WO2005031328A1 - 検査システム - Google Patents
検査システム Download PDFInfo
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- WO2005031328A1 WO2005031328A1 PCT/JP2004/014361 JP2004014361W WO2005031328A1 WO 2005031328 A1 WO2005031328 A1 WO 2005031328A1 JP 2004014361 W JP2004014361 W JP 2004014361W WO 2005031328 A1 WO2005031328 A1 WO 2005031328A1
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- product
- inspection
- cameras
- imaging
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9018—Dirt detection in containers
- G01N21/9027—Dirt detection in containers in containers after filling
Definitions
- the present invention relates to an inspection system for automatically determining the quality of a product in the manufacture of a product in which a liquid is filled in a light-permeable container such as an ampoule or an infusion bag.
- a rotating table that holds a lower portion of a product at an outer peripheral portion, and a rotating table that is disposed above the rotating table and is rotatably supported around a rotation center of the rotating table.
- the top and bottom of the product is held by holding members provided on the outer periphery of the turntable and the outer periphery of the upper turntable, respectively, and the turntable and the upper holding member are rotated in synchronization with each other.
- a lamp and a camera are moved in synchronization with the movement of a product while the product is transported along the product, and an image is taken (for example, see Patent Documents 1 and 2;).
- the product rotates when the image is taken, and the rotation is stopped instantaneously, so that the foreign matter is suspended in the liquid so that the foreign matter can be detected more accurately.
- Patent Document 1 Japanese Patent Publication No. 2002-139505
- Patent Document 2 Japanese Patent Publication No. 10-142113
- An object of the present invention is to provide an inspection system capable of automatically detecting foreign matter in an inspection of a product filled with liquid in a light-transmissive container such as an ampule or an infusion bag filled with liquid. is there.
- a system for inspecting an object to be inspected in which a liquid-transmissive container is filled with a liquid.
- a reversing device for inclining or inverting the test object to return to the original posture an imaging device for imaging the test object immediately after being tilted or inverted by the reversing device and returning to the original posture
- An inspection system comprising: an imaging processing device that processes an image by the imaging device to determine the quality of the object to be inspected.
- the object to be inspected is tilted or inverted and returned to its original position, so that foreign substances settled on the bottom of the container and foreign substances stuck to the inner wall of the container are floated. Can be. Therefore, foreign matter can be reliably detected.
- the reversing device may include a chuck for holding an upper end of the device to be inspected, and a chuck rotating mechanism for rotating the chuck about a horizontal rotation center axis.
- the chuck rotating mechanism includes, for example, a servo motor.
- a rotary table on which a plurality of reversing devices are arranged in a circumferential direction, and by rotating the rotary table, the device to be inspected held by the reversing device is transported, and The imaging device is imaged while rotating in synchronization with the body, and after the imaging, the inspection device is rotated in a direction opposite to the inspection object so that the inspection device is inspected. It is preferable to return to the initial position where synchronous rotation with the body is started. In this case, the inspection can be performed while transporting the product, which is efficient.
- the test object may have a plurality of connected container forces.
- the object to be inspected is a container in which a material having a flexible material strength is filled with liquid, and the object to be inspected may be held by the reversing device using a jig for preventing deformation of the container.
- the present invention by inclining or inverting the test object and returning it to the original posture, foreign substances mixed in the liquid in the container can be floated. Detection of foreign substances in a floating state facilitates detection.
- the present invention can be suitably applied to a case where the inspected object is a plurality of connected containers or a container made of a flexible material, and foreign substances can be automatically detected.
- FIG. 1 is a front view of an ampule as an object to be inspected.
- FIG. 2 is a side view of an ampule as a test object.
- FIG. 3 is a schematic plan view illustrating a configuration of an inspection system.
- FIG. 4 is an explanatory diagram illustrating a configuration of a supply unit.
- FIG. 5 is an explanatory diagram illustrating a configuration of a reversing device.
- FIG. 6 is an explanatory diagram illustrating an inversion operation and a return operation of the reversing device.
- FIG. 7 is an explanatory diagram illustrating a configuration of an inspection unit.
- FIG. 8 is an explanatory diagram showing the arrangement of lamps, cameras, and products.
- FIG. 9 is an explanatory diagram showing the arrangement of lamps, cameras, and products.
- FIG. 10 is an explanatory diagram for explaining the operation of the reversing device.
- FIG. 11 is a front view of an infusion bag as a test object.
- FIG. 12 is an explanatory view showing a state in which an infusion bag as a test object is attached to a jig.
- FIG. 13 is an explanatory diagram of a reversing device using a servomotor as a chuck rotating mechanism.
- FIG. 14 is an explanatory view showing a state where the non-inspection object is rotated at an arbitrary angle and a rotation speed by the reversing device shown in FIG. 13.
- FIG. 16 is an explanatory view showing a state in which the test object is rotated by an arbitrary angle from an upright posture, tilted, then inverted, and returned to an upright posture again.
- FIG. 17 is an explanatory view showing a state where the test object is rotated 360 degrees from an upright posture.
- FIG. 9 is an explanatory diagram showing a state in which the rotation speed from when the robot is tilted to another arbitrary angle to the state in which it is returned to the upright posture is arbitrarily switched between high speed and low speed.
- FIG. 19 is an explanatory view showing a state in which a test object is tilted from a standing posture to an arbitrary angle, and then inverted and tilted to another arbitrary angle.
- FIG. 20 is an explanatory view showing a state in which an infusion bag, which is a test object, is inclined at an arbitrary angle from an upright posture, and then inverted and inclined at another arbitrary angle.
- FIG.21 Example in which five rows of cameras are arranged in two rows, one above the other, as the first imaging device that also captures the lateral force of the test object, and five as the second imaging device that captures the downward force. It is a side view which shows arrangement
- FIG. 22 is a plan view of FIG. 21.
- FIG. 23 is a side view showing the arrangement of an example in which three infusion bags, which are inspected objects, are imaged by six cameras arranged in two rows horizontally, three vertically.
- FIG. 24 is a plan view of FIG. 23.
- FIG. 25 is a schematic front view illustrating a configuration of an inspection system according to another embodiment.
- FIG. 26 is a schematic side view illustrating a configuration of an inspection system according to another embodiment.
- FIG. 27 is a schematic side view illustrating a configuration of an inspection system according to another embodiment.
- FIG. 28 is an explanatory diagram illustrating a configuration of a defoaming machine.
- FIG. 29 is an explanatory diagram illustrating a rotation mechanism of the defoaming machine.
- FIG. 30 is an explanatory diagram illustrating a rotation mechanism of the defoaming machine.
- FIG. 31 is a table showing experimental results.
- the product 1 to be inspected in this embodiment has five ampoules 2 connected in a row.
- Each ampule 2 is filled with a liquid 3 such as a medicine.
- a gas 4 such as air is sealed together with the liquid 3.
- the ampoule 2 serving as a container for filling the liquid 3 is made of, for example, a resin having optical transparency, and the state of the liquid 3 inside can be observed through the ampoule 2.
- the liquid 3 also has light transmittance.
- the ampoule 2 has a cylindrical tube portion 10, a bottom portion 11 that covers the lower portion of the tube portion 10, a constricted portion 12 formed on the upper portion of the tube portion 10, and a constricted portion. Formed at the top of 12
- the closed section 15 is formed by the cylindrical section 10, the bottom section 11 and the constricted section 12.
- the liquid 3 and the gas 4 are filled in the closed space 15.
- the product 1 has a shape in which five ampoules 2 are arranged in a line, and the outer surfaces of adjacent cylinders 10 are joined.
- the thin section 13 is formed in a thin plate shape so as to protrude upward from the upper end of the constricted section 12 so as to be flush with the horizontal direction in which the ampules 2 are arranged.
- an inspection system 20 for inspecting a product 1 as an object to be inspected includes a supply unit 21 for supplying the product 1 to the inspection system 20 and an inspection for the product 1 supplied by the supply unit 21.
- the inspection section 22 includes a discharge section 23 for discharging the product 1 from the inspection section 22.
- the supply unit 21 receives the product 1 from the supply conveyor 30, the transfer screw 31, and the supply conveyor 30, which conveys the product 1 in a horizontal line, and conveys the product 1 to the inspection unit 22.
- It is constituted by a star wheel 32.
- the transfer screw 31 is provided on the side of the end of the supply conveyor 30.
- a groove 36 is spirally formed on the outer periphery of the transfer screw 31, and the groove 36 can support the side of each ampule 2 of the product 1.
- 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 interposed therebetween, and rotates about the center of the disk as a rotation center.
- product holding portions 40 are formed at six equally spaced locations along the periphery.
- Each product holding portion 40 is formed with three projections 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 two recesses 42 can support the sides of the two samples 2.
- An arc-shaped guide member 43 is provided along the periphery of the star wheel 32.
- the guide member 43 is formed from the end of the transfer screw 31 to a position adjacent to the inspection section 22 along the rotation direction of the star wheel 32.
- the guide member 43 is disposed at a position where the outer peripheral force of the star wheel 32 is also apart from the outer periphery of the star wheel 32 by a predetermined distance, and the cylindrical 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.
- the inspection unit 22 includes a turntable 50.
- the rotary table 50 is formed in a disk shape, and rotates about a vertical rotation center axis Ol located at the center of the disk.
- 16 reversing devices 51 for holding the product 1 are mounted.
- the 16 reversing devices 51 are arranged at equal intervals in the circumferential direction of the turntable 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 transported.
- a support 52 is provided on the periphery of the upper surface of the turntable 50.
- the reversing device 51 includes an air chuck 55 for holding 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 of the column 52.
- the rotation center axis 02 of the rotary actuator 56 is horizontally arranged along the radial direction of the rotation 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 holds the product 1 by sandwiching the thin section 13 of the product 1 (five joined ampoules 2) by opening and closing the holding portions 61a and 61b, and releases the holding. ing.
- the upper portions of the holding portions 61a and 61b are rotatably supported on the main body 60 about a horizontal center axis, so that the holding portions 61a and 61b are rotated with respect to each other, and thus the holding portions 61a and 61b are rotated.
- the lower portions of the pinch portions 61a and 6 lb are closed with each other to grip the thin section 13 of the product 1 (the state shown by the solid line in FIG. 5).
- the lower part of 61b can be switched to the state where the thin section 13 of the product 1 is released by opening each other (the state shown by the dashed line in FIG. 5).
- the opening and closing method of the sandwiching portions 61a and 61b may be a sliding type that is opened and closed by being moved close to and away from the horizontal direction.
- the reversing device 51 drives the rotary actuator 56 to move the air chuck 55 about the rotation center axis 02 through the air chuck support member 57. Can be rotated.
- the rotary actuator 56 changes the rotation direction. Can be done.
- the product 1 held by the air chuck 55 can be rotated upward from below to be inverted, and the inverted product 1 can be rotated downward by an upward force, and the product before it is inverted again. You can return to the original posture.
- a power supply unit 65 for supplying power to the reversing device 51 is provided above the turntable 50.
- the power supply unit 65 includes a rotating body 66 fixed to the center of the upper surface of the rotating table 50 and rotating with the rotating table 50, and a fixed cylinder 67 having the rotating body arranged inside. A slip ring 70 is provided between them.
- the fixed cylinder 67 is supported by a fixed support member 71 fixed outside the rotary table 50.
- the rotator 66 has 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.
- An air supply path 73 for supplying air is provided 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 via the air supply path 73 with an air supply source force (not shown).
- the inspection unit 22 is provided with two arms 80 and 81 that can rotate about the same rotation center axis Ol as the turntable 50.
- Each arm 80, 81 is arranged below the turntable 50.
- Adjacent to the arms 80 and 81 are defective chute 83 and 84, respectively, for discarding the product 1 determined to be defective.
- a lamp 90 for irradiating the product 1 and three cameras 91, 92, 93 as the first imaging device for imaging the product 1 are provided at the distal end of each arm 80, 81.
- three cameras 94, 95, and 96 as second imaging devices are respectively attached.
- the lamp 90 is disposed inside the product 1 held by the reversing device 51, and irradiates the entire product 1 with light from inside.
- a metal nitride lamp or the like is used for example.
- the three cameras 91, 92, and 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 with the product 1 interposed therebetween. In, the light transmitted through the product 1 is imaged.
- the three cameras 94, 95, and 96 that constitute the second imaging device are below the product 1 held by the reversing device 51. It is arranged side by side so that product 1 can also be imaged in the downward direction.
- the camera 91 uses the first and second ampules 2 counting the terminal force on the leading side of the product 1.
- the camera 92 is arranged to image the third and fourth ampoules 2 as well as the lateral force, and the camera 93 is arranged to image the fifth ampoule 2 from the lateral force.
- the camera 94 images the first and second ampules 2 from below, and the camera 95 is the third and fourth ampules.
- the lower ampule 2 is imaged with a downward force, and the camera 96 is arranged so as to also image the fifth ampule 2 with a lower force.
- the three cameras 94, 95, and 96 as the second imaging devices all have the bottom 11 of each ampoule 2 inclined from the vertical direction to the lamp 90 side by, for example, about 5 °. It is better to provide the image from
- an oscillate 98 for rotating the rotary table 50 and the arms 80 and 81 in association with each other is provided below the rotary table 50.
- the arms 80 and 81 rotate synchronously with the rotary table 50 within a predetermined rotation angle range from the initial position as shown in Fig. 3, and then rotate in the opposite direction to the rotary table 50. Then, the operation of returning to the initial position is repeated. With 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 in the reversing device 51, respectively.
- the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 mounted on the arms 80 and 81 are rotated in the opposite directions to the product 1, respectively, to the initial position where synchronous rotation with the product 1 starts. The returning operation is repeated.
- the cameras 91, 92, 93, 94, 95, and 96 attached to each arm 80 and 81 take images of the product 1 while rotating synchronously with the product 1.
- each of the cameras 91, 92, 93, 94, 95, and 96 attached to each of the arms 80 and 81 transmits an image captured to the image processing apparatus 100, respectively.
- the image processing device 100 processes the images captured by the cameras 91, 92, 93, 94, 95, 96 to determine the quality of the product 1.
- 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 the first image and the other images are compared with each other, so that the image is moved in the liquid 3. Detect foreign objects that are present. Then, when foreign matter is detected by the calculation between images, the image processing apparatus 100 determines that the product 1 is defective. In addition to the method of judging the quality of the product 1 by the inter-image calculation method, the method of judging a defective product when even one foreign matter appears in the captured image may be used.
- the discharge unit 23 is composed of a turntable 110 for receiving and transporting the product from the inspection unit 22 and a discharge conveyor 111 for discharging the product 1 from the turntable 110.
- the turntable 110 is formed in a substantially disk shape, and rotates about the center of the disk as a center of rotation.
- a pair of guide members 112 arranged along the periphery of the turntable 110 is provided above the turntable 110.
- the pair of guide members 112 are spaced apart from each other by a distance slightly longer than the thickness of the product 1 (the outer diameter of the cylindrical portion 3 of the ampoule 2), and are spaced apart from the inner portion above the periphery of the turntable 110.
- 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 linked to each other by driving the oscillate 98 shown in FIG. From the star wheel 32 of the supply unit 21, the turntable 50 of the inspection unit 22, and the turntable 110 of the discharge unit 23, the turntable 110 of the discharge unit 23 is described above so that the product 1 can be smoothly delivered and transported in order.
- the star wheel 32 of the supply unit 21 and the turntable 50 of the inspection unit 22 are configured to rotate in a predetermined rotation direction and a predetermined rotation speed, respectively.
- a plurality of products 1 are continuously conveyed toward a transfer screw 31 by a supply conveyor 30.
- the product 1 is transported with the thin section 13 of the ampule 2 facing upward.
- each ampoule 2 of the product 1 comes into contact with the groove 36, and the product 1 is moved by the force of the star wheel 32 along with the movement of the groove 36 due to the rotation of the transfer screw 31.
- the star wheel 32 rotates clockwise when viewed from above ( CW).
- the product holding part 40 of the starwheel 32 moves to the position of the product 1 just arrived.
- the rotary table 50 is rotating in the counterclockwise direction (CCW) when viewed from above, and when the product 1 arrives at the inspection unit 22, it is turned over.
- Device 51 just moves to product 1 position. Then, the thin section 13 of the arriving product 1 is sandwiched by the air chuck 55, and the cylindrical section 10 is held down. After the product 1 is delivered to the air chuck 55, the product holding unit 40 moves again toward the transfer screw 31 by the rotation of the star wheel 32, and receives the product 1.
- the reversing device 51 first moves to the position of the arm 80 by rotating the turntable 50.
- 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.
- the products 1 transported by the product holding unit 40 are successively held by the reversing device 51 and transported in the circumferential direction of the turntable 50.
- the reversing device 51 holding the product 1 performs an inverting operation of inverting the product 1 while the product 1 received from the star wheel 32 is transported to the position of the arm 80, and an attitude of the product 1 again after the inversion. Is performed.
- the rotary actuator 56 is driven, and the air chuck 55 and the product 1 are viewed from the outside of the rotary table 50 as shown in FIG. Turn clockwise (CC W) about 180 °.
- CC W clockwise
- the foreign matter If foreign matter is mixed in the liquid 3, the foreign matter soars in the liquid 3 and floats. Play. If foreign matter has settled on the bottom 11 of each ampoule 2 or if foreign matter has adhered to the inner wall of the cylindrical part 10 or the constricted part 12, these foreign matter can be suspended in the liquid 3.
- the air chuck 55 and the product 1 are rotated by approximately 180 ° in the clockwise direction (CW) while also observing the external force of the rotary table 50. As a result, the thin section 13 of each ampule 2 goes up and the bottom section 11 goes down, and the posture of the product 1 is returned to the same upright posture as before the inversion.
- each reversing device 51 After receiving the product 1 from the product holding unit 40, each reversing device 51 performs the above-described operation of inverting the product 1 and returning the product 1 to an upright position, while rotating the rotary table 50, thereby causing the force of the star wheel 32 to be reduced. Move toward arm 80.
- the arm 80 moves in the clockwise direction (CW) as viewed from the upward force in FIG. 3, and the product 1 and the arm 80 approach each other immediately after the posture is returned. Then, the lamp 90 moves inside the product 1, the cameras 91, 92, and 93 move outside the product 1, and the cameras 94, 95, and 96 move S below the product 1.
- the rotation direction of the arm 80 is set to the counterclockwise rotation direction (CCW), and the same rotation is performed in synchronization with the rotation table 50. Rotate at speed.
- 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 and the camera 91 , 92, 93, 94, 95, 96 force S Then, the arm 80 is synchronously rotated with the rotary table 50 to a predetermined rotation angle.
- the first inspection of the product 1 is performed while the lamp 1 and the cameras 91, 92, 93, 94, 95, and 96 mounted on the arm 80 and the lamp 90 are synchronously rotated.
- the product 1 is irradiated by the lamp 90 of the arm 80, the light of the lamp 90 is transmitted to the product 1, and the product 1 is continuously illuminated by the cameras 91, 92, 93, 94, 95, 96 mounted on the arm 80.
- Camera 91 also images the first and second ampoule 2 from the side, counting the end force on the top side of product 1
- camera 92 also images the third and fourth ampoule 2 from the side.
- the camera 93 also images the fifth ampoule 2 with a lateral force.
- Camera 94 also captures the first and second ampoule 2 with downward force
- camera 95 also captures the third and fourth ampoule 2 with downward force
- camera 96 captures the fifth force. Is also imaged in the downward direction.
- imaging by each of the cameras 91, 92, 93, 94, 95, 96 is performed plural times, for example, four times.
- the reversing device 5 The product 1 immediately after being inverted by 1 and returned to the original position is imaged by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 80. Immediately after the product 1 has been turned over by the reversing device 51 and returned to the original upright posture, the foreign matter floats in the liquid 3.
- the foreign matter is effectively detected by the inter-image calculation method. it can.
- 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.
- the cameras 94, 95, and 96 foreign substances near the bottom 11 can be reliably detected.
- Image information captured by each of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 is taken into the image processing device 100, and the image processing device 100 performs inter-image calculation. Be done. That is, of the images obtained by the four imagings, the image obtained after that is compared with the first image based on the image obtained the first time, and the differences between the images are detected. As a result, if a foreign substance is floating in the liquid 3, the foreign substance is detected and can be determined to be defective.
- the gas 4 filled in the ampoule 2 is air bubbles, the air bubbles are not detected as a difference between images because the air bubbles rise before the foreign matter falls and stop.
- the image processing device 100 performs a half of the power failure IJ ⁇ U in which the product 1 is defective based on the result of the inter-image arithmetic processing. If no foreign matter is detected in the images taken by the cameras 91, 92, 93, 94, 95, 96 attached to the arm 80, the product 1 is judged to be good. If foreign matter force is detected by any of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80, product 1 is determined to be defective.
- the rotation direction of the arm 80 is reversed, and the arm 80 is rotated in the direction opposite to the rotation table 50. That is, the lamp 90 and the cameras 91, 92, 93, 94, 95 and 96 attached to the arm 80 are rotated in the direction opposite to that of 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 starts. Then, the arm 80 is brought close to the product 1 after the inversion operation and the return operation held by the next reversing device 51.
- the arm 80 is again rotated synchronously with the turntable 50, and each camera is rotated. 91, 92, 93, 94, 95, and 96 are rotated and moved in synchronization with product 1, and imaging and image processing of product 1 are performed.
- the first inspection of the product 1 is sequentially performed by the lamp 90 and the cameras 91, 92, 93, 94, 95, 96 attached to the arm 80.
- the product 1 that has completed the first inspection by the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 80 Move upwards.
- the image processing apparatus 100 determines that the product 1 is non-defective, the reversing device 51 and the product 1 pass directly above the defective product chute 83 and move toward the arm 81.
- the image processing apparatus 100 determines that the product 1 is defective, the air chuck 55 is released when the product 1 passes above the defective chute 83, and the product 1 is rejected. Fall into 83. Thus, the defective product 1 is collected.
- CCW counterclockwise direction
- the product 1 is in an inverted position, and foreign matter is suspended in the liquid 3.
- the air chuck 55 and the product 1 are rotated approximately 180 ° clockwise (CW) as viewed from the outside of the rotary table 50.
- each of the reversing devices 51 performs the above-described inverting operation and returning operation in order, and the rotation of the rotary table 50 also moves the position force of the arm 80 toward the position of the arm 81.
- the arm 81 moves in the clockwise direction (CW) as viewed from the upward force in FIG. 3, and the arm 81 approaches the product 1 immediately after returning 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 moves, and cameras 94, 95, and 96 attached to arm 81 move below product 1. In this way, the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 are arranged so that the product 1 (amplifier 2) can be imaged. age, The arm 81 is rotated in synchronization with the turntable 50.
- the lamp 90 attached to the arm 81 and the camera 91, 92, 93, 94, 95, 96 force move in synchronization with the product 1, and the lamp 90 attached to the arm 81, the camera 91, 92, 93, 94, 95, 96 force S product 1 is relatively stationary. Then, the arm 81 rotates synchronously with the rotary table 50 up to a predetermined rotation angle.
- the second inspection of the product 1 is performed while rotating the lamp 90 and the cameras 91, 92, 93, 94, 95, 96 attached to the product 1 and the arm 81 in synchronization. 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 ampoule 2 by counting the terminal force at the head of product 1, and the camera 92 also captures the third and fourth ampoule 2 by counting the lateral force. Then, the camera 93 takes an image of the fifth ampoule 2 from the side.
- Camera 94 images the first and second ampules 2 downward
- camera 95 also images the third and fourth ampules 2 downward
- camera 96 images the fifth ampoule 2.
- the downward force is also imaged.
- Imaging by each camera 91, 92, 93, 94, 95, 96 is performed multiple times, for example, four times.
- 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 81.
- the product 1 immediately after being inverted by the reversing device 51 and returned to the original upright posture is in a state where foreign matter is suspended in the liquid 3 and can be detected by the inter-image calculation method. ing.
- Image information captured by each of the cameras 91, 92, 93, 94, 95, and 96 attached to the arm 81 is taken into the image processing apparatus 100, and the image processing apparatus 100 performs inter-image calculation. Be done. That is, based on the image obtained at the first time, the subsequently captured images are compared with the first image, respectively, and the differences between the images are detected. As a result, when a foreign substance is floating in the liquid 3, the foreign substance is detected. The image processing apparatus 100 determines whether the product 1 is defective or not based on the result of the inter-image calculation processing. Arm 81 If no foreign matter is detected by any of the attached cameras 91, 92, 93, 94, 95, and 96, Product 1 is judged to be good. Cameras 91, 92, 93, attached to arm 81
- Product 1 is determined to be defective. As described above, by performing the inspection of the product 1 twice at each position of the arms 80 and 81, a foreign substance missed at the first time can be detected, and a defective product can be reliably found.
- the rotation direction of the arm 81 is reversed, and the arm 81 is rotated in the direction opposite to the rotation table 50. That is, the lamp 90 and the cameras 91, 92, 93, 94, 95 and 96 attached to the arm 81 are rotated in the direction opposite to that of the product 1.
- the arm 81 approaches the position of the product 1 immediately after the second inversion operation and the return operation held by the next reversing device 51. Then, the arm 81 is again rotated synchronously with the rotary table 50, and the cameras 91, 92, 93, 94, 95, and 96 are moved in synchronization with the product 1, and the imaging and image processing of the product 1 are performed. Thus, the second inspection is performed for each product 1 one after another.
- the product 1 which has been determined as a non-defective product and has passed above the defective product chute 84 moves toward the turntable 110 by the rotation of the turntable 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 to the turntable 110.
- the turntable 110 rotates in the clockwise direction (CW) when viewed from above, and the product 1 moves toward the discharge conveyor 111 while being guided between the guide members 112 as the turntable 110 rotates. Let me do.
- the product 1 is carried out of the turntable 110 by the discharge conveyor 111.
- the reversing device 51 which has delivered the product 1 to the turntable 110, moves from the turntable 110 side to the star wheel 32 side, and receives the product 1 from the product holding unit 40 again.
- the product 1 in which a plurality of ampoules 2 are connected can be automatically inspected. Multiple products 1 can be inspected continuously. In addition, it is possible to perform the inverted operation, the return operation, and the inspection while transporting each product 1 without stopping the transport.
- 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.
- foreign substances can be prevented from remaining on the bottom 11 of the ampoule 2 or sticking to the inner wall of the ampoule 2 and can be reliably detected.
- by taking an image not only from the side of the product 1 but also from below foreign substances near the bottom 11 of the ampoule 2 can be reliably detected.
- the present invention is not limited to the mode described here.
- the container was an ampule 2 and the test object was a product 1 in which five samples 2 were connected side by side.
- the container is not limited to an ampule, and the number of containers is not limited to five.
- the present invention can be suitably applied to inspection of a product having a single container.
- the container may be an ampoule, a bottle, a vial, or the like.
- the type of the liquid 3 filled in the container is not particularly limited.
- the object to be inspected in the present invention may be an infusion bag 1 ′ in which a container 2 ′ having a flexible material strength is filled with a liquid 3 ′ such as an annular fluid.
- a test object such as an infusion bag 1 'is tilted or inverted, the container 2' may be deformed due to its flexibility.
- the foreign matter cannot be correctly detected by the inter-image calculation method due to the deformation of the container 2 '.
- the foreign matter settles on the bottom of the container 2' and adheres to the inner wall of the container 2 ', and the foreign matter is sufficiently suspended in the liquid 3'.
- the jig 200 has a vertically long rectangular shape in which horizontal frames 203 and 204 are mounted above and below a pair of left and right vertical frames 201 and 202.
- the neck la of the infusion bag 1 is fixed to the horizontal frame 203 with the binder 205 using the powerful jig 200, and the bottom lb of the infusion bag 1 is horizontally attached with the binder 206, as shown in FIG. Fix to frame 204.
- the infusion bag 1 ′ is held in the jig 200 in a state where the container 2 ′ is prevented from being deformed.
- the thin section 13 ′ extended to the upper part of the horizontal frame 203 fixing the neck la ′ of the infusion bag 1 ′ is held by the air chuck support member 57 of the reversing device 51, as shown in FIG.
- the foreign substance can be inspected in the same manner as in the case of the product 1 (ampoule 2) described in the items 2 and 3.
- FIG. 3 an example in which 16 turnover devices 51 are mounted on the turntable 50 has been described.
- the number of the turnover devices 51 can be appropriately increased or decreased according to the size of the turntable 50.
- the test object (product 1) is rotated approximately 180 ° in the counterclockwise direction (CCW) when viewed from the outside, but the rotation angle of the test object is arbitrary.
- the angle may be, for example, about 90 °, about 135 °, or the like.
- the direction in which the test object is rotated can be set arbitrarily.
- the foreign object can be suspended in the liquid by inclining or inverting the object to be inspected by the reversing device and returning it to the original posture.
- FIG. 13 is an explanatory diagram of a reversing device 210 having a different configuration from the reversing device 51 described with reference to FIG. 5 and the like. Similar to the reversing device 51 described with reference to FIG. 5 and the like, the reversing device 210 also has a column 52 ′ provided on the periphery of the upper surface of the turntable 50 ′. However, the reversing device 210 is provided with a servomotor 211 as a chuck rotating mechanism for rotating the air chuck 55 'holding the upper end of the non-inspection body (product 1 in the figure).
- the air chuck 55 ' is fixed to the tip of the rotating shaft 213 horizontally supported by the L-shaped support member 212 attached to the upper end of the support 52'.
- the rotational power input from the rotational drive shaft 215 of the motor 211 is transmitted via the speed reducer 216.
- the operation of the servomotor 211 causes the air chuck 55 'to hold the upper end of the rotary table 50', with the upper end held by the air chuck 55 'around the rotation center axis 02' arranged horizontally in the radial direction of the rotary table 50 '.
- the test object (product 1 in the figure) can be rotated.
- a servo motor is used instead of the rotary actuator 56.
- the non-inspection object (product 1) held by the air chuck 55 ' can be rotated at an arbitrary angle and rotation speed about the rotation center axis 02' as shown in Fig. 14. It becomes possible.
- Rotary actuators that use hydraulic or pneumatic power as a power source have a gradual rotation angle and are difficult to control the rotation speed.
- a servo motor 211 is used as the chuck rotation mechanism, the rotation angle and rotation speed can be controlled. This makes it easier to prevent foaming of the liquid filled in the test object.
- FIG. 15-19 shows an example in which the servo motor 211 is used as the chuck rotating mechanism to control the rotation angle and rotation speed of the subject 1.
- the test object 1 may be turned 180 degrees from the upright posture to invert it, and then inverted 180 degrees to return to the upright posture again. In such a case, the test object 1 may be once stopped in the inverted posture, then turned 180 degrees and returned to the upright posture again.
- the test object 1 may be turned clockwise or counterclockwise.
- the DUT 1 is rotated 180 degrees from the inverted position and returned to the upright position again, it may be rotated clockwise or counterclockwise. Their combination is optional.
- the test subject 1 may be rotated by any angle (for example, 120 degrees) to tilt the object 1 to be erected, and then inverted to return to the upright posture again.
- the DUT 1 may be once stopped in the inclined position, then reversed, and returned to the upright position.
- the test object 1 When the test object 1 is tilted by being rotated at an arbitrary angle at an upright posture force, it may be rotated clockwise or counterclockwise. Also, when the test object 1 is rotated from the tilted position and returned to the upright position again, it may be rotated clockwise or counterclockwise.
- Their combination is arbitrary.
- the device under test 1 may be rotated 360 degrees from an upright posture.
- the DUT 1 may be rotated clockwise or counterclockwise.
- rotate the DUT 1 more than 360 degrees from the upright posture tilt it at an arbitrary angle, and then reverse it to return it to the upright posture. You can do it.
- the DUT 1 may be once stopped in the inclined position, and then reversed to return to the upright position. Also in this case, the rotation direction of the DUT 1 is.
- the test object 1 is rotated at an arbitrary angle (for example, 120 degrees) until the posture force of the test object 1 is also tilted at an arbitrary angle (for example, 120 degrees). From another angle (for example, 240 degrees), and the rotation speed from when it is tilted to another arbitrary angle (for example, 240 degrees) until it returns to its upright position again. , May be arbitrarily switched between high speed and low speed.
- the test object 1 may be temporarily stopped in a posture inclined at an arbitrary angle or in a posture inclined at another arbitrary angle.
- the specimen 1 may be rotated clockwise between the upright posture, the posture inclined at an arbitrary angle (for example, 120 degrees), the posture inclined at another arbitrary angle, and the like. It may be rotated counterclockwise. Their combination is arbitrary.
- the test object 1 is also tilted at an arbitrary angle (for example, 60 degrees) in the upright posture force, and then reversed to be tilted at another arbitrary angle (for example, 60 degrees).
- the test object 1 may be moved in a pendulum.
- the DUT 1 may be temporarily stopped in a posture inclined at an arbitrary angle or in a posture inclined at another arbitrary angle.
- the posture inclined at an arbitrary angle for example, 60 degrees
- the posture inclined at another arbitrary angle for example, -60 degrees
- the test object 1 is rotated clockwise in each interval. It may be rotated or counterclockwise. Their combination is optional.
- the test object As an example of the test object, the product 1 in which five ampoules 2 are arranged and connected is described. However, even when the infusion bag 1 'is used as the non-test object, the non-test object ( The infusion bag 1 ') can be rotated at an arbitrary angle and rotation speed about the rotation center axis 02'. However, when a non-inspection body is used, such as an infusion bag 1 ', which is made of a flexible material made of a container 2' filled with a liquid 3 'such as a ring fluid, it is described earlier in Fig. 12. As described above, it is preferable that the infusion bag 1 ′ is held by the jig 200 to prevent deformation of the container 2 ′.
- the test object (infusion bag 1 ′) held by the jig 200 is placed upright.
- the infusion bag 1 ′ may be pendulum-moved by inclining at an arbitrary angle (for example, 60 degrees) from the inclined posture, and then inverting and inclining to another arbitrary angle (for example, 60 degrees).
- the test object 1 may be made to stand still at a posture inclined at an arbitrary angle or a posture inclined at another arbitrary angle.
- the infusion bag 1 ′ is rotated clockwise between the upright posture, the posture inclined at an arbitrary angle (eg, 60 degrees), and the posture inclined at another arbitrary angle (eg, ⁇ 60 degrees). It may be rotated, or may be rotated counterclockwise. Their combination is arbitrary.
- for the infusion bag 1 ′ as in the case described above with reference to FIG. It is possible to control to
- FIGs. 8 and 9 an example is described in which the lamp 90 is arranged inside the product 1 and the cameras 91, 92 and 93 are arranged outside the product 1, but the lamp 90 is arranged outside the product 1.
- the cameras 91, 92, and 93 may be arranged inside the product 1.
- cameras 91, 92, and 93 are placed on the side opposite to lamp 90 with product 1 interposed, and the light from lamp 90 is transmitted through product 1 and the force is applied to the opposite side.
- the images of cameras 91, 92, and 93 were taken using transmitted light, and the heading force was below product 1.
- An example of imaging with cameras 94, 95, and 96 using transmitted light was described.
- An image may be taken using reflected light. In this case, it is good if the direction of irradiating the product 1 with light and the direction of taking an image are on the same side.
- the lamps 90 and the cameras 91, 92 and 93 are placed outside the product 1 together, and light is irradiated from the outside to the cameras 91, 92 and 93. What is necessary is to capture the reflected light that is reflected outward due to the directional force.
- FIGs. 8 and 9 illustrate a configuration in which lamp 90 and cameras 91, 92, 93, 94, 95, and 96 are mounted on two arms 80 and 81, respectively, and product 1 is inspected twice. However, the inspection may be performed only once. Also, three or more arms with lamps 90 and cameras 91, 92, 93, 94, 95, 96 may be provided, and inspection may be performed three or more times.
- Figs. 8 and 9 an example was described in which cameras 91, 92, and 93 also image product 1 in the lateral direction, and cameras 94, 95, and 96 also image product 1 in the downward direction. If the detection rate of foreign matter is high even with only the imaging from the camera, imaging of the downward force may be omitted. Also, from the side The imaging may be omitted and only the imaging from below may be performed. Further, the imaging is not limited to the imaging from the side and the lower side, and the imaging may be performed from various directions such as an upper side and an oblique side.
- imaging from the side and the imaging of the downward force it is possible to appropriately combine imaging of two or more directional forces, such as upward, downward, lateral, and oblique, or to perform imaging from any one direction. It may be only an image. Also, an example was described in which the product 1 was returned to its pre-inverted position, that is, imaging was performed with the thin section 13 of the product 1 up and the bottom 11 down. Alternatively, in a state where the product 1 is inclined, an image may be taken from various directions such as above, below, side, and oblique of the product 1.
- Figs. 8 and 9 three cameras 91, 92, and 93 take images of the five ampules 2 of product 1 from the side by dividing the ampules 2 by one or two.
- 95, 96 explained the example of taking the downward force by dividing the five ampoules 1 or 2 at a time, but the number of force mesas 91, 92, 93, 94, 95, 96 and The number of ampoules 2 for imaging each camera 91, 92, 93, 94, 95, 96 is not limited to a large number.
- a single camera may image product 1 as well as lateral or downward forces.
- the five ampoules 2 of the product 1 may be imaged side by side or downward by the five cameras.
- two upper and lower cameras 220 and 221 are horizontally arranged as a first imaging device for imaging a product 1 in which five ampoules 2 are arranged in a row and connected to each other, and which also captures lateral force.
- Five cameras 222, 223, 224, 225, and 226 as a second imaging device for imaging the product 1 also with a downward force may be arranged side by side in five rows.
- the first ampoule 2 is imaged by two cameras 220 and 221 from the side and one camera 222 from below, and the second ampoule 2 is imaged.
- the third ampoule 2 is imaged from two sides by two cameras 220 and 221 and from the bottom.
- One camera 224 takes an image
- the fourth ampoule 2 is taken from the side with two cameras 220 and 221
- one camera 225 takes an image from below
- the fifth ampule 2 is taken from the side. Images can be taken with two cameras 220 and 221 and one camera 226 from below.
- test object is the infusion bag 1 '
- number and arrangement of cameras for imaging the test object are arbitrary.
- the test object is an infusion bag 1 '
- the images may be taken by six cameras 230 arranged in two rows side by side.
- the reversing device 51 is mounted on the rotary table 50, and the arms 80, 81 to which the lamp 90 and the cameras 91, 92, 93, 94, 95, 96 are mounted are rotated synchronously with the rotary tape holder 50.
- the product 1 and the lamp 90 and the cameras 91, 92, 93, 94, 95, and 96 were moved synchronously to capture an image.
- the configuration is not limited to a powerful one.
- each arm 80, 81 may be fixed without rotating, and the reversing device 51 may be stopped at the position of each arm 80, 81 to take an image.
- the reversing device mounting member is assumed to move linearly, and the reversing device 51 is temporarily stopped at the inspection device mounting member while the inspection device mounting member is reciprocally moved linearly within a predetermined range, and imaging is performed. Is also good.
- FIG. 25 and FIG. 26 show an inspection system 120 according to another embodiment of the present invention.
- the inspection system 120 includes a supply conveyor 121 that transports the products 1 in a horizontal line, a reversing device 122 that holds the products 1 and performs an inverting operation and a returning operation, and a movement that linearly moves the reversing device 122 in a horizontal direction.
- a mechanism 123 and a discharge conveyor 124 for discharging the product 1 are provided.
- the moving mechanism 123 has a rail 126 extending in the horizontal direction, and the reversing device elevating 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 elevating mechanism 127 and moves up and down by driving the reversing device elevating mechanism 127.
- the reversing device 122 includes an air chuck 130 for holding 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 elevating mechanism 127.
- the rotation center axis 03 of the rotary actuator 131 is arranged horizontally.
- 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 03 by driving the rotary actuator 131.
- a lamp 140 as an irradiation device, cameras 141, 142, and 143 as first imaging devices for imaging the product 1 from the side, and a camera 144 as a second imaging device for imaging the product 1 from below, Attach 145, 146, and arrange so that product 1 passes between the lamp 140 and the cameras 141, 142, 143.
- the camera 141 also captures the first and second ampoule 2 counting from the top of the product 1 as well as the lateral force
- the camera 142 captures the third and fourth ampules.
- the ampoule 2 of the eye is also imaged with a lateral force
- the camera 143 is arranged to image the fifth ampoule 2 from the side.
- Camera 144 also images the first and second ampoule 2 with downward force
- camera 145 also images the third and fourth ampoule 2 with downward force
- camera 146 also points down the fifth ampoule 2 It is arranged so that the force is also imaged.
- the cameras 144, 145, and 146 are provided so as to capture an image of the bottom 11 of each sample 2 from a direction inclined by about 5 ° toward the lamp 140.
- the cameras 141, 142, 143, 144, 145, 146 are connected to the image processing device 150 and transmit captured images.
- the image processing method of the image processing device 150 is the same as that of the image processing device 100 described above.
- the inspection system 120 first, the product 1 is transported 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 raised by the reversing device elevating mechanism 127. And lift product 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 product 1 is inverted before the inspection is performed. Repeat the return operation to return the power to the original state, and make the foreign matter in the liquid 3 float.
- the product 1 is irradiated by the lamp 140, the images are continuously taken several times by the cameras 141, 142, 143, 144, 145, and 146, and the taken images are analyzed by the image processing device 150. Determine whether the product is good or not.
- 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 elevating mechanism 127, and the air chuck 130 is opened to release the product 1 from being held. Deliver product 1 to
- the inspection may be performed two or more times to reliably detect the foreign matter.
- a lamp 160 and cameras (third imaging device) 161, 162, 163 for inspecting the product 1 in an inverted state are provided above the rotary actuator 131. Is also good. That is, when the product 1 is inverted, the product 1 is moved between the lamp 160 and the cameras 161, 162, 163, and the inverted product 1 is laterally moved by the cameras 161, 162, 163. The force is also captured, and the captured image is analyzed by the image processing device 150 to determine whether the product 1 is defective or not.
- the posture of Product 1 was returned to the original posture before the inversion, and images were taken with cameras 141, 142, 143, 144, 145, and 146.
- the image is analyzed by the image processing device 150 to determine whether or not the product 1 is defective. In this case, the inspection can be performed twice in a state where the product 1 is inverted and the posture is returned, and foreign substances can be detected more reliably.
- the product 1 may be supplied to the inspection system 20 or the inspection system 120 after performing a process of removing bubbles by a defoaming machine.
- Figure 28 shows an example of a defoaming machine.
- the defoaming machine 170 includes a rotating mechanism 171 for holding four products 1 and a rotating table 172 in which the rotating mechanism 171 is mounted at a plurality of equally spaced locations along the periphery.
- the products 1 are carried in a horizontal line by the supply conveyor 180, and are transported to the end of the supply conveyor 180 by the rotation of the transfer screw 181.
- a supply disk 182 is provided at the end of the supply conveyor 180, and four product holding grooves 183 are provided around the supply disk 182. While rotating the supply disk 182, the products 1 are sequentially transferred one by one to the product holding unit 183 by rotating the transfer screw 181, and the four products 1 are held around the supply disk 182.
- the four products 1 are collectively grasped from the supply disk 182, lifted, conveyed to the rotary table 172 side, and each of the products 1 is inserted into the product holding section 176 of the rotary mechanism 171.
- each rotation mechanism 171 is sequentially moved to the product insertion position of the loading mechanism 185, and the product 1 is inserted. After the product 1 is inserted, the rotation mechanism 171 starts rotating sequentially (spinning), and moves by rotating the rotary table 172 while removing bubbles in the product 1.
- the rotation speed of each rotation mechanism 171 is, for example, about 1000 to 4000 rpm.
- the rotation mechanism 171 approaches the product unloading position of the unloading mechanism 190, the rotation of the rotation mechanism 171 is stopped. Then, each product of the rotation mechanism 171 is held by the unloading mechanism 190.
- the product 1 is collectively grasped from the part 176, pulled out, transported to the ejection disk 191 side, and inserted into the four product holding grooves 192 provided around the ejection disk 191 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, and are carried out.
- 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, and the product 1 from which the air bubbles have been removed is supplied from the defoamer 170 to the inspection system 20 or the inspection system 120. You. According to the defoamer 170, a large amount of the product 1 can be efficiently processed while being continuously conveyed.
- an inspection system 120 shown in Fig. 25 was used.
- test samples for Product 1 a 5-unit bottle with five 20-ml ampules connected, a 5-unit bottle with five 10-ml ampules connected, and a 5-unit bottle with five 5-ml ampules connected were provided. (A product with no foreign matter mixed in the liquid in the ampoule) and a defective product in which the liquid in the first ampoule of each quintuple bottle was mixed with hair of about 500 m in length as a foreign matter.
- Defective product containing lmm hair, defective product containing approximately 5mm long hair, defective product containing approximately 500m long fiber, defective product containing approximately lmm length fiber, approx. Defective products mixed with 5 mm fiber were prepared. Experiments were performed using these 21 test samples as test objects.
- As the lamp 140 a metal nitride lamp was used. In the imaging, the first ampoule 2 of the test object is imaged four times with the camera 144 (C2 in Fig. 25) with downward force, and the first ampoule 2 of the test object is imaged with the camera 141 (C1 in Fig. 25). ), The lateral force was imaged four times.
- MUVSGA100 manufactured by Matsushita Electric Works, Ltd. was used as the image processing device 150 that performs inter-image calculations.
- the object to be inspected was allowed to stand still for about 2 seconds in an inverted state, and then about 1 second after returning to the posture of the object to be inspected, the camera 144 (C2) photographed the downward force.
- the image was started, and the posture of the test object was returned.
- the camera 141 (C1) started imaging from the side, and it was found that foreign matter could be detected effectively. That is, by allowing 2 seconds to elapse with the object to be inspected inverted, the foreign matter can be sufficiently floated.
- the bubbles rise from the liquid. While moving, there is a risk that the bubbles may be erroneously detected as foreign matter.
- the inspection method in this experiment is as follows.
- the object to be inspected is allowed to stand still for about 2 seconds in an inverted state, and then, about one second after the posture of the object to be inspected is returned to the posture before the inversion, the camera 144 (C2) images the downward force four times. Then, after the posture of the object to be inspected is returned and the force is passed for about 2 seconds, the camera 141 (C1) captures images from the side four times, and the image processing device 150 detects foreign matter.
- the image processing apparatus 150 determines that the foreign substance has entered the first ampoule 2 of the test object.
- a series of inspections including these inversion operations, return operations, and foreign object detection power were performed 10 times for each of the 21 test samples described above as test objects.
- Figure 31 shows the experimental results. In this experiment, foreign objects with hair or fibers mixed were detected more than 7 times out of 10 times by using camera 144 (C2) and / or camera 141 (C1). It was determined that foreign matter was mixed in ampoule 2. However, foreign substances near the inner surface (side) of the ampoule 2 could not be detected.
- a lamp 140, cameras 141, 142, 143, 144, 145, and 146 are additionally provided at a position of ⁇ U, and after the first inspection, the reversing device 122 and Move product 1 and use another lamp 140, camera 141, 142, 143, 144, 145, 146 different from the first one! /
- the second inspection almost 100% It can be expected that a foreign substance detection rate close to the above can be expected.
- the foreign object detection rate is improved by taking an image when the robot is inverted above the rotary actuator 131.
- the present invention can be used for inspection of a product in which a liquid is filled in a light-transmitting container such as an ampule or an infusion bag.
Abstract
Description
Claims
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