A carousel system

Abstract

The invention relates to a rotary table system, comprising: a lower rotary table; an upper rotary table defined for plane movement above the lower rotary table; a first motor driving the lower rotary table to rotate; a second motor fixed on the lower rotary table, wherein the upper rotary table is distributed with a plurality of accommodating cavities for defining the movement of transparent bottles along a central axis, and the upper rotary table is defined for performing reciprocating linear motion within a stroke by the second motor, so that the upper rotary table moves oscillatingly relative to the lower rotary table; a first roller support and a second roller support extending from the bottom of the upper rotary table and symmetrically arranged relative to the central axis of the upper rotary table; a first roller and a second roller respectively matched on the first roller support and the second roller support; 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.

Description

Technical Field

[0001] This invention belongs to the field of automated detection technology and relates to a rotary table system and its application in an online visual inspection device for foreign matter in powder within a bottle. This invention is used for online visual inspection of impurities in fine particulate powder within a transparent bottle. Background Technology

[0002] In the pharmaceutical powder injection industry, some injectable drugs have extremely high requirements for aseptic production. Currently, the detection of such powders is usually carried out manually at the end of the aseptic production line. This involves: firstly, repeatedly shaking the powder in the vial and then assessing the overall composition; secondly, after medical personnel have liquefied the powder, visually inspecting the vial for undissolved impurities. Both of these procedures are difficult to directly identify the target foreign object and are also prone to instability. Some undetected adulterants may seriously threaten the health of patients and even pose a life-threatening risk. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this invention provides a rotary table system and its application in an online visual inspection device for foreign objects in powder bottles, aiming to at least solve the technical problems existing in the prior art. This invention can be directly applied to the production line to achieve automatic online visual inspection of impurities and defects in pharmaceutical powder bottles, and provides convenience for subsequent system equipment to accurately remove foreign objects.

[0004] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0005] A turntable system supported by a frame assembly. The turntable system includes: a lower turntable; an upper turntable defined above the lower turntable for planar movement; a first motor driving the lower turntable to rotate; a second motor fixed to the lower turntable, wherein the upper turntable has a plurality of receiving cavities distributed along its central axis for defining the movement of transparent bottles, the openings of the receiving cavities facing upwards, and the upper turntable performs reciprocating linear motion within a stroke defined by the second motor, causing the upper turntable to oscillate relative to the lower turntable; a first motor support fixed to a base of the frame assembly; a second motor fixing member and a counterweight disposed on the lower turntable, the second motor fixing member and the counterweight being respectively fixed to the lower turntable and arranged opposite each other on both sides of the central axis of the lower turntable; and a second motor extending from the bottom of the upper turntable and opposite to the lower turntable. A first roller support and a second roller support are symmetrically arranged around the central axis of the upper turntable; a first roller and a second roller are respectively fitted 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 spatially perpendicular to the central axis of the upper turntable; a cam is connected to the output shaft of the second motor, the cam is arranged between the first roller and the second roller, the working outer diameter of the cam matches the minimum distance between the first roller and the second roller, wherein the cam includes a plurality of convex arc portions and a plurality of concave arc portions, the number of the convex arc portions and the concave arc portions are the same, and the number is an odd number of not less than three; the convex arc portions and the concave arc portions are distributed at intervals in the circumferential direction of the cam.

[0006] Furthermore, the ratio of the radius of the concave arc portion to the radius of the convex arc portion is between 10 and 20.

[0007] Furthermore, each receiving cavity is shaped as a cuboid cavity that matches the size of at least one transparent bottle, the length direction of which is from the central axis of the upper turntable to the outer periphery of the upper turntable;

[0008] The upper turntable includes a latch, a suction cup, a first status light, and a second status light associated with each receiving cavity; and

[0009] The buckle is disposed inside the cuboid cavity and away from the central axis of the upper turntable, and the suction cup is disposed on the wall surface inside the cuboid cavity near the central axis of the upper turntable.

[0010] Furthermore, the buckle is a U-shaped elastic element with the opening facing upwards, and the inner edge of the buckle opening is chamfered or rounded to allow the transparent bottle to easily enter the receiving cavity and be held in place by the inner wall of the buckle.

[0011] Furthermore, the first roller support and the second roller support each include a cantilever shaft that is coaxially engaged with the first roller and the second roller, and the cantilever shaft is perpendicular to the downwardly extending roller support.

[0012] Both of these cantilever shafts are spatially parallel and symmetrical with respect to the center point of the upper turntable.

[0013] Furthermore, the cam adopts a regular triangular shape.

[0014] Furthermore, each receiving cavity is associated with a first state light and a second state light of different colors.

[0015] The rotary table system involved in this invention can be used in equipment for detecting foreign objects in powder inside a bottle.

[0016] The beneficial effects of this invention are:

[0017] (1) The tray loading system provided by the present invention can realize automatic loading and unloading of medicine bottles and rotation of position;

[0018] (2) In the system of the present invention, by using the active rotation of the odd-sided cam to drive the rolling wheels on both sides, the powder in the powder bottle in the clamp is shaken evenly. The bottom turntable motor is rotated to realize the alternating feeding, rotation detection, defect rejection, unloading and sorting processes. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the device used in the present invention in an exemplary embodiment.

[0020] Figure 2 This is a three-dimensional structural diagram of the rack assembly of the device to which the present invention is applied in an exemplary embodiment.

[0021] Figure 3 This is a perspective view of the device to which the present invention is applied in an exemplary embodiment, wherein the rack assembly and the display screen are hidden.

[0022] Figure 4 This is a top view of the device to which the present invention is applied in an exemplary embodiment, wherein the rack assembly and the display screen are hidden.

[0023] Figure 5 This is a perspective view of the transmission module of the device to which the present invention is applied in an exemplary embodiment.

[0024] Figure 6 This is a perspective view of the transport module of the device used in the present invention in an exemplary embodiment.

[0025] Figure 7 This is a perspective view of the vision system of the device to which the present invention is applied in an exemplary embodiment.

[0026] Figure 8 This is a perspective view of the turntable system of the present invention in an exemplary embodiment.

[0027] Figure 9This is a perspective view of the turntable system of the present invention as an exemplary embodiment, viewed from another angle.

[0028] Figure 10 This is a perspective view of the turntable in the turntable system of the present invention in an exemplary embodiment.

[0029] Figure 11 This is a schematic diagram illustrating the working process of the cam in the turntable system of the present invention in an exemplary embodiment.

[0030] Figure 12 This is a flowchart of the detection method of the device used in the present invention in an exemplary embodiment.

[0031] In the picture:

[0032] 1. Rack Assembly; 6. Turntable System; 910. Conveyor Module

[0033] 101 Sheet metal part; 601 First motor support component; 911 First optical sensor.

[0034] 102 Base 602 Lower turntable 912 Conveyor belt device

[0035] 103 Profile Frame; 603 Second Motor Fixture; 920 Handling Module

[0036] 104 Door assembly 604 Upper turntable 921 Suction nozzle

[0037] 105 pulley, 605 cam, 922 L-block

[0038] 2. Feeding and conveying system 606, counterweight 923, lifting cylinder

[0039] 3. Vision system 6051, convex arc portion 924, transport slider

[0040] 301 Crossbeam 6052 Concave Arc 925 Cross Seat

[0041] 302U-type connector, 609 first motor, 926 transmission screw

[0042] 303 First camera connection board; 610 Clip; 928 Second light sensor

[0043] 304 First Camera 611 Suction Cup 929 Transport Motor

[0044] 305 First lens 612 First status light 930 Leg mechanism

[0045] 306 First ring light source 613 Second status light 931 Support column

[0046] 307 Second camera 615 Receiving cavity 932 Support plate

[0047] 308 Second camera connecting plate 616 First roller 933 Angle bracket

[0048] 309U-shaped slide table, 617 first roller support, 10 transparent bottles

[0049] 310 Adjusting slider 618 Second roller support

[0050] 311 Column 619 Second Roller

[0051] 312 Support 629 Second Motor

[0052] 313 Fixed base 7 Defective material conveying system

[0053] 314 Second Lens 8 Material Feeding Conveyor System

[0054] 315 Second Ring Light Source

[0055] 4 indicator lights

[0056] 5 Display screens Detailed Implementation

[0057] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0058] It should be noted that, unless otherwise specified, when a feature is referred to as "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. Furthermore, the descriptions of "upper," "lower," "left," and "right" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings. The singular forms "a," "described," and "the" used in this invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should be understood that although the terms first, second, third, etc., may be used in this 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, a first element may also be referred to as a second element without departing from the scope of this disclosure, and similarly, a second element may also be referred to as a first element.

[0059] See Figure 1In one embodiment, the online visual inspection device for foreign objects in bottled powder used in this invention includes a feeding conveyor system 2, a vision system 3, indicator lights 4, a display screen 5, a turntable system 6, a defective material conveying system 7, and an unloading conveyor system 8, all carried by a frame assembly 1. The container bottles to be inspected contain powdery substances, typically sealed transparent bottles 10. As shown in the figure, these transparent bottles 10 can be transported to the turntable system 6 via the feeding conveyor system 2 to trigger the vision system 3 for online visual inspection. The inspected transparent bottles 10 are then sent out of the turntable system 6 via the unloading conveyor system 8. Furthermore, the defective material conveying system 7 can also be used to send out transparent bottles 10 containing impurities as determined by the vision system 3.

[0060] In one embodiment, the device according to the present invention may further include an electrical control system located inside the rack assembly 1. This electrical control system includes I / O circuit boards, network adapters, motor drivers, microprocessor units (e.g., CPU, DSP), and / or industrial control devices (e.g., PLC, motion control card, industrial PC). The electrical control system is connected to indicator lights 4 and a display screen 5 connected to the vision system 3. The display screen 5 can be directly connected to the vision system 3 to display images monitored by the vision system 3 in real time. The display screen 5 may be an industrial touch control screen used to display inspection results (e.g., checking whether medicine bottle products are good or bad), online display of machine operating status (e.g., online monitoring of loading and unloading, visual inspection processes, defective product unloading, etc.), operation debugging / maintenance procedures, etc. The indicator lights 4 are connected to the electrical control system for prompting emergency system stoppages.

[0061] Reference Figure 2 In one embodiment, the rack assembly 1 includes: a profile frame 103, a base 102 fixedly connected to the profile frame 103 and arranged horizontally, a sheet metal part 101 arranged on the outside of the profile frame 103, a door assembly 104, and casters 105 located at the bottom. The profile frame 103 can be composed of 4040 angle-jointed aluminum profiles, and the base 102 can be a flat workbench that can be welded to the profile frame 103. The profile frame 103 can also be flexibly configured in size according to requirements, facilitating assembly and allowing it to be mounted at any location on the industrial production line. The sheet metal part 101 not only encapsulates the entire vision system 3 but also protects the electrical control system, internal pneumatic wiring, and provides storage space. The door assembly 104 can be implemented as a sliding door, allowing users to reach into the control cabinet of the electrical control system for convenient debugging and maintenance of internal components. Casters 105 are arranged at the bottom of the rack assembly 1 for convenient and flexible movement of the equipment.

[0062] Reference Figure 3The diagram shows a perspective view of the equipment, concealing the rack assembly 1 and the display screen 5. A vision system 3 has a top-down detection field of view covering the turntable system 6, and the vision system 3 and multiple material conveying systems are arranged around the turntable system 6. Figure 3 and Figure 4 As shown, in one embodiment, the feeding conveyor system 2 and the unloading conveyor system 8 are located on both sides of the turntable system 6, and the defective material conveyor system 7 is arranged between the feeding conveyor system 2 and the unloading conveyor system 8, with the ends of these three conveyor systems close to the turntable system 6. Preferably, the three conveyor systems are arranged in parallel to each other. It should be understood that only two conveyor systems or even only one conveyor system can be used to realize the conveying of ordinary bottles for loading and unloading and defective bottles for unloading, while three conveyor systems are used to improve conveying efficiency.

[0063] Reference Figure 4 In 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.

[0064] 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.

[0065] Reference Figure 6In one embodiment, the conveying module 920 includes: at least one support leg mechanism 930 fixed to the base 102 of the frame assembly 1; a cross seat 925 supported by the support leg mechanism 930, the length direction of the cross seat 925 being perpendicular to the length direction of the support 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 conveying motor 929 supported by the cross seat 925 and connected to the transmission screw 926; and a transport slider 924 cooperating with the transmission screw 926. The transport slider 924 moves linearly under the drive of the transmission screw 926; at least one second light sensor 928 is disposed on the cross seat 925, the second light sensor 928 being arranged within the stroke range of the transport slider 924 (or associated with the suction nozzle 921); a lifting cylinder 923 is fixed on the transport slider 924, the movement direction of the lifting cylinder 923 being substantially perpendicular to the movement direction of the transport slider 924; an L-shaped block 922 is fixed to the moving element of the lifting cylinder 923; and the suction nozzle 921 (or a gripper) is clamped on the L-shaped block 922. In this embodiment, the second light sensor 928 can be attached to any position on the cross seat 925 to detect the linear movement of the transport slider 924 along the transmission screw, thereby triggering an output electrical signal. For example, two second light sensors 928 can be configured as stroke limits for 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 in its initial position. In other embodiments, the lifting cylinder 923 can be replaced by an electric actuator or other transmission mechanism.

[0066] Continue to refer to Figure 6 In one embodiment, the handling module 920 includes two support mechanisms 930. Each support mechanism 930 includes a support plate 932, a support column 931 perpendicular to the support plate 932, and two corner braces 933 disposed on opposite sides of the support column 931. Each corner brace 933 is fixed to the support plate 932 and the support column 931. The modular and assembled support mechanism 930 can reduce the processing difficulty of parts and increase the utilization rate of parts, thereby reducing costs.

[0067] The following is combined Figures 4 to 6This describes the configuration of the electrical components related to the conveying system. Since the working principles of the loading conveyor system 2, the defective material conveyor system 7, and the unloading conveyor system 8 are similar, only the loading conveyor system 2 will be described here. In one embodiment, a first optical sensor 911 is configured upstream of the pick-up station of the conveyor belt device 912, and a second optical sensor 928 is configured at the middle position of the cross seat 925, corresponding to the initial position (or standby position) of the suction nozzle 921. In this embodiment, when the bottle of powder to be tested is transported to the first optical sensor 911, the transport motor 929 is triggered, causing the suction nozzle 921 to move to the pick-up station of the conveyor belt device 912. At this time, the continuously moving conveyor belt device 912 transports the bottle to be tested to the pick-up station, thereby controlling the lifting cylinder 923 to move down to the designated position to pick up the bottle to be tested. Then, the transport motor 929 and the lifting cylinder 923 are controlled to transfer the bottle to the target placement station (e.g., the placement station of the upper turntable 604 of the turntable system 6). Once the test bottle is placed properly, the nozzle 921 returns to its initial position, triggering the second light sensor 928, and waits for the next feeding signal.

[0068] Reference Figure 7 The vision system 3 can be fixed to the profile frame 103 and base 102 of the frame assembly 1. In one embodiment, the vision system 3 includes: a crossbeam 301 fixed to the frame assembly 1 and located above the turntable system 6; a U-shaped connector 302 fixed at any sliding position on the crossbeam 301; a first camera connecting plate 303 fixed to the U-shaped connector 302; a first camera 304 fixed to the first camera connecting plate 303; and a first lens 305 and a first ring 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 operating status of the bottle to be tested, such as monitoring whether the feeding conveyor system 2 correctly places the bottle to be tested into the receiving cavity 615 of the upper turntable 604. Preferably, the first camera 304 is a gigabit industrial camera, and the first lens 305 is a fixed focal length industrial lens.

[0069] In one embodiment, the vision system 3 further includes: a fixed base 313 fixedly connected to the base 102 of the frame assembly 1, the fixed base 313 having a U-shaped groove for adjustable mounting screws; a column 311 fixedly connected to the fixed base 313 via a stepped hollow support 312; an adjusting slider 310 having a through hole with a size matching the diameter of the column 311; a U-shaped slide 309 self-lockingly connected to the adjusting slider 310 via a trapezoidal groove parallel to the length direction of the column 311; a second camera connecting plate 308 fixed to the U-shaped slide 309; a second camera 307 fixed to the second camera connecting plate 308; and a second lens 314 and a second ring light source 315 cooperating with the second camera 307. In this embodiment, the adjusting slider 310 can be locked to the column 311 passing through the through hole at a height higher than the upper turntable 604 by a set screw, and the adjusting slider 310 is provided with a fine-tuning screw to adjust the movement of the U-shaped slide 309 along the trapezoidal groove. When the receiving cavity 615 of the upper turntable 604 moves to the detection station below the second camera 307, the field of view of the second camera 307 at least covers the entire range of the receiving cavity 615. Preferably, the second camera 307 is a gigabit industrial camera, and the second lens 314 is a telecentric magnification lens.

[0070] It should be understood that, since the U-shaped connector 302, the fixed base 313 and the adjusting slider 310 are provided with adjustable elements or structures, the spatial positions of the first camera 304 and the second camera 307 can be adjusted to meet the flexible needs of debugging and maintenance, and to obtain sufficient detection field of view and good focusing and imaging accuracy.

[0071] Reference Figures 8 to 10In one embodiment, the turntable system 6 includes: a first motor support 601 fixed to a base 102 of the frame assembly 1; a first motor 609; a lower turntable 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 turntable 602 being coaxial with the output shaft of the first motor 609; a second motor fixing member 603 and a balance block 606 disposed on the lower turntable 602, the second motor fixing member 603 and the balance block 606 being fixed to the lower turntable 602 and arranged opposite to each other on both sides of the central axis of the lower turntable 602; a second motor 629; an upper turntable 604 limited to planar movement above the lower turntable 602; and a lower turntable 604 from the upper turntable 602. The upper turntable 604 has a first roller support 617 and a second roller support 618 extending from its bottom and symmetrically arranged with respect to the central axis of the upper turntable 604; a first roller 616 and a second roller 619 respectively fitted on the first roller support 617 and the second roller support 618, the rotation axes of the first roller 616 and the second roller 619 being parallel and spatially perpendicular to the central axis of the upper turntable 604; and a cam 605 connected to the output shaft of the second motor 629, the cam 605 being 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, because the rollers at both ends of the cam 605 abut against the edge of the cam 605, when the second motor 629 drives the cam 605 to rotate, a displacement deviation is generated, which in turn causes the entire upper turntable, along with the powder inside the bottle, to shake.

[0072] Specifically, the first roller support 617 and the second roller support 618 each include a cantilever shaft coaxially engaged with the first roller 616 and the second roller 619, and this cantilever shaft is perpendicular to the downwardly extending roller support. Both cantilever shafts are spatially parallel and symmetrical with respect to the center point of the upper turntable 604. The second motor fixing member 603 is independent of the upper turntable 604 and the two roller supports, and they do not move or interfere with each other.

[0073] Furthermore, the cam 605 includes a plurality of convex arc portions 6051 and a plurality of concave arc portions 6052, which are distributed at intervals in the circumferential direction of the cam 605. The number of convex arc portions 6051 and concave arc portions 6052 is the same, and the number is an odd number of not less than three.

[0074] Figure 11 The diagram shows a cam 605 with a regular triangular shape. 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 area corresponds to the actual rotation angle of the cam 605 shown in the left half. The graph shows that in this embodiment, the unidirectional rotation of the cam 605 is sufficient to achieve a sudden speed change in the wobbling motion of the upper turntable 604 (i.e., the upper turntable 604 oscillates relative to the lower turntable 602), simplifying the motor motion control method corresponding to the rotation of the cam 605. To obtain a suitable wobbling effect, the ratio of the radius of the concave arc portion 6052 to the radius of the convex arc portion 6051 can be between 10 and 20. Furthermore, the wobbling frequency can be changed by adjusting the rotational speed of the cam 605 using the second motor 629.

[0075] Return to reference Figure 10 In one embodiment, the upper turntable 604 has a plurality of upward-facing receiving cavities 615 distributed along its central axis. Preferably, as shown in the figure, eight receiving cavities 615 are evenly distributed at 45° intervals. Furthermore, each receiving cavity 615 is shaped as a cuboid cavity matching the size of at least one transparent bottle 10, the length of which extends from the central axis of the upper turntable 604 to its outer periphery. Each receiving cavity 615 is provided with a latch 610 and a suction cup 611. The suction cup 611 is disposed on the wall of the receiving cavity 615 near the central axis of the upper turntable 604, while the latch 610 is disposed within the receiving cavity 615 near the outer periphery of the upper turntable 604. Thus, when the upper turntable 604 rotates and / or swings, the centripetal suction force achieved by the suction cup 611 provides a good clamping effect on the bottom of the bottle. In addition, multiple suction cups 611 are arranged around the central axis of the upper turntable 604, which makes it convenient to arrange the air circuit components uniformly in the center of the turntable, which is conducive to compact structural design and reducing the number of pneumatic pipes.

[0076] Preferably, the latch 610 is a U-shaped elastic element with the opening facing upwards. The spacing between the inner walls of the latch 610 is approximately equal to the neck diameter or width of the transparent bottle 10, and the inner edge of the opening of the latch 610 is chamfered or rounded to allow the transparent bottle 10 to easily enter the receiving cavity 615 and be held in place by the inner wall of the latch 610. Furthermore, each receiving cavity 615 can be associated with at least one status light, such as a first status light 612 (green) and a second status light 613 (red) of different colors.

[0077] Refer to together Figure 3 , Figures 8 to 11According to the above embodiment, when the bottle to be tested is transported from the picking station of the feeding conveyor system 2 to the placement station of the turntable system 6, 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 bottle bottom 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, where 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 bottle to be tested is stably confined within the receiving cavity 615. After the bottle to be tested is sucked, the lower turntable 602 and the upper turntable 604 can be rotated together by the first motor 609, and the cam 605 can be rotated by the second motor 629 to trigger the upper turntable 604 to shake, thereby realizing a large shaking of the object inside the bottle to be tested in the upper turntable 604 to help detect foreign objects.

[0078] It should be understood that the motors involved in the above embodiments can be servo motors, stepper motors, or ordinary AC / DC motors, etc., and can be matched with reducers and encoders. The indicator lights 4 or status lights involved in the above embodiments can be light elements of different colors, used to provide feedback on various conditions through bright, dark, off, flashing, color changes, etc., such as whether the storage cavity is empty, whether the bottle under test is firmly attracted, whether a foreign object is detected in the bottle, whether the module is malfunctioning, and whether the system is operating normally.

[0079] Reference Figure 12 The method for online visual detection of foreign objects in powder inside a bottle includes steps such as loading, shaking, detection, foreign object removal, and unloading. Specifically:

[0080] S1. Loading Step: At least one transparent bottle 10 to be tested is placed into the receiving cavity 615 of the turntable system 6 via the material conveying system; 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, moving the empty receiving cavity 615 to the placement station to continue loading until all receiving cavities 615 are filled with a preset number of bottles to be tested (for example, depending on the testing frequency or batch requirements, a subset of receiving cavities 615 may be optionally loaded with bottles to be tested). (Refer to...) Figure 3 Specifically, when there is an empty (no bottle to be tested) receiving cavity 615, the handling module 920 of the loading and conveying system 2 is allowed to operate. Furthermore, after the bottle to be tested is picked up, placed into the receiving cavity 615, and secured, the green status light associated with that receiving cavity 615 illuminates (indicating that the receiving cavity 615 contains a bottle to be tested), causing the lower turntable 602 to rotate 45° (the rotation angle can be customized according to the number of bottles to be tested) to move the next receiving cavity 615 to the bottle placement station, and so on, clamping the next bottle to be tested in sequence. When all the green status lights on the turntable are illuminated, it indicates that the loading is complete.

[0081] S2. Shaking Step: 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. Specifically, the second motor 629 of the turntable system 6 can be triggered to operate after each feeding system completes feeding and the green light illuminates (for example, the shaking operation can be triggered once every 45° rotation of the turntable) to shake and mix the powder in the clamped bottle to be tested.

[0082] S3. Detection Step: The vision system 3 acquires images of the transparent bottle 10 to be tested, which is already clamped in the turntable system 6; the image recognition application is executed to determine whether there are impurities or foreign objects in the target area of ​​the image. Preferably, the entire vision system 3 acquires at least three images for each bottle, and after each image acquisition, the shaking step needs to be returned before the next acquisition is performed.

[0083] S4. Impurity Removal Step: If it is determined that there are impurities in the image of the transparent bottle 10 collected in the receiving cavity 615, the turntable system 6 sends a first indication signal corresponding to the receiving cavity 615, then 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. Specifically, if impurities are determined to be present, the red status light corresponding to the receiving cavity 615 illuminates, and a working command is sent to the defective material conveying system 7.

[0084] S5. Unloading Step: If it is determined that there are no impurities in the predetermined number of images of the transparent bottle 10 collected in the receiving cavity 615, the turntable system 6 issues a second indication signal corresponding to the receiving cavity 615, then closes the vacuum suction cup 611, releases the clamping of the transparent bottle 10, and sends the transparent bottle 10 out of the unloading station. Specifically, if it is determined that there are no impurities and it is time to unload the transparent bottle 10, the green status light corresponding to the receiving cavity 615 is turned off, and a working command is issued to the unloading conveying system 8.

[0085] Preferably, refer to Figure 4 Corresponding to the above embodiment, 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, allowing the loading conveying system 2, defective material conveying system 7 and unloading conveying system 8 to work simultaneously without interference.

[0086] In addition, the above methods may also include a monitoring step.

[0087] Monitoring steps: The operating status of the equipment is monitored through the electronic control system and vision system 3. For example, if a mechanical malfunction is detected, the electronic control system triggers an emergency stop of the electric components, and the emergency alarm indicator 4 illuminates. In addition, the first camera 304 mounted on the upper part of the frame assembly 1 captures and monitors the operating status of the upper turntable 604 of the turntable system 6 (e.g., monitoring the feedback signal of the status light). If a fault warning is issued, the material conveying system and the turntable system 6 will be suspended.

[0088] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the principles and rules of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A turntable system (6) carried by a gantry assembly (1) characterised in that, The turntable system (6) comprises: a lower turntable (602); an upper turntable (604) defined for planar movement above the lower turntable (602); a first motor (609) for driving the lower turntable (602) to rotate; a second motor (629) fixed on the lower turntable (602), wherein the upper turntable (604) is provided with a plurality of accommodating cavities (615) for defining movement of the transparent bottles (10) and the accommodating cavities (615) have openings facing upward, and the upper turntable (604) is defined for reciprocating linear motion within a stroke by the second motor (629) so as to oscillatingly move relative to the lower turntable (602); a first motor support (601) fixed on a base (102) of the rack assembly (1); a second motor fixing member (603) and a balance block (606) arranged on the lower turntable (602), the second motor fixing member (603) and the balance block (606) are respectively fixed on the lower turntable (602) and oppositely arranged on both sides of the central axis of the lower turntable (602); a first roller support (617) and a second roller support (618) extending from the bottom of the upper turntable (604) and symmetrically arranged relative to the central axis of the upper turntable (604); a first roller (616) and a second roller (619) respectively matched on the first roller support (617) and the second roller support (618), the rotation axes of the first roller (616) and the second roller (619) are parallel and both vertically spaced from the central axis of the upper turntable (604); a cam (605) connected to the output shaft of the second motor (629), the cam (605) is arranged between the first roller (616) and the second roller (619), and the working outer diameter of the cam (605) matches the minimum distance between the first roller (616) and the second roller (619), wherein the cam (605) comprises a plurality of convex arc portions (6051) and a plurality of concave arc portions (6052), the number of the convex arc portions (6051) is equal to the number of the concave arc portions (6052), and both are odd numbers not less than three; the convex arc portions (6051) and the concave arc portions (6052) are spaced apart in the circumferential direction of the cam (605); the radius of the concave arc portions (6052) is between 10 to 20 times the radius of the convex arc portions (6051); the first roller support (617) and the second roller support (618) respectively comprise cantilever shafts coaxially matched with the first roller (616) and the second roller (619), and the cantilever shafts are perpendicular to the downwardly extending roller supports; the two cantilever shafts are parallel and symmetrical relative to the center point of the upper turntable (604).

2. The turntable system (6) according to claim 1, characterized in that: Each accommodating cavity (615) is shaped as a cuboid recess matching the size of at least one transparent bottle (10), the length direction of the cuboid recess being from the central axis of the upper turntable (604) to the outer periphery of the upper turntable (604); The upper turntable (604) comprises a buckle (610), a suction cup (611), a first status light (612) and a second status light (613) associated with each accommodating cavity (615); and The buckle (610) is arranged in the cuboid recess away from the central axis of the upper turntable (604), and the suction cup (611) is arranged on the wall surface of the cuboid recess close to the central axis of the upper turntable (604).

3. The turntable system (6) according to claim 2, characterized in that: The buckle (610) is a U-shaped elastic member with an opening facing upward, 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).

4. The turntable system (6) according to claim 1, characterized in that: The cam (605) adopts a regular triangle shape.

5. The turntable system (6) according to claim 1, characterized in that: Each accommodating cavity (615) is associated with first status lights (612) and second status lights (613) of different colors.

6. The turntable system (6) according to claim 1, characterized in that: The lower turntable (602) is rotatably supported by the first motor support (601) or directly connected and supported by the output shaft of the first motor (609), and the central part of the lower turntable (602) is coaxial with the output shaft of the first motor (609).

7. The turntable system (6) according to claim 2, characterized in that: The accommodating cavities (615) are uniformly arranged at intervals of 45°, and a plurality of suction cups (611) are arranged around the central axis of the upper turntable (604).

8. The turntable system (6) according to claim 1, characterized in that: The rack assembly (1) comprises a profile frame (103), a base (102) fixedly connected with the profile frame (103) and arranged horizontally, a sheet metal part (101) arranged outside the profile frame (103), a door assembly (104), and a pulley (105) at the bottom, wherein the base (102) is a flat workbench, and the base (102) is welded on the profile frame (103).

9. A device for detecting foreign matters in powder in a bottle, comprising the turntable system (6) according to any one of claims 1 to 8.

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