Tablet inspection device and tablet printing device

Abstract

The present application provides a tablet inspection device and a tablet printing device. The tablet inspection device of the embodiment includes: a position acquisition unit that acquires position data of a tablet on a conveyance unit in a conveyance direction for each tablet conveyed by the conveyance unit; a shape detection unit that repeatedly performs photographing at a prescribed interval while irradiating the conveyance unit with slit light, and obtains line data as photographing data every prescribed interval; a storage management unit that sequentially stores the line data every prescribed interval in association with the position in the conveyance direction on the conveyance unit; a data generation unit that, based on the position data of each tablet, cuts out line data of a prescribed range for each tablet from a plurality of line data stored by the storage management unit, generates three-dimensional shape data of the tablet for each tablet based on the cut-out line data of the prescribed range of each tablet, and performs shape inspection of the tablet for each tablet based on the three-dimensional shape data of each tablet.

Description

Technical Field

[0001] Embodiments of the present invention relate to a tablet inspection apparatus and a tablet printing apparatus. Background Technology

[0002] Currently, as a method for visually inspecting transported objects, there is an inspection method that uses optical cutting to identify and inspect the three-dimensional shape of the object (for example, see Patent Document 1). In this inspection method, the object illuminated by slit light is photographed at predetermined intervals, the portion higher than the transport surface on which the object is placed is measured, the range of the higher portion is identified as the object, and the range is inspected by performing three-dimensional image processing.

[0003] In the aforementioned inspection method, it is always necessary to perform a process to confirm whether data indicating a high portion exists in the row data acquired at specified intervals as photographic data (e.g., confirming the presence or shape of tablets), thus increasing the load on the processing device. Typically, in tablet inspection devices or tablet printing devices, since hundreds of thousands of tablets are processed per hour, high-speed processing of the data detected from the tablets is required.

[0004] [Existing Technical Documents]

[0005] [Patent Literature]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2004-317126 Summary of the Invention

[0007] [The problem the invention aims to solve]

[0008] The problem to be solved by the present invention is to provide a tablet inspection device and a tablet printing device that can achieve high-speed data processing.

[0009] [Technical means to solve the problem]

[0010] The tablet inspection apparatus according to an embodiment of the present invention includes: a position acquisition unit that acquires position data of the tablet on the conveying unit in the conveying direction for each tablet conveyed by the conveying unit; a shape detection unit that repeatedly takes pictures at predetermined intervals while irradiating the conveying unit with slit light, and calculates row data as picture data every predetermined interval; a storage management unit that sequentially stores the row data calculated by the shape detection unit at predetermined intervals in association with the position on the conveying unit in the conveying direction; a data generation unit that, based on the position data of each tablet acquired by the position acquisition unit, cuts a predetermined range of row data from a plurality of row data stored by the storage management unit for each tablet, and generates three-dimensional shape data of the tablet for each tablet based on the predetermined range of row data cut from each tablet; and a determination unit that performs a shape inspection on each tablet based on the three-dimensional shape data of each tablet generated by the data generation unit.

[0011] The tablet printing apparatus of the present invention includes the tablet inspection device.

[0012] [The effects of the invention]

[0013] Through the embodiments of the present invention, high-speed data processing can be achieved. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating an example of the schematic structure of the tablet printing apparatus according to the first embodiment.

[0015] Figure 2 This is a diagram showing an example of the schematic structure of the printing apparatus according to the first embodiment.

[0016] Figure 3 This is a diagram illustrating an example of the schematic structure of the control device according to the first embodiment.

[0017] Figure 4 This is a diagram illustrating the cut-out of row data within a specified range for the first embodiment.

[0018] Figure 5 This is a flowchart illustrating an example of the printing steps in the first embodiment.

[0019] Figure 6 This diagram illustrates the transmission of the confirmation signal in the second embodiment.

[0020] Figure 7 This is a flowchart illustrating an example of the maintenance procedure in the third embodiment.

[0021] [Explanation of Symbols]

[0022] 1: Tablet printing device

[0023] 10: Supply device

[0024] 11: Hopper

[0025] 12: Arrangement feeder

[0026] 13: Transfer feeder

[0027] 20: First Printing Unit

[0028] 21, 51: Transport Department

[0029] 21a, 51a: Conveyor belt

[0030] 21b, 51b: Drive pulley

[0031] 21c, 51c: Driven pulley

[0032] 21d, 51d: Motor

[0033] 21e, 51e: Position detectors

[0034] 21f, 51f: Suction chamber

[0035] 21g: Suction port

[0036] 22, 52: Testing Department

[0037] 23, 53: First Shooting Unit

[0038] 24, 54: Inkjet head

[0039] 24a: Nozzle

[0040] 25, 55: Second shooting section

[0041] 26, 56: Shape Detection Department

[0042] 26a, 56a: Slit light source

[0043] 26b, 56b: Camera

[0044] 27, 57: Drying section

[0045] 30: Recycling device

[0046] 31: Recycling Department

[0047] 31a, 32a, 33a: Injection nozzles

[0048] 31b, 32b, 33b: Recycling bins

[0049] 32: Defective Product Recycling Department

[0050] 33: Good Product Recycling Department

[0051] 40: Control device

[0052] 40a: Input device

[0053] 40b: Output device

[0054] 40c: Memory

[0055] 41: Image Processing Department

[0056] 42: Storage Department

[0057] 43: Control Department

[0058] 44: Shape Inspection Department

[0059] 44a: Position Acquisition Department

[0060] 44b: Storage Management Department

[0061] 44c: Data Generation Department

[0062] 44d: Judgment Unit

[0063] 44e: Results Management Department

[0064] 50: Second printing apparatus

[0065] A1: Transport direction

[0066] A2: Transport direction

[0067] A, B: Judgment Department

[0068] L1: Scope

[0069] S1~S12, S21~S25: Steps

[0070] T: Tablets

[0071] X, Y, θ: Direction. Detailed Implementation

[0072] <First Implementation>

[0073] Reference Figures 1 to 5 The first implementation method will be described below.

[0074] (Example of the configuration of a tablet printing apparatus)

[0075] like Figure 1 As shown, the tablet printing apparatus 1 of the first embodiment includes a supply device 10, a first printing device 20, a second printing device 50, a recycling device 30, and a control device 40.

[0076] The supply device 10 includes a hopper 11, an arranging feeder 12, and a transfer feeder 13. The supply device 10 is positioned at one end of the first printing apparatus 20 and is configured to supply tablets T, which are the objects to be printed, to the first printing apparatus 20. The hopper 11 holds a large number of tablets T and sequentially supplies the held tablets T to the arranging feeder 12. The arranging feeder 12 arranges the supplied tablets T into a row and conveys them toward the transfer feeder 13 in the conveying direction A1 (clockwise). The arranging feeder 12 can be, for example, a belt conveyor or a vibrating feeder. The transfer feeder 13 sequentially draws tablets T arranged in a row on the arranging feeder 12 from above and holds each tablet T, conveying the held tablets T in a row to the first printing apparatus 20 and transferring them thereto. The transfer feeder 13 can be, for example, a belt conveyor. The conveying mechanism of the transfer feeder 13 rotates in the conveying direction A2 (counterclockwise). The supply device 10 is electrically connected to the control device 40, and the drive of the supply device 10 is controlled by the control device 40.

[0077] The first printing apparatus 20 includes a conveying unit 21, a detection unit 22, a first imaging unit 23, a shape detection unit 26, an inkjet head 24, a second imaging unit 25, and a drying unit 27. The inkjet head 24 is an example of a printing unit.

[0078] The conveying unit 21 includes a conveyor belt 21a, a drive pulley 21b, multiple driven pulleys 21c, a motor 21d, a position detector 21e, and a suction chamber 21f. The conveyor belt 21a is a loop belt and is mounted on the drive pulley 21b and each driven pulley 21c. The drive pulley 21b and each driven pulley 21c are rotatably mounted on the main body of the device (not shown), and the drive pulley 21b is connected to the motor 21d. The motor 21d is electrically connected to the control device 40, and the drive of the motor 21d is controlled by the control device 40. The position detector 21e is an encoder or similar device and is mounted on the motor 21d. The position detector 21e is electrically connected to the control device 40 and sends detection signals to the control device 40. The conveying unit 21 causes the conveyor belt 21a and each driven pulley 21c to move together by the rotation of the drive pulley 21b based on the motor 21d, and conveys the tablets T on the conveyor belt 21a along the conveying direction A1 (clockwise direction).

[0079] like Figure 2 As shown, multiple circular suction holes 21g are formed on the conveyor belt 21a. These suction holes 21g are through holes for adsorbing the tablet T and are arranged in a row along the conveying direction A1 to form a conveying path. Each suction hole 21g is connected to a suction chamber 21f (see reference). Figure 1The pump is connected to the suction chamber 21f via a suction path (not shown), and suction force is obtained through the suction chamber 21f. The pump is connected to the suction chamber 21f via a suction pipe (not shown), and the pump depressurizes the suction chamber 21f by operating the pump. The suction pipe is connected to the approximate center of the side of the suction chamber 21f (the plane parallel to the transport direction A1). In addition, the pump is electrically connected to the control device 40, and the pump drive is controlled by the control device 40. When the pressure is reduced in the suction chamber 21f, the tablet T placed on each suction hole 21g of the transport belt 21a is drawn near the approximate center of the suction hole 21g and held on the transport belt 21a.

[0080] The detection unit 22 is positioned downstream of the location where the supply device 10 is located in the conveying direction A1, and is positioned above the conveying path where the suction holes 21g are arranged. The detection unit 22 detects tablets T (the arrival of tablet T) that have reached a detection position directly below it, i.e., tablets T on the conveyor belt 21a, at a position in the conveying direction A1, by projecting and receiving laser light. For example, a displacement sensor can be used as the detection unit 22. Alternatively, various laser sensors, such as reflective laser sensors, can be used as displacement sensors. The detection unit 22 is electrically connected to the control device 40 and sends detection signals to the control device 40.

[0081] The first imaging unit 23 is positioned downstream of the location of the detection unit 22 in the transport direction A1, and is positioned above the transport path in which the suction holes 21g are arranged. Based on the position information of the tablet T in the transport direction A1 detected by the detection unit 22, the first imaging unit 23 takes a picture at a first shooting moment when the tablet T reaches the shooting position directly below the first imaging unit 23, acquiring a first image including the upper surface of the tablet T, and sends the acquired first image to the control device 40. The first image is used to detect the tablet T in the X, Y, and θ directions (refer to...). Figure 2 The position of the first imaging unit 23 is specified. Various cameras with imaging elements such as charge-coupled devices (CCDs) or complementary metal oxide film semiconductors (CMOS) can be used as the first imaging unit 23. The first imaging unit 23 is electrically connected to the control device 40, and the drive of the first imaging unit 23 is controlled by the control device 40. Furthermore, illumination for imaging is also provided as needed.

[0082] Here, the positions of tablet T in the X and Y directions are, for example, positions in the XY coordinate system relative to the center (reference position) of the imaging area of ​​the first imaging unit 23. Additionally, the position in the θ direction represents, for example, the degree of rotation of tablet T within the horizontal plane along the XY plane of the imaging area of ​​the first imaging unit 23. This position in the θ direction is detected when tablet T has dividing lines, or when tablet T is shaped as an ellipse, oblong, triangular, quadrilateral, or other directional shape. Furthermore, the X and Y directions are positions in the horizontal direction.

[0083] The shape detection unit 26 is positioned downstream of the location where the first imaging unit 23 is located in the transport direction A1, and is positioned above the transport path where the suction holes 21g are arranged. The shape detection unit 26 detects the three-dimensional shape of the object, for example, using a light cut-off method. In this method, a slit light (a strip of light) is irradiated onto the object on the transport surface of the transport belt 21a, and the object is photographed at predetermined intervals. The portion higher than the transport surface of the transport belt 21a on which the object is placed is measured. For example, the shape detection unit 26 includes a slit light source 26a and a camera 26b. While irradiating the object with slit light using the slit light source 26a, the shape detection unit 26 repeatedly photographs the object at predetermined intervals using the camera 26b, thereby acquiring a line of photographic data (line data) at predetermined intervals. This line data at predetermined intervals is then sequentially sent to the control device 40. The line data at predetermined intervals becomes the height data of the object in a line (the height data of the longitudinal section of the object). Furthermore, the row data when the object is not on the conveyor belt 21a is obtained as data where the height of the object in a row is 0. The shape detection unit 26 is electrically connected to the control device 40, and the drive of the shape detection unit 26 is controlled by the control device 40.

[0084] Here, the repeating interval, or predetermined interval, of the shooting using camera 26b is based on an interval of time (e.g., pulse or frequency) or distance (e.g., 0.05 mm). That is, the predetermined interval is a predetermined time or a predetermined distance, and the shooting using camera 26b is repeated every predetermined time or predetermined distance.

[0085] The inkjet head 24 is positioned downstream of the location where the shape detection unit 26 is located in the transport direction A1, and is disposed above the transport path in which the suction holes 21g are arranged. The inkjet head 24 has a plurality of (e.g., hundreds to thousands) nozzles 24a (see reference) Figure 2The direction in which the nozzles 24a are arranged in a row (nozzle array) is set to be orthogonal to the transport direction A1 in the horizontal plane (an example of intersection). The inkjet head 24 ejects ink individually from each nozzle 24a through the action of the drive element of each nozzle 24a. As the inkjet head 24, various inkjet printing heads with drive elements such as piezoelectric elements, heating elements, or magnetostrictive elements can be used. The inkjet head 24 is electrically connected to the control device 40, and the drive of the inkjet head 24 is controlled by the control device 40.

[0086] The second imaging unit 25 is positioned downstream of the location where the inkjet head 24 is located in the transport direction A1, and is positioned above the transport path where the suction holes 21g are arranged. Based on the position information of the tablet T in the transport direction A1 detected by the detection unit 22, the second imaging unit 25 takes a picture at a second imaging timing when the tablet T reaches an imaging position directly below the second imaging unit 25, and acquires a second image including the upper surface of the tablet T. The acquired second image is then sent to the control device 40. The second image can be used to inspect the printed pattern on the tablet T. Similar to the first imaging unit 23, various cameras with imaging elements such as CCD or CMOS can be used as the second imaging unit 25. The second imaging unit 25 is electrically connected to the control device 40, and its operation is controlled by the control device 40. Illumination for imaging is also provided as needed.

[0087] The drying section 27 is positioned opposite the conveyor belt 21a, for example, below the conveyor belt 21a. The drying section 27 dries the ink on each tablet T coated on the conveyor belt 21a. The drying section 27 can be any type of dryer, such as a blower that uses air or other gases for drying, a heater that uses radiant heat for drying, or a blower that combines gases and a heater to use warm or hot air for drying. The drying section 27 is electrically connected to the control device 40, and its operation is controlled by the control device 40.

[0088] Here, the first printing device 20 and the second printing device 50 are configured such that portions of the conveying section 21 and the conveying section 51 overlap vertically. The tablet T printed by the upper first printing device 20 is flipped and transferred to the lower second printing device 50, thereby printing both sides of the tablet T. Normally, in order to smoothly transfer the tablet T from the first printing device 20 to the second printing device 50, the conveying speed of the first printing device 20 and the conveying speed of the second printing device 50 are always the same.

[0089] The second printing apparatus 50 has the same structure as the first printing apparatus 20. That is, the second printing apparatus 50 includes a conveying unit 51, a detection unit 52, a first imaging unit 53, a shape detection unit 56, an inkjet head 54, a second imaging unit 55, and a drying unit 57. The conveying unit 51 includes a conveyor belt 51a, a drive pulley 51b, multiple driven pulleys 51c, a motor 51d, a position detector 51e, and a suction chamber 51f. The conveying unit 51 conveys the tablet T on the conveyor belt 51a along the conveying direction A2 (counterclockwise). Furthermore, the shape detection unit 56 includes a slit light source 56a and a camera 56b. The inkjet head 54 is an example of a printing unit. Moreover, since the components constituting the second printing apparatus 50 have essentially the same structure as those constituting the first printing apparatus 20, their description is omitted.

[0090] The recycling device 30 is positioned downstream of the location where the drying section 57 is located in the conveying direction A2, and is located below the conveying section 51. The recycling device 30 includes a reusable product recycling section 31, a defective product recycling section 32, and a good product recycling section 33. The recycling device 30 recycles tablets T as reusable products through the reusable product recycling section 31, recycles tablets T as defective products through the defective product recycling section 32, and recycles tablets T as good products through the good product recycling section 33. For example, reusable products are reusable tablets that are undamaged and free of foreign matter (non-printed tablets). Defective products are non-printed tablets with foreign matter or undamaged, non-defective printed tablets (printed tablets), while good products are undamaged, non-defective, and free of foreign matter (printed tablets). Furthermore, the arrangement order of the reusable product recycling section 31, the defective product recycling section 32, and the good product recycling section 33 in the conveying direction A2 is not limited to... Figure 1 The arrangement shown can also be changed as appropriate. The recycling device 30 is electrically connected to the control device 40, and the drive of the recycling device 30 is controlled by the control device 40.

[0091] The reusable product recycling section 31 has a spray nozzle 31a and a recycling bin 31b. Similarly, the defective product recycling section 32 has a spray nozzle 32a and a recycling bin 32b. The good product recycling section 33 has a spray nozzle 33a and a recycling bin 33b. These spray nozzles 31a, 32a, and 33a have essentially the same structure, and the recycling bins 31b, 32b, and 33b also have essentially the same structure. Therefore, the spray nozzle 31a and the recycling bin 31b will be described as representative examples.

[0092] The spray nozzle 31a and the recovery box 31b are positioned facing each other along the conveying path, which is separated by suction holes on the conveyor belt 51a. The spray nozzle 31a is disposed within the suction chamber 51f and sprays gas (e.g., air) towards the conveyor belt 51a, causing the tablet T to fall from the conveyor belt 51a. At this time, the gas sprayed from the spray nozzle 31a comes into contact with the tablet T through the suction holes of the conveyor belt 51a. The spray nozzle 31a is electrically connected to the control device 40, and the drive of the spray nozzle 31a is controlled by the control device 40. The recovery box 31b is located directly below the spray nozzle 31a and below the conveyor section 51. The recovery box 31b receives and contains the tablet T that falls from the conveyor belt 51a due to the gas sprayed from the spray nozzle 31a.

[0093] Here, tablets T are conveyed by the reusable product collection section 31 and the defective product collection section 32 as the conveyor belt 51a moves, and reach a position near the end of each driven pulley 51c on the conveyor belt 51a. At this position, the suction effect no longer acts on the tablets T, but gas is blown onto the tablets T from above through the spray nozzle 33a, and the tablets T fall from the conveyor belt 51a. Therefore, by providing the spray nozzle 33a, the tablets T can be reliably dropped from the conveyor belt 51a. The collection box 33b receives and contains the tablets T that have fallen from the conveyor belt 51a due to the gas sprayed from the spray nozzle 33a.

[0094] The control device 40 controls various parts of the tablet printing apparatus 1, such as the supply device 10, the first printing device 20, the second printing device 50, and the recycling device 30, based on various information and programs. Furthermore, the control device 40 receives detection data (e.g., detection signals) sent from the position detector 21e or detection unit 22 of the conveying unit 21, and the position detector 51e or detection unit 52 of the conveying unit 51, and also receives image data sent from the first imaging unit 23 or second imaging unit 25, the shape detection unit 26, the first imaging unit 53, the second imaging unit 55, and the shape detection unit 56. The control device 40 is implemented, for example, by electronic circuits such as integrated circuits or by a computer.

[0095] (Example of control device configuration)

[0096] Next, refer to Figure 3 To illustrate the configuration example of the control device 40.

[0097] like Figure 3 As shown, the control device 40 includes an image processing unit 41, a storage unit 42, a control unit 43, and a shape inspection unit 44. The shape inspection unit 44 receives line data at predetermined intervals from both the shape detection unit 26 and the shape detection unit 56. Furthermore, the shape inspection unit 44, the shape detection unit 26, and the shape detection unit 56 function as a tablet inspection device.

[0098] Input device 40a, output device 40b, and storage device 40c are connected to control device 40. Input device 40a is implemented, for example, by a switch, touch screen, keyboard, mouse, etc. Output device 40b is implemented, for example, by a display, lamp, measuring instrument, etc. Storage device 40c can be implemented, for example, by a semiconductor memory element such as flash memory, or a storage device such as a hard disk or optical disk. Storage device 40c functions as external storage.

[0099] The image processing unit 41 reads the first image captured by the first imaging unit 23 and the second image captured by the second imaging unit 25, and processes the images using known image processing techniques. For example, the image processing unit 41 processes the first image obtained from the first imaging unit 23 to obtain the position of the tablet T in the X, Y, and θ directions. Additionally, the image processing unit 41 processes the second image obtained from the second imaging unit 25 to obtain the printing position, shape, and size of the printed pattern (e.g., text or markings) printed on the tablet T. The image processing unit 41 sends the obtained position information of each tablet T in the X, Y, and θ directions, and further the printing position, shape, and size information of the printed pattern on each tablet T, to the control unit 43.

[0100] The storage unit 42 stores processing information or various programs. For example, it is implemented using semiconductor memory elements such as Random Access Memory (RAM) or Flash Memory, or storage devices such as hard disks or optical discs. The storage unit 42 stores printing data related to printing, such as transport speed data. The printing data includes information about printed patterns such as text or markings.

[0101] The control unit 43 is, for example, a central processing unit (CPU), a microcontroller (MCU), a microprocessor (MPU), or a computer, and controls the various components. The control unit 43 can be implemented through one or both hardware and software. For example, the control unit 43 controls the supply device 10, the first printing device 20, the second printing device 50, the recycling device 30, the image processing unit 41, the storage unit 42, etc., based on various information or programs stored in the storage unit 42. Furthermore, the control unit 43 receives detection signals from the position detector 21e or the detection unit 22 of the conveying unit 21, and the position detector 51e or the detection unit 52 of the conveying unit 51.

[0102] The shape inspection unit 44 includes a position acquisition unit 44a, a storage management unit 44b, a data generation unit 44c, multiple determination units 44d, and a result management unit 44e. The shape inspection unit 44 may be implemented by, for example, one or both of hardware and software.

[0103] In the first printing apparatus 20, the position acquisition unit 44a acquires position data of the tablet T on the conveyor belt 21a in the conveying direction A1 for each tablet T conveyed by the conveying unit 21, based on information obtained from the detection unit 22. The position acquisition unit 44a tracks the position of the tablet T on the conveyor belt 21a in the conveying direction A1, detected by the detection unit 22, based on information from the position detector 21e (e.g., encoder signal), and obtains position data of the tablet T on the conveyor belt 21a in the conveying direction A1. Additionally, in the second printing apparatus 50, the position acquisition unit 44a acquires position data of the tablet T on the conveyor belt 51a in the conveying direction A2 for each tablet T conveyed by the conveying unit 51, based on information obtained from the detection unit 52. The position acquisition unit 44a tracks the position of the tablet T on the conveyor belt 21a in the conveying direction A2, detected by the detection unit 52, based on information from the position detector 51e, and obtains position data of the tablet T on the conveyor belt 51a in the conveying direction A2. The location acquisition unit 44a sends and stores the location data of each tablet T in the storage unit 42. Furthermore, the location acquisition unit 44a assigns identification data such as a sequence ID (identification / identifier) ​​to each tablet T detected by the detection unit 22 or the detection unit 52. Thus, the location data of each tablet T can be managed based on the identification data of each tablet T.

[0104] In the first printing apparatus 20, the storage management unit 44b sequentially stores line data sent from the shape detection unit 26 at predetermined intervals, associated with the position (e.g., the position where the line data is acquired) on the transport direction A1 of the conveyor belt 21a. In the second printing apparatus 50, the storage management unit 44b sequentially stores line data sent from the shape detection unit 56 at predetermined intervals, associated with the position (e.g., the position where the line data is acquired) on the transport direction A2 of the conveyor belt 51a. That is, the storage management unit 44b stores multiple lines of line data at predetermined intervals associated with positions on the transport directions A1 (A2) of the conveyor belt 51a. The storage management unit 44b stores line data at predetermined intervals, for example, storing multiple lines of line data equivalent to one revolution of the conveyor belt 21a. For example, the storage management unit 44b has a buffer area, and during printing operation, line data at predetermined intervals is continuously and sequentially stored in the buffer area. Furthermore, the buffer area of ​​the storage management unit 44b may be provided in the storage unit 42. The storage management unit 44b has a memory buffer mechanism that holds profile data (e.g., rows of data at predetermined intervals) for a certain period of time. The profile position of the memory buffer mechanism is synchronized with a signal (e.g., an encoder signal) from the position detector 21e or the position detector 51e. This allows the rows of data at predetermined intervals to be associated with the position on the conveyor belt 21a in the conveyor direction A1 or the position on the conveyor belt 51a in the conveyor direction A2.

[0105] The data generation unit 44c, based on the position data of each tablet T obtained by the position acquisition unit 44a (e.g., the position data of tablet T in the transport direction A1 or the position data of tablet T in the transport direction A2), cuts a predetermined range of row data for each tablet T from a plurality of row data stored at predetermined intervals by the storage management unit 44b. For example, the data generation unit 44c cuts a plurality of row data (the predetermined range of row data) contained in a predetermined range for each tablet T from a plurality of row data equivalent to one revolution of the conveyor belt 21a. Then, based on the predetermined range of row data cut out for each tablet T, the data generation unit 44c generates three-dimensional shape data of tablet T for each tablet T. The data generation unit 44c sends the three-dimensional shape data of each tablet T to each determination unit 44d. In addition, the data generation unit 44c sends and stores the three-dimensional shape data of each tablet T in the storage unit 42. Furthermore, the three-dimensional shape data of each tablet T can be managed based on the identification data of each tablet T.

[0106] like Figure 4 As shown, the specified range L1 is set as the range above the longest length of tablet T in a plane such as the horizontal plane, with a specified margin (e.g., the longest length ± 1 mm). Furthermore, in Figure 4In the example, tablet T is triangular in shape when viewed from above. The position of tablet T on conveyor belt 21a in the conveying direction A1 is determined based on the position data of tablet T (e.g., the position data of the center of tablet T). Therefore, for example, the data generation unit 44c reads row data of a predetermined range L1 centered on the stated position from the storage management unit 44b. Row data of the predetermined range L1 is read for each tablet T. That is, the data generation unit 44c reads multiple rows of data (row data at predetermined intervals) corresponding to one circumference of conveyor belt 21a stored in the storage management unit 44b, and reads multiple rows of data within the predetermined range L1 corresponding to one tablet T. Thus, row data of one tablet T's quantity can be calculated for each tablet T.

[0107] exist Figure 4 In the example, the specified range L1 corresponding to "tablet (1)" is the range from "(1) start position" to "(1) end position". The specified range L1 corresponding to "tablet (2)" is the range from "(2) start position" to "(2) end position". The specified range L1 corresponding to "tablet (3)" is the range from "(3) start position" to "(3) end position". The start position is the start position of reading the row data (cut start position), and the end position is the end position of reading the row data (cut end position). Furthermore, since the tablets T are arranged on the conveyor belt 21a at random intervals instead of at specified intervals, therefore, as Figure 4 As with “tablet(2)” and “tablet(3)”, sometimes the “specified range L1” corresponding to “tablet(2)” and the “specified range L1” corresponding to “tablet(3)” overlap.

[0108] Each determination unit 44d performs a shape inspection on each tablet T based on the three-dimensional shape data generated by the data generation unit 44c. For example, each determination unit 44d performs a process to determine whether a specified three-dimensional shape data exists in the three-dimensional shape data generated by the data generation unit 44c, and determines whether the three-dimensional shape of the tablet T is qualified or not. For example, if the specified three-dimensional shape data exists in the three-dimensional shape data generated by the data generation unit 44c, the tablet T has no abnormalities (e.g., damage such as defects or foreign matter attached), and the inspection result is qualified. On the other hand, if the specified three-dimensional shape data does not exist in the three-dimensional shape data generated by the data generation unit 44c, the tablet T has an abnormality, and the inspection result is unqualified. Each determination unit 44d sends the shape inspection result data of each tablet T, indicating whether it is qualified or not, to the result management unit 44e. Furthermore, the shape inspection result data of each tablet T can be managed based on the identification data of each tablet T.

[0109] The results management unit 44e sorts the shape inspection results data of each tablet T sent from each determination unit 44d based on the tablet T's identification data (e.g., sequence ID), and stores the shape inspection results data of each tablet T in the storage unit 42 for management. Furthermore, the control unit 43 can send the three-dimensional shape data of the tablet T or the shape inspection results data of the tablet T stored in the storage unit 42 to the output device 40b, where it is displayed on the display of the output device 40b.

[0110] exist Figure 3 In the example, there are two determination units 44d, but it is not limited to this; there can be two or more. The data generation unit 44c sends the three-dimensional shape data of each tablet T to each determination unit 44d in a predetermined order. When there are two determination units 44d, the three-dimensional shape data of each tablet T is sent alternately to the two determination units 44d. The predetermined order is preset, and can be changed, for example, according to the user's input operation on the input device 40a. In addition, the predetermined order can also be set according to the priority based on the processing capacity of each determination unit 44d (for example, the higher the processing capacity, the higher the priority).

[0111] Here, in the first printing apparatus 20, the control unit 43, based on the detection information sent from the detection unit 22 (i.e., the timing of detecting the tablet T on the conveyor belt 21a), obtains the position of the tablet T in the conveying direction A1 on the conveyor belt 21a, and based on the position information indicating the position of the tablet T in the conveying direction A1, sets the first shooting timing of the first shooting unit 23, the printing start timing of the inkjet head 24, and the second shooting timing of the second shooting unit 25, generates timing information indicating these timings, and stores it in the storage unit 42. The printing start timing is the timing when printing begins on the tablet T that has reached the printing position directly below the inkjet head 24. The control unit 43 can obtain information such as the amount of movement (rotation) or speed of the conveyor belt 21a based on the detection information sent from the position detector 21e. Furthermore, in the first printing apparatus 20, the control unit 43 continuously takes pictures using the camera 26b of the shape detection unit 26, for example, during printing operation. The camera 26b repeatedly takes pictures at predetermined intervals, obtaining line data at predetermined intervals. This process is also performed in the second printing apparatus 50.

[0112] Furthermore, the so-called printing operation period is the period from when tablets T are sequentially fed from hopper 11 to feeder 12 until the control unit 43 determines that the inspection is over. That is, it is the period from step S1 to step S12 (described later) until "Yes".

[0113] Furthermore, in the first printing apparatus 20, the control unit 43 sets whether or not the tablet T, for which the result data has been obtained, can be printed as printing availability information based on the shape inspection result data of the tablet T. Then, the control unit 43 sets the printing conditions as printing condition information for the tablet T that has been set as printable. At this time, the control unit 43 sets the printing conditions for the tablet T for which the position information has been obtained based on the position information of the tablet T in the X, Y, and θ directions sent from the image processing unit 41. For example, based on the position information of the tablet T in the Y direction or the printing data, the control unit 43 determines the range of the nozzle 24a used in printing the tablet T in the inkjet head 24, i.e., the nozzle range used, and sets the printing conditions including the nozzle range used or the printing start time. Furthermore, when the tablet T has a directional shape, the control unit 43 sets the printing conditions corresponding to the position of the tablet T in the θ direction based on the position information of the tablet T in the θ direction. As an example, the control unit 43 registers 180 printing patterns in the storage unit 42 that rotate the orientation of the printing pattern in 1-degree increments within a range of 0 to 179 degrees. It then selects a printing pattern from these patterns whose angle corresponds to the position of the tablet T in the θ direction to set the printing conditions. This process is also performed in the second printing apparatus 50.

[0114] Furthermore, in the first printing apparatus 20, the control unit 43 determines, based on the printing position information, shape information, and size information of the printed pattern printed on the tablet T (this information is based on the second image) sent from the image processing unit 41, whether the printed pattern is printed in a specified position on the tablet T with a specified shape and size, i.e., whether the printed pattern is printed normally on the tablet T, and sets the printing quality information (printing status check) of the tablet T. For example, in determining the shape and size of the printed pattern, the control unit 43 registers the printed pattern for inspection in the storage unit 42 and compares the printed pattern for inspection with the actual printed pattern on the tablet T after printing. This process is also the same in the second printing apparatus 50.

[0115] Furthermore, the control unit 43 appropriately stores various information (e.g., tablet T's location information, timing information, printing availability information, printing condition information, printing quality information, etc.) in the storage unit 42. When the tablet T is collected by the recycling device 30, for example, at a point when it falls off at the downstream end in the conveying direction A2 of the conveying unit 51 and a predetermined time (e.g., several seconds) has elapsed, the various information is deleted from the storage unit 42. If this information is needed in subsequent processes, it can be retained without deleting the information for each tablet T, or stored in a storage medium (external memory) outside the device. When storing the various information for each tablet T, it can also be stored in association with the information, manufacturing date, or batch number, etc., allowing for tracing back to cases of defective products after printing the tablet T to investigate the cause.

[0116] (Printing process)

[0117] Next, refer to Figure 5 The printing process performed by the tablet printing apparatus 1 will be described below. The printing process also includes an inspection process. Furthermore, various information, such as data required for printing or inspection, is pre-stored in the storage unit 42.

[0118] like Figure 5 As shown, in step S1, when a large number of tablets T intended for printing are fed into the hopper 11 of the supply device 10, the tablets T are sequentially fed from the hopper 11 to the arranging feeder 12, and moved in a row by the arranging feeder 12. The tablets T moving in a row are sequentially fed to the conveyor belt 21a of the first printing device 20 via the transfer feeder 13. The conveyor belt 21a rotates in the conveying direction A1 by the rotation of the drive pulley 21b based on the motor 21d and each driven pulley 21c. Therefore, the tablets T supplied to the conveyor belt 21a are arranged in a row on the conveyor belt 21a and conveyed away at a predetermined conveying speed.

[0119] In step S2, the detection unit 22 detects the tablet T on the conveyor belt 21a. Specifically, the detection unit 22 detects when the tablet T on the conveyor belt 21a reaches a detection position directly below the detection unit 22 (e.g., the position illuminated by a laser beam). Based on the timing of the detection of the tablet T, the position of the tablet T on the conveyor belt 21a in the conveying direction A1 is identified by the position acquisition unit 44a. Furthermore, the position acquisition unit 44a generates position data indicating the position of the tablet T in the conveying direction A1 and stores it in the storage unit 42.

[0120] In step S3, the first imaging unit 23 captures an image of the tablet T on the conveyor belt 21a. Specifically, the first imaging unit 23 captures an image of the tablet T on the conveyor belt 21a at a first shooting moment when it reaches a shooting position directly below the first imaging unit 23, and the first image obtained by capturing the image using the first imaging unit 23 is sent to the control device 40. Based on the first image, the image processing unit 41 generates position data of the tablet T in the X, Y, and θ directions, and stores it in the storage unit 42.

[0121] In step S4, the camera 26b of the shape detection unit 26 captures images of the tablet T on the conveyor belt 21a. Specifically, during the printing operation of the tablet printing apparatus 1, the upper surface of the conveyor belt 21a is consistently captured by the camera 26b at predetermined intervals. The image data obtained by capturing images using the camera 26b, i.e., row data, is sent to the control device 40 and stored by the storage management unit 44b of the control device 40 in association with the position on the conveyor belt 21a in the conveying direction A1. Based on the position data of the tablet T in the conveying direction A1 obtained by the position acquisition unit 44a, the data generation unit 44c cuts a predetermined range of row data from the multiple rows of row data stored at predetermined intervals in the storage management unit 44b, and generates three-dimensional shape data of the tablet T based on the cut-out predetermined range of row data.

[0122] In step S5, based on the three-dimensional shape data of the tablet T generated by the data generation unit 44c, the determination unit 44d performs a tablet shape check to inspect whether the tablet T on the conveyor belt 21a has any abnormalities (e.g., defects, damage, or foreign matter). For example, if the prescribed three-dimensional shape data exists in the three-dimensional shape data generated by the data generation unit 44c, the determination unit 44d determines that the tablet T has no abnormalities and sets the inspection result as qualified. On the other hand, if the prescribed three-dimensional shape data does not exist in the three-dimensional shape data generated by the data generation unit 44c, the determination unit 44d determines that the tablet T has an abnormality and sets the inspection result as unqualified. Furthermore, the prescribed three-dimensional shape data is preset and stored in the storage unit 42, etc. For example, if the type of tablet T to be printed changes and the shape of the tablet T changes, the change is made according to the user's input operation on the input device 40a.

[0123] In step S6, based on the tablet shape inspection results, the control unit 43 determines whether printing can be performed on the target tablet T. If it is determined that printing can be performed on the target tablet T (Yes in step S6), the process proceeds to step S7. Furthermore, based on the position information of the tablet T in the X, Y, and θ directions, or information such as the printing pattern, printing conditions, including the nozzle range used for the tablet T (printable tablet T) and the printing start time, are set in the storage unit 42. Based on the printing start time (the time when printing begins on the tablet T), the ink ejection time (the time when ink is ejected from the tablet T) is determined. On the other hand, if it is determined that printing cannot be performed on the target tablet T (No in step S6), actions related to printing or inspecting the target tablet T are restricted, and the process proceeds to step S11. Furthermore, the printing availability information of the tablet T is appropriately stored in the storage unit 42. In addition, the so-called "restriction" on actions related to printing or inspection means that at least no processing related to printing and inspection of the printing status of the tablet T is performed.

[0124] In step S7, printing is performed by the inkjet head 24 based on the printing conditions. That is, the inkjet head 24 is controlled by the control unit 43 to print a predetermined printing pattern onto the printable tablet T on the conveyor belt 21a. Specifically, printing is performed by the inkjet head 24 based on the printing start timing when the printable tablet T on the conveyor belt 21a below the first imaging unit 23 reaches the printing position directly below the inkjet head 24. In the inkjet head 24, ink is appropriately ejected from each nozzle 24a to print a printing pattern (e.g., number, letter, katakana, symbol, graphic) on the printing surface, which is the upper surface of the tablet T.

[0125] In step S8, the second imaging unit 25 captures a photograph of the printed tablet T on the conveyor belt 21a. Specifically, the second imaging unit 25 captures a photograph at a second shooting moment when the printed tablet T on the conveyor belt 21a reaches a shooting position directly below the second imaging unit 25, and the second image obtained by capturing the photograph using the second imaging unit 25 is sent to the control device 40. The second image is processed by the image processing unit 41 of the control device 40. Specifically, the image processing unit 41 obtains information related to the printed pattern printed on the tablet T, namely the printing position, shape, and size of the printed pattern. The second image sent from the second imaging unit 25 is processed by the image processing unit 41 to generate inspection information indicating the printing position, shape, and size of the printed pattern printed on the tablet T, and this information is stored in the storage unit 42.

[0126] In step S9, based on the inspection information, the control unit 43 performs a printing status inspection. Specifically, based on the inspection information related to the printing position, shape, and size stored in the storage unit 42, the control unit 43 determines whether the printing pattern has been correctly printed onto the tablet T, generates printing quality information indicating the printing quality of the tablet T, and stores it in the storage unit 42. For example, in the printing status inspection, the printing pattern used for printing is stored in the storage unit 42 as an inspection pattern. Good product information related to the specified printing position, shape, and size of the inspection pattern, and inspection information related to the printing position, shape, and size of the actual printed pattern stored in the storage unit 42, are compared to determine whether the printing pattern has been correctly printed onto the tablet T (qualified or unqualified).

[0127] In step S10, the processes of steps S2 to S9 are repeated in the second printing device 50. The tablet T printed by the first printing device 20 is reversed and handed over to the lower second printing device 50, where the processes of steps S2 to S9 are performed. Thus, double-sided printing of the tablet T can be achieved. Furthermore, the conveyor belt 51a rotates in the conveying direction A2 by the rotation of the drive pulley 51b based on the motor 51d and each driven pulley 51c. Therefore, the tablets T handed over to the conveyor belt 51a are arranged in a row on the conveyor belt 51a and conveyed away at a predetermined conveying speed.

[0128] In step S11, the tablets T on the conveyor belt 51a of the second printing device 50 are recovered by the recycling device 30. Specifically, when a reusable tablet T reaches the reusable product recycling section 31 as the conveyor belt 51a moves, gas is blown onto the tablet T from above by the spray nozzle 31a, causing the tablet T to fall from the conveyor belt 51a and be collected by the recycling bin 31b. Similarly, when a defective tablet T reaches the defective product recycling section 32 as the conveyor belt 51a moves, gas is blown onto the tablet T from above by the spray nozzle 32a, causing the tablet T to fall from the conveyor belt 51a and be collected by the recycling bin 32b. Furthermore, when a good tablet T reaches a position near the end of each driven pulley 51c on the conveyor belt 51a, no suction action is applied to the tablet T; gas is blown onto the tablet T from above by the spray nozzle 33a, causing the tablet T to fall from the conveyor belt 51a and be collected by the recycling bin 33b. Controls related to the blowing of this gas, such as information on the position of tablet T, the results of tablet shape inspection, whether printing is possible, and whether printing is good or bad (the results of printing status inspection), are executed by the control unit 43.

[0129] In step S12, the control unit 43 determines whether printing has ended. For example, it counts the number of printed tablets T, and determines that printing has ended when the number reaches a predetermined production number. If printing is determined to be finished (yes in step S12), the process ends. On the other hand, if printing is determined not to be finished (no in step S12), the process returns to step S1. Furthermore, the determination of printing completion can also be based on the user's input operation on the input device 40a, for example, if the user presses the printing end button.

[0130] According to this printing process, based on the position data of each tablet T obtained by the position acquisition unit 44a, a predetermined range of row data is cut from a plurality of row data (multiple row data) stored at predetermined intervals by the storage management unit 44b for each tablet T. Based on the predetermined range of row data cut out for each tablet T, three-dimensional shape data of the tablet T is generated for each tablet T. Thus, by cutting out a predetermined range of row data corresponding to the position where the tablet T is located, it is not necessary to constantly check whether data indicating a tablet exists in the row data obtained at predetermined intervals. This reduces the processing load.

[0131] Here, we examine a situation where, during printing, the shape detection unit 26 (56) does not continuously take pictures, but rather, based on the position data of the tablet T obtained by the position acquisition unit 44a, the shape detection unit 26 (56) measures the arrangement of a portion of two tablets T (see reference). Figure 4 The tablets (2) and (3) are photographed. In this case, based on the position data, the shape detection unit 26 (56) takes a picture each time, and the row data at predetermined intervals is not stored in the storage management unit 44b. Therefore, in order to obtain a predetermined range of row data based on the position data of the tablet T, it is necessary to photograph each tablet T by the shape detection unit 26 (56).

[0132] For example, the shape detection unit 26 takes an image to measure... Figure 4 The tablet (2) in the middle is detected, and row data within a specified range is obtained based on the position data generated by the position acquisition unit 44a. Then, the tablet (2) in the middle is detected. Figure 4 The tablet (3) in the middle sends a signal to the shape detection unit 26 to obtain row data within a specified range based on the position data generated by the position acquisition unit 44a. However, the shape detection unit 26 takes a picture of the specified range of the tablet (3) after taking a picture of the specified range of the tablet (2), so it is possible that defects will be generated in the picture data of the tablet (3). Specifically, the shape detection unit 26 takes a picture of the specified range of the tablet (2) after taking a picture of the specified range of the tablet (3). Figure 4The imaging of tablet (3) begins after the range from "(2) start position" to "(2) end position". In this case, it is possible that during the imaging of tablet (3), the desired image may not be obtained. Figure 4 The row data in the text is from “(3) start position” to “(2) end position”.

[0133] In the tablet printing apparatus 1 of the embodiment, from multiple rows of data obtained by the shape detection unit 26 continuously taking pictures during the printing operation of the tablet printing apparatus 1 at predetermined intervals, rows of data within a predetermined range are cut based on the position data of the tablet T. Therefore, even if two tablets T are arranged on the detection line of the conveyor belt 21a (51a) detected by the shape detection unit 26 (56) (see reference 21a), the data is cut within a predetermined range. Figure 4 Tablets (2) and (3) can also obtain row data within their respective specified ranges. That is, even if two parts of tablets T are arranged on the detection line, three-dimensional shape data without defects can be obtained in each tablet T. Furthermore, when the possibility of repeatedly arranging and conveying parts of multiple tablets T in the Y direction (orthogonal to the conveying direction A1) increases, and when processing tablets T that are elliptical, oblong, triangular, or other shapes when viewed from above, it is suitable to cut row data within a specified range from multiple row data at specified intervals based on the position data of tablets T.

[0134] As explained above, according to the first embodiment, the tablet printing apparatus 1 includes: a position acquisition unit 44a, which acquires position data of the tablet T on the transport unit 21 (51) in the transport direction A1 for each tablet T transported by the transport unit 21 (51); a shape detection unit 26 (56), which repeatedly takes pictures at predetermined intervals while irradiating the transport unit 21 (51) with slit light, and calculates row data as picture data at predetermined intervals; and a storage management unit 44b, which sequentially stores the data obtained by the shape detection unit in association with the position on the transport unit 21 (51) in the transport direction A1. The measurement unit 26 (56) calculates row data at predetermined intervals; the data generation unit 44c, based on the position data of each tablet T obtained by the position acquisition unit 44a, cuts a predetermined range of row data from multiple row data stored by the storage management unit 44b for each tablet T, and generates three-dimensional shape data of each tablet T based on the predetermined range of row data cut from each tablet T; and the determination unit 44d performs a shape check on each tablet T based on the three-dimensional shape data of each tablet T generated by the data generation unit 44c. Thus, a predetermined range of row data is cut from multiple row data for each tablet T, and a shape check is performed on each tablet T based on the predetermined range of row data cut from each tablet T (i.e., the three-dimensional shape data of each tablet T). Therefore, compared to always performing a process to confirm the existence of data indicating a high portion (e.g., confirming the presence or absence of a tablet or its shape) on all data at predetermined intervals of row data, high-speed data processing can be achieved. As a result, rapid checks are possible.

[0135] <Second Implementation>

[0136] Reference Figure 6 The second embodiment will now be described. In the second embodiment, the differences from the first embodiment will be explained.

[0137] Figure 6 In the example, decision unit 44d represents two cases, one denoted as decision unit A and the other as decision unit B. For example... Figure 6 As shown, in the second embodiment, the data generation unit 44c of the control device 40 determines each decision unit 44d, that is, in Figure 6 In the example, acknowledgment signals are sent to decision unit A and decision unit B. An acknowledgment signal is a request signal that requests the status (status data) of decision unit A or decision unit B.

[0138] exist Figure 6In the example, the data generation unit 44c alternately sends confirmation signals of the request to send status to the determination unit A and determination unit B at regular intervals. Upon receiving the confirmation signal, determination unit A or determination unit B, based on its own status (processing status), sends a signal indicating either a ready state (R) or a busy state (B) to the data generation unit 44c. Furthermore, the ready state is a standby state where no inspection processing is performed. The busy state is a state where new three-dimensional shape data cannot be accepted due to ongoing inspection processing.

[0139] When the data generation unit 44c receives a signal indicating a ready state, it sends the three-dimensional shape data to the determination unit A or determination unit B that sent the signal. When it receives a signal indicating a busy state, it does not send the three-dimensional shape data to the determination unit A or determination unit B that sent the signal. After the inspection process is completed, determination units A and B append the identification data (e.g., sequence ID) of tablet T to the shape inspection result data and send it to the result management unit 44e. The result management unit 44e sorts and manages the shape inspection result data based on the identification data of tablet T.

[0140] Here, based on the shape / position of tablet T, or the presence and amount of defects, at each judgment section 44d (in Figure 6 In the example of decision unit A and decision unit B, the time required from the start of the inspection process to the completion of sending the inspection result can sometimes vary. With the second embodiment, since the idle decision unit 44d can be used, processing can be performed efficiently.

[0141] As explained above, the second embodiment achieves the same effects as the first embodiment. Furthermore, the data generation unit 44c sends confirmation signals to each determination unit 44d requesting the transmission of the status of each determination unit 44d. Thus, the data generation unit 44c is aware of the status of each determination unit 44d, thereby avoiding processing stagnation, such as instructing a busy determination unit 44d to perform check processing (e.g., transmitting three-dimensional shape data). In other words, the data generation unit 44c can appropriately allocate check processing (e.g., three-dimensional shape data) to each determination unit 44d, enabling high-speed data processing.

[0142] Furthermore, the data generation unit 44c sends confirmation signals to each determination unit 44d at regular intervals, but is not limited to this. For example, it may send a confirmation signal after the inspection time required for one tablet T has elapsed since the three-dimensional shape data was sent, or after a predetermined time has elapsed after sending a confirmation signal once. Additionally, each determination unit 44d may use the three-dimensional shape data received from the data generation unit 44c as a trigger to send a signal indicating it is in a busy state. Alternatively, without confirmation signals, the determination unit 44d may send a signal indicating it is in a ready state to the data generation unit 44c when sending the shape inspection result data for tablet T.

[0143] <Third Implementation Method>

[0144] Reference Figure 7 The third embodiment will now be described. In the third embodiment, the differences from the first embodiment will be explained.

[0145] In the third embodiment, during maintenance of the tablet printing apparatus 1 (e.g., during a stoppage of transport and printing), the storage management unit 44b moves data stored in the buffer area or storage unit 42 (e.g., row data at predetermined intervals, row data cut out within a predetermined range, three-dimensional shape data (image data) of the tablet T, shape inspection result data of the tablet T, or various image data, etc.) to another storage unit 40c. This data movement involves deleting data from its original location and moving it to another location for storage. Furthermore, the maintenance of the tablet printing apparatus 1 includes maintenance of any or all of the following devices: the supply device 10, the first printing device 20, the second printing device 50, the recycling device 30, and the control device 40.

[0146] For example, the storage management unit 44b moves data stored in the buffer area or storage unit 42 to the memory 40c in association with the manufacturing date (printing date) or batch number, etc. Thus, for printed tablets T, the cause can be traced back to instances of defective products after shipment. Furthermore, the manufacturing date or batch number, etc., can be preset and stored in the storage unit 42, and can be changed, for example, based on user input operations on the input device 40a.

[0147] like Figure 7 As shown, in step S21, the control unit 43 determines whether the maintenance opportunity has arrived. When it is determined that the maintenance opportunity has arrived (yes in step S21), in step S22, the control unit 43 issues maintenance commands to each part that is to be maintained (for example, any or all of the following: the supply device 10, the first printing device 20, the second printing device 50, the recycling device 30, the control device 40, etc.).

[0148] Subsequently, in step S23, a data movement command is issued from the control unit 43 to the storage management unit 44b. Data stored in the buffer area of ​​the storage management unit 44b or in the storage unit 42 is moved to the memory 40c via the storage management unit 44b. In step S24, the control unit 43 determines whether the data movement is complete. If it is determined that the data movement is complete (yes in step S24), in step S25, the control unit 43 determines whether maintenance is complete. If it is determined that maintenance is complete (yes in step S25), the process ends. The completion of maintenance is indicated, for example, by a user input operation on the input device 40a.

[0149] As explained above, the third embodiment achieves the same effects as the first embodiment. Furthermore, during maintenance of the tablet printing apparatus 1, the storage management unit 44b moves data stored in the buffer area or storage unit 42 to another memory 40c. This allows the user to review the data later, thus improving user convenience. For example, the storage management unit 44b moves data stored in the buffer area or storage unit 42 to the memory 40c in association with the manufacturing date (printing date) or batch number. In this way, for the printed tablets T, the cause can be traced back to instances of defective products after shipment.

[0150] <Other Implementation Methods>

[0151] In the above description, the tablet printing apparatus 1 (tablet printing method) of the embodiment is used to print tablet T. This can also be described as using the tablet printing apparatus 1 (tablet printing method) of the embodiment to print tablet T to manufacture a printed tablet T. That is, the tablet printing apparatus 1 can be described as a tablet manufacturing apparatus, and the tablet printing method can be described as a tablet manufacturing method.

[0152] Furthermore, while the structure of the embodiment described above is applied to the tablet printing apparatus 1, it can also be applied to a tablet inspection apparatus. Additionally, when the structure of the embodiment is applied to the tablet printing apparatus 1, there is also an inspection mode in the operating modes. When selecting the inspection mode, the inkjet head 24 (54) can be omitted and inspection can be performed only. During inspection operation, the upper surface of the conveyor belt 21a is always photographed by the camera 26b at predetermined intervals. Furthermore, the inspection process can involve only shape inspection, or it can simultaneously involve printing inspection of the tablet T performed by other devices. In the case of printing inspection performed by other devices, the printing inspection can be performed by the first imaging unit 23 or by the second imaging unit 25, either one. Furthermore, the result of shape inspection is that if there is an abnormality, the printing inspection can be omitted. Moreover, the imaging performed by the shape detection unit 26 (56) is always performed during apparatus operation. "Animal operation" includes not only the printing operation described above, but also the inspection operation (where only the inspection process is performed).

[0153] In addition, in the above description, the position acquisition unit 44a generates position data of tablet T based on the information obtained by the detection unit 22 (52), and based on the position data, cuts a predetermined range of row data for each tablet T from a plurality of row data stored at predetermined intervals by the storage management unit 44b, but is not limited thereto. The row data can also be cut based on position data generated from a first image, which is obtained by taking a picture by the first imaging unit 23 (53). Furthermore, the position data obtained by the detection unit 22 (52) and generated by the position acquisition unit 44a can be corrected based on the first image. In this case, the first imaging unit 23 (53) takes a first image based on the position data generated by the position acquisition unit 44a indicating the position of tablet T in the transport direction A1. Based on the first image, the image processing unit 41 generates position data of tablet T in the X and Y directions. Then, the position data of the center (including the center of gravity) of tablet T is determined based on the position data of tablet T in the X and Y directions. The image processing unit 41 corrects the position data representing the position of tablet T in the transport direction A1 based on the position data of the center of tablet T. The image processing unit 41 sends the corrected position data (corrected position data) representing the position of tablet T in the transport direction A1 to the position acquisition unit 44a. Based on the corrected position data, the data generation unit 44c cuts a predetermined range of row data from multiple rows of data stored at predetermined intervals by the storage management unit 44b, and generates three-dimensional shape data of tablet T based on the cut-out predetermined range of row data. In this way, the position of the center of tablet T can be obtained more accurately, and the predetermined margin of the predetermined range can be further reduced.

[0154] Furthermore, while the description indicates the presence of multiple determination units 44d, the method is not limited to this and may include only one. Additionally, although multiple determination units 44d may be provided, if the data generation unit 44c and the determination units 44d are configured as inspection software, multiple inspection software programs may also be provided.

[0155] In addition, in the above description, the shape detection unit 26 (56) is located upstream of the position where the inkjet head 24 (54) is located in the transport direction A1 (A2), but it is not limited to this and may also be located downstream of the position in the transport direction A1 (A2).

[0156] Furthermore, the description illustrates the conveying of tablet T in one column, but it is not limited to this. The number of columns can be two or more, and there is no particular limitation. The number of conveyor belts 21a (51a) can also be two or more, and there is no particular limitation. In addition, the number of inkjet heads 24 (54) can also be two or more, and there is no particular limitation.

[0157] Furthermore, in the above description, the inkjet head 24 (54) is exemplified as a printhead with nozzles 24a arranged in a row, but it is not limited to this. For example, printheads with nozzles 24a arranged in multiple rows can also be used. In addition, multiple inkjet heads 24 (54) can be arranged in a direction orthogonal to the transport direction A1 in the horizontal plane.

[0158] In addition, the description illustrates that the inkjet head 24 (54) is configured such that the direction in which the nozzles 24a are arranged is orthogonal to the transport direction A1 in the horizontal plane, but it is not limited to this. For example, the direction in which the nozzles 24a are arranged may be configured such that the direction in which the nozzles 24a are arranged is obliquely intersecting the transport direction A1 (A2) in the horizontal plane.

[0159] Furthermore, in the above description, tablets T are supplied to the conveyor belt 21a (51a) randomly rather than at fixed intervals, but this is not a limitation; they may also be supplied at fixed intervals. Additionally, in the above description, tablets T are drawn and held by suction holes 21g formed on the conveyor belt 21a (51a), but this is not a limitation; they may also be contained and held in a pocket or the like for transport, or they may be held on the conveyor belt 21a (51a) by their own weight for transport.

[0160] Here, the tablet T may include tablets used for pharmaceutical, dietary, cleaning, industrial, or aromatic purposes. Furthermore, the tablet T may be a bare tablet (uncoated), sugar-coated tablet, film-coated tablet, enteric-coated tablet, gelatin-coated tablet, multilayer tablet, cored tablet, etc., and various capsules such as hard capsules or soft capsules may also be included in the tablet T. Furthermore, the tablet T may have various shapes such as disc-shaped, lens-shaped, triangular, or elliptical. Additionally, when the tablet T to be printed is for pharmaceutical or dietary use, edible ink is suitable as the ink used. As the edible ink, any one of synthetic pigment ink, natural pigment ink, dye ink, or pigment ink can be used.

[0161] The foregoing has described several embodiments of the present invention, but these embodiments are merely illustrative and not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments or variations thereof are included within the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents.

Claims

1. A tablet inspection device, comprising: The position acquisition unit acquires position data of the tablet on the conveying unit in the conveying direction for each tablet conveyed by the conveying unit; The shape detection unit irradiates the conveying unit with slit light while repeatedly taking pictures at predetermined intervals, and calculates row data as the picture data at each predetermined interval. The storage management unit sequentially stores the row data determined by the shape detection unit at predetermined intervals, in association with the position of the data in the conveying direction on the conveying unit; The data generation unit, based on the position data of each tablet obtained by the position acquisition unit, cuts a predetermined range of row data from a plurality of row data stored by the storage management unit for each tablet, and generates three-dimensional shape data of the tablet for each tablet based on the predetermined range of row data cut out for each tablet; as well as The determination unit performs a shape check on each tablet based on the three-dimensional shape data of each tablet generated by the data generation unit.

2. The tablet inspection device according to claim 1, wherein, The shape detection unit continuously performs the imaging during the printing operation of the tablet printing apparatus.

3. The tablet inspection device according to claim 2, further comprising: The first imaging unit captures a first image based on the position data generated by the position acquisition unit; as well as The image processing unit generates position data of the tablet in the X and Y directions based on the first image, and calculates the position data of the tablet. The image processing unit corrects the position data generated by the position acquisition unit based on the position data of the tablet, obtains the corrected position data, and sends the corrected position data to the position acquisition unit. Based on the corrected position data, the data generation unit selects the row data for each tablet from the plurality of row data stored by the storage management unit, specifying the cutting range.

4. The tablet inspection device according to claim 3, wherein, The location acquisition unit adds identification data to each tablet.

5. The tablet inspection device according to claim 3, wherein, The determination unit is provided in multiple ways. The data generation unit sends the three-dimensional shape data of each tablet to the plurality of determination units in a predetermined order.

6. The tablet inspection device according to claim 5, wherein, The number of the plurality of determination units is two. The data generation unit alternately sends the three-dimensional shape data of each tablet to the two determination units.

7. The tablet inspection apparatus according to claim 5, wherein, The data generation unit sends the three-dimensional shape data of each tablet to the plurality of determination units according to the respective states of the determination units.

8. The tablet inspection apparatus according to claim 7, wherein, The data generation unit sends a signal to the multiple determination units requesting the respective states of the multiple determination units. Each of the multiple determination units sends a status signal according to the request sent by the data generation unit, and sends a signal to the data generation unit to notify the data generation unit of the status.

9. The tablet inspection apparatus according to claim 7, wherein, The multiple determination units send the shape inspection result data and a signal indicating the ready state to the data generation unit as signals to notify the state.

10. The tablet inspection device according to claim 3, wherein, The storage management unit stores multiple rows of data, the specified range of row data for each of the cut tablets, or the three-dimensional shape data of each tablet. The stored multiple rows of data, the stored range of rows of data for each tablet, or the stored three-dimensional shape data for each tablet are moved to other storage during maintenance.

11. A tablet printing apparatus, comprising the tablet inspection apparatus as claimed in any one of claims 1 to 10.

Images