An on-line visual inspection method for foreign matter in powder in a bottle

Abstract

The present application relates to a kind of in-line visual inspection method of foreign matter in powder in bottle, comprising: S1, at least one transparent bottle to be measured is placed in the holding cavity of turntable system by material conveying system Clamping;S2, during the rotation of the first motor or when the first motor makes holding cavity rotate to the detection range of vision system, the clamped transparent bottle is shaken by the second motor drive of turntable system Motion;S3, the image of the clamped transparent bottle to be measured in the turntable system is collected by vision system, judge whether the target area of image exists target impurity or foreign matter;S4, determine that the image of the collected transparent bottle in holding cavity has impurity, then release the clamping of the transparent bottle, and the transparent bottle is sent out by material conveying system;S5, determine that the image of the collected predetermined number of transparent bottles in holding cavity has no impurity, then release the clamping of the transparent bottle, and the transparent bottle is sent out by material conveying system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic detection technology, and relates to an online visual detection method for foreign matters in powder in a bottle. BACKGROUND

[0002] In the production of pharmaceutical powder injections, some injection drugs have very high requirements for sterile production. At present, the detection of such powders is usually carried out by manual sampling at the end of the sterile production line, in which: the powder in the bottle needs to be shaken several times, and then the whole is evaluated; secondly, after the medical staff prepare the powder into a liquid, it is judged by the naked eye whether there are undissolved impurities in the bottle. The above two types of operation processes have certain difficulty in directly judging the target foreign object, and also have instability. Some undetected impurities may seriously threaten the health of the patient, and even cause life danger. SUMMARY

[0003] In view of the defects of the prior art, the present application provides an online visual detection method for foreign matters in powder in a bottle, aiming to at least solve the technical problems existing in the prior art. The present application can be directly loaded on the production line to realize automatic online visual detection of impurity defects in the powder bottle, and provide convenience for the subsequent system equipment to accurately remove the foreign matters.

[0004] The method of the present application is based on an equipment for online visual detection of foreign matters in powder in a bottle, which comprises a turntable system carried by a rack assembly, an online visual system and at least one material conveying system. Among them: the detection field of view of the visual system covers the turntable system, and the at least one material conveying system is arranged around the turntable system; the turntable system comprises a lower turntable, an upper turntable which is limited to move in a plane above the lower turntable, a first motor which drives the lower turntable to rotate, and a second motor which is fixed on the lower turntable, wherein the upper turntable is distributed with a plurality of accommodation cavities for limiting the movement of the transparent bottle along the central axis, the opening of the accommodation cavity faces upward, and the upper turntable is limited to perform reciprocating linear motion within the stroke by the second motor, so that the upper turntable moves in an oscillating manner relative to the lower turntable.

[0005] The turntable system comprises: a first motor support fixed with the base of the rack assembly; a second motor support and a balance block arranged on the lower turntable and fixed with the lower turntable and oppositely arranged on both sides of the central axis of the lower turntable; a first roller support and a second roller support extending from the bottom of the upper turntable and symmetrically arranged relative to the central axis of the upper turntable; a first roller and a second roller respectively matched on the first roller support and the second roller support, the rotation axes of the first roller and the second roller are parallel and both are perpendicular to the central axis of the upper turntable in space; a cam connected with the output shaft of the second motor, the cam is arranged between the first roller and the second roller, and the working outer diameter of the cam matches the minimum distance between the first roller and the second roller.

[0006] Wherein the cam comprises a plurality of convex arc portions and a plurality of concave arc portions, and wherein: the number of the convex arc portions and the concave arc portions is the same and is an odd number not less than three; the convex arc portions and the concave arc portions are spaced apart in the circumferential direction of the cam.

[0007] The radius of the concave arc portion is between 10 to 20 times the radius of the convex arc portion.

[0008] Further, each accommodation cavity is shaped as a cuboid recess matching at least one transparent bottle size, the length direction of the cuboid recess is from the central axis of the upper turntable to the outer periphery of the upper turntable; the upper turntable comprises a buckle, a suction cup, a first status light and a second status light associated with each accommodation cavity; and the buckle is arranged in the cuboid recess away from the central axis of the upper turntable, and the suction cup is arranged on the wall surface of the cuboid recess close to the central axis of the upper turntable.

[0009] The vision system comprises: a crossbeam fixed with the rack assembly and located above the turntable system; a U-shaped connector fixed in any sliding position on the crossbeam; a first camera connecting plate fixed with the U-shaped connector; a first camera fixed with the first camera connecting plate, the first camera is arranged to shoot downward; and a first lens and a first ring-shaped light source matched with the first camera, so that the field of view of the first camera covers at least the upper turntable.

[0010] The vision system includes: a fixed base fixedly connected to the base of the frame assembly; a column fixedly connected to the fixed base via a stepped, hollow support; an adjusting slider having a through hole with a size matching the diameter of the column; a U-shaped slide self-lockingly connected to the adjusting slider via a trapezoidal groove parallel to the length direction of the column; a second camera connecting plate fixed to the U-shaped slide; a second camera fixed to the second camera connecting plate, the second camera being arranged to shoot downwards; and a second lens and a second ring light source cooperating with the second camera. Preferably, the first camera can be used as a monitoring camera, wherein the adjusting slider is locked to the column passing through the through hole at a height higher than the upper turntable by a set screw, and the adjusting slider is provided with a fine-tuning screw for adjusting the movement of the U-shaped slide along the trapezoidal groove, such that when the receiving cavity of the upper turntable moves below the second camera, the field of view of the second camera at least covers the entire area of ​​the receiving cavity. In some embodiments, the second lens can be a telecentric magnification lens.

[0011] The at least one material conveying system includes a loading conveying system, a defective material conveying system, and an unloading conveying system, wherein each material conveying system includes a handling module and a conveying module.

[0012] The conveying module includes a conveyor belt device and one or more first optical sensors mounted on the conveyor belt device. The handling module includes: at least one support leg mechanism fixed to the base of the frame assembly; a crossbar supported by the support leg mechanism, the length direction of which is perpendicular to the length direction of the support leg mechanism; a transmission screw supported by the crossbar and arranged along the length direction of the crossbar; a handling motor supported by the crossbar and connected to the transmission screw; a transport slider cooperating with the transmission screw, the transport slider moving linearly under the drive of the transmission screw; a second optical sensor mounted on the crossbar, the second optical sensor being arranged within the stroke range of the transport slider; a lifting cylinder fixed to the transport slider, the movement direction of the lifting cylinder being perpendicular to the movement direction of the transport slider; an L-shaped block fixed to the movable element of the lifting cylinder; and a suction nozzle clamped on the L-shaped block.

[0013] The support mechanism includes a support plate, a support column perpendicular to the support plate, and two corner braces disposed on opposite sides of the support column. Each corner brace is fixed to the support plate and the support column.

[0014] The frame assembly includes: a profile frame, a base fixedly connected to the profile frame and arranged horizontally, sheet metal parts arranged on the outside of the profile frame, a door assembly, and pulleys located at the bottom.

[0015] The device further comprises an electric control system inside the rack assembly, indicator lights outside the rack assembly, and a display screen connected to the vision system.

[0016] The present application relates to a method for on-line vision detection of foreign matters in powder in a bottle, comprising the following steps:

[0017] S1, placing at least one transparent bottle to be detected in a clamping cavity of a turntable system through a material conveying system, wherein the horizontal posture of the bottle to be detected needs to be adjusted in advance, with the cap facing the outer periphery of the upper turntable and the bottom facing the center of the upper turntable, and then the bottle to be detected is lowered into the clamping cavity of the upper turntable, so as to be clamped by the buckle and the bottom is sucked by the vacuum chuck;

[0018] S2, rotating the transparent bottle in the clamping cavity around the central axis through the first motor drive of the turntable system, and during the rotation of the first motor or when the clamping cavity is rotated to the detection range of the vision system, the clamped transparent bottle is subjected to a shaking motion through the second motor drive of the turntable system;

[0019] S3, collecting the image of the clamped transparent bottle to be detected in the turntable system through the vision system, executing an image recognition application program, and determining whether there is a target impurity or foreign matter in the target area of the image;

[0020] S4, determining that there is an impurity in the collected image of the transparent bottle in the clamping cavity, causing the turntable system to issue a first indication signal corresponding to the clamping cavity, then releasing the clamping of the transparent bottle, and sending the transparent bottle out through the material conveying system;

[0021] S5, determining that there is no impurity in the collected image of the predetermined number of transparent bottles in the clamping cavity, causing the turntable system to issue a second indication signal corresponding to the clamping cavity, then releasing the clamping of the transparent bottle, and sending the transparent bottle out through the material conveying system.

[0022] Further, the step S1 comprises:

[0023] Rotating the transparent bottle in the clamping cavity around the central axis through the first motor drive of the turntable system, and rotating the idle clamping cavity to a placement station to continue feeding until all the clamping cavities are filled with the preset number of bottles to be detected;

[0024] After the bottle to be detected is picked and placed in the clamping cavity and clamped, the first green state light associated with the clamping cavity is turned on.

[0025] Further, the placement station, the defective material station and the unloading station of the upper turntable are distributed at intervals of 90° respectively, thereby providing independent operation space for the carrying module and allowing the feeding conveying system, the defective material conveying system and the unloading conveying system to work simultaneously without interference.

[0026] Further, the step S2 comprises:

[0027] After each feeding and the green light is on, the second motor of the rotating disc system is triggered to operate, and the shaking operation is triggered once every 45° rotation of the upper rotating disc to shake and mix the powdery substance in the clamped bottle.

[0028] Further, the step S3 comprises:

[0029] The whole vision system collects at least three pictures for each transparent bottle, and returns to the shaking step after each picture collection to perform the next collection.

[0030] Further, the step S4 comprises:

[0031] If the collected image of the transparent bottle in the containing cavity has impurities, the red second state light corresponding to the containing cavity is turned on, and a working instruction is sent to the defective material conveying system;

[0032] The rotating disc system sends a first indication signal corresponding to the containing cavity, the vacuum chuck is closed, the clamping of the transparent bottle is released, and the transparent bottle is sent out from the defective material station.

[0033] Further, the step S5 comprises:

[0034] If the collected predetermined number of images of the transparent bottle in the containing cavity have no impurities, the rotating disc system sends a second indication signal corresponding to the containing cavity, the green first state light corresponding to the containing cavity is turned off, and a working instruction is sent to the unloading conveying system.

[0035] Further, the method further comprises the following steps:

[0036] The first camera erected on the upper part of the rack assembly shoots and monitors the operation state of the upper rotating disc of the rotating disc system, monitors the feedback signal of the state light, and if there is a fault warning, the material conveying system and the rotating disc system are temporarily stopped.

[0037] The beneficial effects of the present application are:

[0038] (1) The detection method provided by the present application can realize automatic feeding and unloading of the medicine bottles, and automatic sorting of good products and defective products;

[0039] (2) The detection of the powdery substance in the high-transparency bottle can be realized, and the powdery substance in the bottle can be detected and overall evaluated without being polluted by the outside world;

[0040] (3) The overall evaluation or online visual detection of the defects of the powdery substance in the bottled product can be realized, and the quality detection link of the raw product has high application value;

[0041] (4) Real-time detection of the medicine powder in the bottle can be performed using a telecentric magnification lens camera, and a top monitoring camera is configured to ensure the safety of the overall operation of the system while performing high-efficiency detection. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 Overall perspective view of the device used in the method of the present application in an exemplary embodiment.

[0043] Figure 2 Perspective view of the gantry assembly of the device used in the method of the present application in an exemplary embodiment.

[0044] Figure 3 Perspective view of the device used in the method of the present application in an exemplary embodiment, with the gantry assembly and display screen hidden.

[0045] Figure 4 Top view of the device used in the method of the present application in an exemplary embodiment, with the gantry assembly and display screen hidden.

[0046] Figure 5 Perspective view of the transfer module of the device used in the method of the present application in an exemplary embodiment.

[0047] Figure 6 Perspective view of the handling module of the device used in the method of the present application in an exemplary embodiment.

[0048] Figure 7 Perspective view of the vision system of the device used in the method of the present application in an exemplary embodiment.

[0049] Figure 8 Perspective view of the carousel system of the device used in the method of the present application in an exemplary embodiment.

[0050] Figure 9 Perspective view of the carousel system of the device used in the method of the present application in an exemplary embodiment, viewed from another perspective.

[0051] Figure 10 Perspective view of the carousel of the carousel system of the device used in the method of the present application in an exemplary embodiment.

[0052] Figure 11 Schematic view of the working process of the cam of the device used in the method of the present application in an exemplary embodiment.

[0053] Figure 12 Flowchart of the detection method of the present application in an exemplary embodiment.

[0054] In the drawings:

[0055] 1 gantry assembly 6 carousel system 910 transfer module

[0056] 101 sheet metal part 601 first motor support 911 first light sensor

[0057] 102 base 602 lower turntable 912 conveyor belt device

[0058] 103 profile frame 603 second motor fixing part 920 carrying module

[0059] 104 door assembly 604 upper turntable 921 suction nozzle

[0060] 105 pulley 605 cam 922 L-shaped block

[0061] 2 feeding conveying system 606 counterweight 923 lifting air cylinder

[0062] 3 vision system 6051 convex arc part 924 transportation sliding block

[0063] 301 cross beam 6052 concave arc part 925 horizontal seat

[0064] 302 U-shaped connecting piece 609 first motor 926 transmission lead screw

[0065] 303 first camera connecting plate 610 buckle 928 second light sensor

[0066] 304 first camera 611 suction disc 929 carrying motor

[0067] 305 first lens 612 first status lamp 930 supporting leg mechanism

[0068] 306 first ring-shaped light source 613 second status lamp 931 supporting leg column

[0069] 307 second camera 615 accommodating cavity 932 supporting leg plate

[0070] 308 second camera connecting plate 616 first roller 933 angle supporting piece

[0071] 309 U-shaped sliding table 617 first roller support 10 transparent bottle

[0072] 310 adjusting sliding block 618 second roller support

[0073] 311 stand column 619 second roller

[0074] 312 support 629 second motor

[0075] 313 fixing seat 7 defective material conveying system

[0076] 314 second lens 8 unloading conveying system

[0077] 315 second ring light source

[0078] 4 indicator light

[0079] 5 display screen DETAILED DESCRIPTION

[0080] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with the embodiments and the drawings below, so as to fully understand the purpose, scheme and effects of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0081] It should be noted that, unless otherwise specified, when a certain feature is referred to as being "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right and the like used in the present application are only relative to the relative position relationship of the components of the present application in the drawings. The singular forms "a", "an" and "the" used in the present application and the appended claims are intended to include plural forms, unless the context clearly indicates otherwise. It should be understood that although the terms first, second, third, etc. can be used in the present disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element can also be referred to as the second element, and similarly, the second element can also be referred to as the first element.

[0082] Referring to Figure 1 In an embodiment, the device used in the method for on-line visual inspection of foreign matter in powder in a bottle of the present application includes a feeding conveying system 2, a vision system 3, an indicator light 4, a display screen 5, a turntable system 6, a defective material conveying system 7 and an unloading conveying system 8 carried by a rack assembly 1. The containers of the objects to be detected are bottles containing powder, generally sealed transparent bottles 10. As shown in the figure, these transparent bottles 10 can be transported through the feeding conveying system 2 to the turntable system 6 to trigger the vision system 3 to perform on-line visual inspection, and then the transparent bottles 10 after detection are sent out from the turntable system 6 through the unloading conveying system 8. In addition, the transparent bottles 10 with impurities inside judged by the vision system 3 can also be sent out through the defective material conveying system 7.

[0083] In an embodiment, the device employed by the method according to the present application can further comprise an electric control system inside the rack assembly 1, which comprises IO circuit board card, network adapter, motor driver, micro processing unit (such as CPU, DSP) and / or industrial control device (such as PLC, motion control card, industrial PC) and the like. The electric control system is connected with the indicator light 4 and the display screen 5 connected with the visual system 3. The display screen 5 can be directly connected to the visual system 3 to display the images monitored by the visual system 3 in real time. The display screen 5 can be an industrial touch control screen for displaying detection results (such as detecting whether the medicine bottle product is a good product), online displaying the machine running state (such as online monitoring of processes such as feeding, visual detection, defective product feeding, etc.), operation debugging / maintenance program and the like. The indicator light 4 is connected with the electric control system for prompting in case of emergency system emergency stop.

[0084] Referring to Figure 2 In an embodiment, the rack assembly 1 comprises a profiled frame 103, a base 102 fixedly connected with the profiled frame 103 and arranged horizontally, a sheet metal part 101 arranged outside the profiled frame 103, a door assembly 104 and a pulley 105 at the bottom. The profiled frame 103 can be composed of 4040 angle aluminum profile, the base 102 can be a flat plate-shaped workbench and can be welded on the profiled frame 103. The profiled frame 103 can also be flexibly configured in size according to requirements, facilitating assembly, and can also be connected to any position of the industrial production line. The sheet metal part 101 not only encapsulates the entire visual system 3, but also protects the electric control system, the internal pneumatic circuit and provides storage space. The door assembly 104 can be implemented in the form of a sliding door, so that the user can reach into the control cabinet of the electric control system, facilitating debugging and maintaining the devices inside the equipment. The pulley 105 is arranged at the bottom of the rack assembly 1, facilitating flexible movement of the equipment.

[0085] Referring to Figure 3 The perspective view of the device is shown, in which the rack assembly 1 and the display screen 5 are hidden. The visual system 3 detects the field of view from top to bottom covering the turntable system 6, and the visual system 3 and a plurality of material conveying systems are arranged around the turntable system 6. As shown in Figure 3 and Figure 4 In an embodiment, the feeding conveying system 2 and the discharging conveying system 8 are respectively located on both sides of the turntable system 6, and the defective material conveying system 7 is arranged between the feeding conveying system 2 and the discharging conveying system 8, and the ends of the three conveying systems are respectively close to the turntable system 6. Preferably, the three conveying systems are arranged in parallel with each other. It should be understood that only two conveying systems or even only one conveying system can be used to realize the conveying of ordinary bottle feeding and defective bottle discharging, and three conveying systems are used to improve the conveying efficiency.

[0086] Referring to Figure 4In one embodiment, each material handling system may include a unified conveying module 910 and a transport module 920 to improve parts reuse rate in a modular manner, thereby reducing manufacturing costs. Preferably, the positions of the conveying module 910 and the transport module 920 can be independent of each other, such that the conveying direction of the conveying module 910 and the transport direction of the transport module 920 can be parallel, perpendicular, or at other angles. Figure 4 As shown, in one embodiment, a conveying module 910 and a handling module 920 can be arranged such that the conveying direction of the material conveying system is perpendicular to the handling direction, and the conveying direction of the loading and unloading conveying system 8 is perpendicular to the handling direction, thereby achieving a compact layout and reducing equipment size.

[0087] Reference Figure 5 In one embodiment, the conveying module 910 includes a conveyor belt device 912 and one or more first optical sensors 911 disposed on the conveyor belt device 912. The conveyor belt device 912 includes a conveyor belt for linearly conveying the transparent bottles 10, wherein the width of the conveyor belt is greater than or slightly greater than the height of the transparent bottles 10, and the edge of the conveyor belt may be provided with a guard so that the transparent bottles 10 will not fall out when conveyed in a horizontal manner as shown in the figure. The first optical sensor 911 can be attached to any position on the edge of the conveyor belt to detect whether there is material (or transparent bottles 10) passing on the conveyor belt, thereby triggering the output of an electrical signal. For example, for the three conveying systems mentioned above, the first optical sensor 911 can be set at the initial position of loading / unloading so that the conveyor belt is triggered when there is material. For the loading conveying system 2, it can also be set near the turntable system 6 so that the handling module 920 is triggered when there is material.

[0088] Reference Figure 6In one embodiment, the handling module 920 comprises at least one leg mechanism 930 fixed to the base 102 of the gantry assembly 1, a cross seat 925 supported by the leg mechanism 930, the length direction of the cross seat 925 being perpendicular to the length direction of the leg mechanism 930, a transmission screw 926 supported by the cross seat 925 and arranged along the length direction of the cross seat 925, a handling motor 929 supported by the cross seat 925 and coupled to the transmission screw 926, a transport slider 924 cooperating with the transmission screw 926 and linearly moving under the driving of the transmission screw 926, at least one second light sensor 928 arranged on the cross seat 925 and arranged in the travel range of the transport slider 924 (or associated with the suction nozzle 921), a lifting cylinder 923 fixed to the transport slider 924 and having a movement direction substantially perpendicular to the movement direction of the transport slider 924, an L-shaped block 922 fixed to the moving element of the lifting cylinder 923, and a suction nozzle 921 (or a gas gripper) clamped on the L-shaped block 922. In this embodiment, the second light sensor 928 can be attached to any position of the cross seat 925 for detecting the transport slider 924 linearly moving along the transmission screw to trigger an output electrical signal. For example, two second light sensors 928 can be configured to serve as travel limiters of the transport slider 924. Alternatively, only one second light sensor 928 can be configured to monitor the position of the transport slider 924 when the suction nozzle 921 is located at the initial position. In other embodiments, the lifting cylinder 923 can be replaced by an electric actuator or other transmission mechanism.

[0089] With continued reference to Figure 6 In one embodiment, the handling module 920 comprises two leg mechanisms 930, each of which comprises a leg plate 932, a leg column 931 perpendicular to the leg plate 932, and two corner braces 933 arranged on two opposite sides of the leg column 931 and fixed to the leg plate 932 and the leg column 931. The assembled and modular leg mechanism 930 can reduce the processing difficulty of parts and increase the serviceability of parts, thereby reducing the cost.

[0090] With continued reference to Figures 4 to 6, describe the configuration of the electrical components associated with the conveying system. Since the working principles of the infeed conveying system 2, the defective material conveying system 7 and the outfeed conveying system 8 are similar, only the infeed conveying system 2 is described here as an example. In an embodiment, a first light sensor 911 is configured to be located upstream of the pickup station of the conveyor belt device 912, and a second light sensor 928 is configured to be located at the middle of the cross seat 925, which corresponds to the initial position (or standby position) of the suction nozzle 921. In this embodiment, when the bottle to be tested is transported to the first light sensor 911, the handling motor 929 is triggered to move the suction nozzle 921 to the pickup station of the conveyor belt device 912. At this time, the continuously moving conveyor belt device 912 conveys the bottle to be tested to the pickup station, so as to control the lifting cylinder 923 to move downward to the specified position to suck the bottle to be tested, and then control the handling motor 929 and the lifting cylinder 923 to transfer the bottle to be tested to the target placement station (for example, the placement station of the upper turntable 604 of the turntable system 6). After the bottle to be tested is placed, the suction nozzle 921 returns to the initial position to trigger the second light sensor 928, waiting for the next infeed signal.

[0091] Referring to Figure 7 , the vision system 3 can be fixed to the profile frame 103 and the base 102 of the rack assembly 1. In an embodiment, the vision system 3 includes a cross beam 301 fixed to the rack assembly 1 and located above the turntable system 6, a U-shaped connecting piece 302 fixed at any sliding position on the cross beam 301, a first camera connecting plate 303 fixed to the U-shaped connecting piece 302, a first camera 304 fixed to the first camera connecting plate 303, and a first lens 305 and a first ring-shaped light source 306 cooperating with the first camera 304. The field of view of the first camera 304 covers the turntable system 6 to monitor the running state of the bottle to be tested, such as monitoring whether the infeed conveying system 2 correctly places the bottle to be tested into the containing cavity 615 of the upper turntable 604. Preferably, the first camera 304 is a gigapixel industrial camera, and the first lens 305 is a fixed focal length industrial lens.

[0092] In an embodiment, the vision system 3 further comprises a fixed seat 313 fixedly connected with the base 102 of the gantry assembly 1, the fixed seat 313 having a U-shaped slot for adjustably mounting a screw; a column 311 fixedly connected with the fixed seat 313 through a stepped hollow support 312; an adjusting slider 310 having a through hole with a size matched with a diameter of the column 311; a U-shaped slide 309 self-lockedly connected with the adjusting slider 310 through a trapezoidal slot parallel to a length direction of the column 311; a second camera connecting plate 308 fixedly connected with the U-shaped slide 309; a second camera 307 fixedly connected with the second camera connecting plate 308; and a second lens 314 and a second ring light 315 matched with the second camera 307. In the embodiment, the adjusting slider 310 and the column 311 passing through the through hole can be locked at a height higher than the upper turntable 604 by a top screw, and the adjusting slider 310 is provided with a fine adjustment screw for adjusting movement of the U-shaped slide 309 along the trapezoidal slot. When the accommodating cavity 615 of the upper turntable 604 moves to a detection station below the second camera 307, a field of view of the second camera 307 covers at least a whole range of the accommodating cavity 615. Preferably, the second camera 307 is a gigapixel industrial camera, and the second lens 314 is a telecentric magnification lens.

[0093] It should be understood that, since the U-shaped connecting piece 302, the fixed seat 313 and the adjusting slider 310 are provided with adjustable elements or structures, spatial positions of the first camera 304 and the second camera 307 can be adjusted to meet flexible requirements of debugging and maintenance, and to obtain a sufficient detection field of view range and good focusing imaging accuracy.

[0094] With reference to Figures 8 to 10In one embodiment, the rotary table system 6 comprises: a first motor support 601 fixed to the base 102 of the gantry assembly 1; a first motor 609; a lower rotary table 602 rotatably supported by the first motor support 601 or directly connected to the output shaft of the first motor 609, the center of the lower rotary table 602 coaxial with the output shaft of the first motor 609; a second motor fixing member 603 and a balance block 606 arranged on the lower rotary table 602, the second motor fixing member 603 and the balance block 606 fixed to the lower rotary table 602 and arranged on opposite sides of the central axis of the lower rotary table 602, respectively; a second motor 629; an upper rotary table 604 defined to move in a plane above the lower rotary table 602; a first roller support 617 and a second roller support 618 extending from the bottom of the upper rotary table 604 and arranged symmetrically with respect to the central axis of the upper rotary table 604; a first roller 616 and a second roller 619 fitted on the first roller support 617 and the second roller support 618, respectively, the rotation axes of the first roller 616 and the second roller 619 parallel and both perpendicular to the central axis of the upper rotary table 604 in space; a cam 605 connected to the output shaft of the second motor 629, the cam 605 arranged between the first roller 616 and the second roller 619, and the working outer diameter of the cam 605 matching the minimum distance between the first roller 616 and the second roller 619. Specifically, due to the rollers at both ends of the cam 605 pressing against the edges of the cam 605, a displacement deviation is generated when the cam 605 is rotated by the second motor 629, thereby driving the entire upper table and the powdery substance in the bottles to shake.

[0095] Specifically, the first roller support 617 and the second roller support 618 each comprise a cantilever shaft coaxially fitted with the first roller 616 and the second roller 619, and the cantilever shaft is perpendicular to the downwardly extending roller support. Both of the cantilever shafts are parallel and symmetrical with respect to the center point of the upper rotary table 604 in space. The second motor fixing member 603 is independent of the upper rotary table 604 and the two roller supports, and does not interfere with each other in movement.

[0096] In addition, the cam 605 comprises a plurality of convex arc portions 6051 and a plurality of concave arc portions 6052, which are spaced apart in the circumferential direction of the cam 605. The number of convex arc portions 6051 and concave arc portions 6052 is the same, and is an odd number not less than three.

[0097] Figure 11 The cam 605 is shown in an equilateral triangle mode, and the displacement curves of the first roller 616 and the second roller 619 under the action of the uniformly rotating cam 605 are also shown. Figure 11In the right half of the graph, the shaded part corresponds to the actual angle of rotation of the cam 605 shown in the left half. As can be seen from the graph, the one-way rotation of the cam 605 of the present embodiment can achieve the shaking swing of the upper turntable 604 with a sudden change in speed (i.e., the upper turntable 604 moves in a jolt relative to the lower turntable 602), so that the motor motion control mode corresponding to the rotation of the cam 605 is simple. In order to obtain a suitable shaking change effect, the ratio of the radius of the concave arc part 6052 to the radius of the convex arc part 6051 can be between 10 to 20. In addition, the shaking frequency can also be changed by adjusting the rotation speed of the cam 605 through the second motor 629.

[0098] Referring back to Figure 10 In an embodiment, the upper turntable 604 is provided with a plurality of upwardly open accommodating cavities 615 distributed along the central axis. Preferably, as shown, 8 accommodating cavities 615 are evenly distributed at intervals of 45°. In addition, each accommodating cavity 615 is shaped as a cuboid recess matching the size of at least one transparent bottle 10, and the length direction of the cuboid recess is from the central axis of the upper turntable 604 to the outer periphery of the upper turntable 604. Each accommodating cavity 615 is provided with a buckle 610 and a suction cup 611. The suction cup 611 is arranged on the wall surface of the accommodating cavity 615 close to the central axis of the upper turntable 604, and the buckle 610 is arranged in the accommodating cavity 615 close to the outer periphery of the upper turntable 604, so that when the upper turntable 604 rotates and / or swings, the centripetal force realized by the suction cup 611 can achieve a good clamping effect on the bottle bottom. In addition, a plurality of suction cups 611 are arranged close to the central axis of the upper turntable 604 in a ring shape, which can facilitate the unified arrangement of gas path components in the center of the turntable, and is conducive to compact structure design and reduction of the number of pneumatic pipe fittings.

[0099] Preferably, the buckle 610 is a U-shaped elastic member with the opening facing upward, wherein the inner wall spacing of the buckle 610 is substantially equal to the neck diameter or width of the transparent bottle 10, and the inner edge of the opening of the buckle 610 is provided with a chamfer or a fillet to allow the transparent bottle 10 to easily enter the accommodating cavity 615 and be clamped by the inner wall of the buckle 610. In addition, each accommodating cavity 615 can be associated with at least one status light, such as a first status light 612 and a second status light 613 with different colors (green and red).

[0100] Referring back to Figure 3 , Figures 8 to 11According to the above embodiment, when the to-be-tested bottle is carried from the pickup station of the feeding conveying system 2 to above the placement station of the rotary disc system 6, the horizontal posture of the to-be-tested bottle needs to be adjusted in advance, so that the bottle cap is directed to the outer periphery of the upper rotary disc 604 and the bottle bottom is directed to the center of the upper rotary disc 604. Then the to-be-tested bottle is lowered into the accommodating cavity 615 of the upper rotary disc 604, so that the bottle neck is clamped by the buckle 610 and the bottle bottom is sucked by the vacuum suction cup 611. At this time, the buckle 610 and the suction cup 611 clamp and suck the two ends of the bottle respectively, so that the to-be-tested bottle is stably limited in the accommodating cavity 615. After the to-be-tested bottle is sucked, the lower rotary disc 602 and the upper rotary disc 604 can be driven to rotate together by the first motor 609, and the cam 605 can be driven to rotate by the second motor 629 to trigger the shaking of the upper rotary disc 604, so as to realize the large shaking of the object in the to-be-tested bottle in the upper rotary disc 604, thereby assisting the foreign matter detection.

[0101] It should be understood that the motors involved in the above embodiment can be servo motors, stepper motors or ordinary AC or DC motors, etc., which can be matched with reducers and encoders. The indicator light 4 or the status light involved in the above embodiment can be different color lamp elements, which are used to feedback various conditions by being bright, dark, off, flashing, color changing, etc., such as whether the accommodating cavity is empty, whether the to-be-tested bottle is stably sucked, whether foreign matter is detected in the bottle, whether the module is malfunctioning, whether the system is normally running, etc.

[0102] With reference to Figure 12 The method for on-line visual detection of foreign matter in powder in a bottle provided by the application comprises the steps of feeding, shaking, detecting, removing foreign matter and discharging, and specifically:

[0103] S1, the feeding step: placing at least one to-be-tested transparent bottle 10 in the accommodating cavity 615 of the rotary disc system 6 through the material conveying system; driving the transparent bottle 10 in the accommodating cavity 615 to rotate around the center axis by the first motor 609 of the rotary disc system 6, and rotating the idle accommodating cavity 615 to the placement station to continue feeding until all the accommodating cavities 615 are loaded with a preset number of to-be-tested bottles (for example, a part of the accommodating cavities 615 can be loaded with to-be-tested bottles according to the detection frequency or the detection batch). Figure 3 Specifically, when there is an idle (without loading to-be-tested bottles) accommodating cavity 615, the handling module 920 of the feeding conveying system 2 is allowed to work. In addition, after the to-be-tested bottle is picked and placed in the accommodating cavity 615 and clamped, the green status light associated with the accommodating cavity 615 is bright (indicating that the accommodating cavity 615 has to-be-tested objects), and the lower rotary disc 602 is rotated by 45° (the rotation angle can be customized according to the to-be-tested number) to rotate the next accommodating cavity 615 to the to-be-tested bottle placement station, and the next to-be-tested bottle is clamped in sequence according to the above order. When all the green status lights in the rotary disc are bright, it indicates that the feeding is completed.

[0104] S2, shaking step: during the rotation of the first motor 609 or when the first motor 609 rotates the accommodating cavity 615 to the detection range of the vision system 3, the second motor 629 of the turntable system 6 is driven to make the clamped transparent bottle 10 perform a shaking motion. Specifically, after the feeding system completes feeding and the green light is on, the second motor 629 of the turntable system 6 is triggered to operate (for example, the shaking operation can be triggered once every 45° rotation of the turntable), and the powdery substance in the clamped bottle is shaken and mixed.

[0105] S3, detection step: the vision system 3 collects images of the clamped transparent bottle 10 in the turntable system 6; an image recognition application program is executed to determine whether the target area of the image contains impurities or foreign matters. Preferably, the entire vision system 3 collects at least three pictures for each bottle, and after each picture is collected, the shaking step is returned to perform the next collection.

[0106] S4, rejection step: if it is determined that the collected image of the transparent bottle 10 in the accommodating cavity 615 contains impurities, the turntable system 6 sends a first indication signal corresponding to the accommodating cavity 615, then the vacuum chuck 611 is closed, the clamping of the transparent bottle 10 is released, and the transparent bottle 10 is sent out from the defective material station. Specifically, if it is determined that there are impurities, the red status light corresponding to the accommodating cavity 615 is turned on, and a working instruction is sent to the defective material conveying system 7.

[0107] S5, unloading step: if it is determined that the collected images of the predetermined number of transparent bottles 10 in the accommodating cavity 615 do not contain impurities, the turntable system 6 sends a second indication signal corresponding to the accommodating cavity 615, then the vacuum chuck 611 is closed, the clamping of the transparent bottle 10 is released, and the transparent bottle 10 is sent out from the unloading station. Specifically, if it is determined that there are no impurities and the transparent bottle 10 is ready to be unloaded, the green status light corresponding to the accommodating cavity 615 is turned off, and a working instruction is sent to the unloading conveying system 8.

[0108] Preferably, with reference to Figure 4 Corresponding to the above embodiment, the placement station, the defective material station and the unloading station of the turntable 604 are distributed at intervals of 90°, thereby providing independent operation space for the carrying module 920, allowing the feeding conveying system 2, the defective material conveying system 7 and the unloading conveying system 8 to work simultaneously without interference.

[0109] In addition, the method according to the present application can further comprise a monitoring step.

[0110] Monitoring step: the working state of the equipment is monitored by the electric control system and the visual system 3. For example, if a mechanical operation failure is detected, the electric control system triggers the electric device to stop urgently, and the emergency alarm indicator light 4 is on. In addition, the first camera 304 erected on the upper part of the rack assembly 1 shoots the running state of the upper turntable 604 of the turntable system 6 (for example, monitors the feedback signal of the state light), if there is a failure warning, the material conveying system and the turntable system 6 are temporarily suspended.

[0111] The above is only a preferred embodiment of the present application, and the present application is not limited to the above-mentioned embodiments. As long as the same means achieves the technical effect of the present application, any modification, equivalent replacement, improvement, etc. within the principles and principles of the present disclosure should be included in the protection scope of the present disclosure. It should belong to the protection scope of the present application. The technical scheme and / or implementation manner within the protection scope of the present application can have various modifications and changes.

Claims

1. A method for online visual detection of foreign objects in powder inside a bottle, employing a foreign object detection device for powder inside a bottle. The equipment includes a turntable system (6) carried by a rack assembly (1), an online vision system (3), and at least one material conveying system. The field of view of the vision system (3) covers the turntable system (6). The at least one material conveying system is arranged around the turntable system (6). The at least one material conveying system includes a loading conveying system (2), a defective material conveying system (7), and an unloading conveying system (8). Each material conveying system includes a handling module (920) and a conveying module (910). The turntable system (6) includes a lower turntable (602), an upper turntable (604) that is limited above the lower turntable (602) and moves in a plane, a first motor (609) that drives the lower turntable (602) to rotate, and a second motor (629) fixed on the lower turntable (602). The upper turntable (604) has a plurality of receiving cavities (615) distributed along its central axis to limit the movement of the transparent bottle (10). The openings of the receiving cavities (615) face upwards, and the upper turntable (604) performs a reciprocating linear motion within a stroke limited by the second motor (629), causing the upper turntable (604) to oscillate relative to the lower turntable (602). The upper turntable (604) includes a latch (610), a suction cup (611), a green first status light (612), and a red second status light (613) associated with each receiving cavity (615). Its features are, The method includes the following steps: S1. At least one transparent bottle (10) to be tested is placed in the receiving cavity (615) of the turntable system (6) and clamped by the material conveying system. The horizontal posture of the bottle to be tested needs to be adjusted in advance so that the bottle cap faces the outer periphery of the upper turntable (604) and the bottom of the bottle faces the center of the upper turntable (604). Then the bottle to be tested is lowered into the receiving cavity (615) of the upper turntable (604) and the bottle neck is clamped by the buckle (610). The bottom of the bottle is then suctioned by the vacuum suction cup (611). S2. The transparent bottle (10) in the receiving cavity (615) is rotated around the central axis by the first motor (609) of the turntable system (6). During the rotation of the first motor (609) or when the first motor (609) rotates the receiving cavity (615) into the detection range of the vision system (3), the clamped transparent bottle (10) is shaken by the second motor (629) of the turntable system (6). S3. The image of the transparent bottle (10) to be tested that has been clamped in the turntable system (6) is acquired by the vision system (3), and the image recognition application is executed to determine whether there are impurities or foreign objects in the target area of ​​the image. S4. If it is determined that there are impurities in the image of the transparent bottle (10) in the acquired receiving cavity (615), the turntable system (6) will issue a first indication signal corresponding to the receiving cavity (615), and then the clamping of the transparent bottle (10) will be released, and the transparent bottle (10) will be sent out through the material conveying system. S5. Determine that there are no impurities in a predetermined number of images of the transparent bottle (10) in the acquired receiving cavity (615), so that the turntable system (6) issues a second indication signal corresponding to the receiving cavity (615), then release the clamping of the transparent bottle (10), and send the transparent bottle (10) out through the material conveying system.

2. The method according to claim 1, characterized in that, Step S1 includes: The first motor (609) of the turntable system (6) drives the transparent bottle (10) in the receiving cavity (615) to rotate around the central axis, and the empty receiving cavity (615) is moved to the placement station to continue feeding until all receiving cavities (615) are filled with a preset number of bottles to be tested. After the test bottle is picked up and placed into the receiving cavity (615) and locked in place, the green first status light (612) associated with the receiving cavity (615) is lit.

3. The method according to claim 1 or 2, characterized in that, The placement station, defective material station and unloading station of the upper turntable (604) are distributed at 90° intervals, thereby providing an independent operating space for the handling module (920) and allowing the loading conveyor system (2), defective material conveyor system (7) and unloading conveyor system (8) to work simultaneously without interference.

4. The method according to claim 1, characterized in that, Step S2 includes: After each feeding is completed and the green light is on, the second motor (629) of the turntable system (6) is triggered to run. The upper turntable rotates 45° and triggers a shaking operation to shake and mix the powder in the clamped test bottle.

5. The method according to claim 1, characterized in that, Step S3 includes: The entire vision system (3) acquires at least three images for each transparent bottle (10), and after each image acquisition, it returns to the shaking step before performing the next acquisition.

6. The method according to claim 1, characterized in that, Step S4 includes: If it is determined that there are impurities in the image of the transparent bottle (10) in the acquired container (615), the red second status light (613) corresponding to the container (615) will be lit, and a working instruction will be sent to the defective material conveying system (7). The turntable system (6) sends a first indication signal to the receiving cavity (615), closes the vacuum suction cup (611), releases the clamping of the transparent bottle (10), and sends the transparent bottle (10) out of the defective material station.

7. The method according to claim 1, characterized in that, Step S5 includes: If it is determined that there are no impurities in a predetermined number of images of the transparent bottle (10) in the collected receiving cavity (615), the turntable system (6) will issue a second indication signal corresponding to the receiving cavity (615), which will turn off the green first status light (612) of the corresponding receiving cavity (615) and issue a working instruction to the feeding conveying system (8).

8. The method according to claim 1, characterized in that, It also includes the following steps: The operation status of the upper turntable (604) of the turntable system (6) is captured and monitored by the first camera (304) mounted on the upper part of the frame assembly (1), and the feedback signal of the status light is monitored. If there is a fault warning, the material conveying system and the turntable system (6) are suspended.

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