts, The data generation unit sends the three-dimensional shape data of each tablet to a plurality of the determination units in a predetermined order. The tablet inspection device according to claim 5, wherein, The number of the plurality of determination parts is two, The data generation unit alternately sends the three-dimensional shape data of each tablet to the two determination units. The tablet inspection device according to claim 5, wherein, The data generating unit sends the three-dimensional shape data of each tablet to the plurality of determination units based on respective states of the plurality of determination units. The tablet inspection device according to claim 7, wherein, The data generation unit sends a request to the plurality of determination units to send the signal of the status of each of the plurality of determination units, Each of the plurality of determining units transmits a signal of the status in response to a request sent by the data generation unit, and sends a signal notifying the status to the data generation unit. The tablet inspection device according to claim 7, wherein, The plurality of determination units collectively transmit the shape inspection result data and a signal notifying a ready state to the data generating unit as a signal notifying the state. The tablet inspection device according to claim 3, wherein, The memory management unit stores a plurality of row data, the row data of the predetermined range of each tablet cut out, or the three-dimensional shape data of each tablet, Move the memorized plurality of row data, the memorized row data of the specified range of each tablet, or the memorized three-dimensional shape data of each tablet to other storage during maintenance in the vessel. A tablet printing device includes the tablet inspection device according to any one of claims 1 to 10.