Tube drug visual detection device

Abstract

A kind of tube drug visual detection device, comprising: conveying line mechanism;Along the visual detection mechanism of conveying line mechanism to the visual detection mechanism of tube drug in conveying direction, visual detection mechanism is used to detect the appearance, concentricity, cut and length of tube drug;Mechanical hand for transferring tube drug, mechanical hand is provided with two groups, one group is set to the start end of conveying line mechanism, another group is set to the recovery end of conveying line mechanism;Control system, control system is electrically connected with conveying line mechanism, visual detection mechanism and mechanical hand, for realizing the collaborative work between conveying line mechanism, visual detection mechanism and mechanical hand and tube drug detection.The present application includes appearance detection station, concentricity detection station, cut detection station, length detection station, can realize multi-station collaborative precision detection, the present application provides tube drug visual detection device with the advantages of high detection efficiency, high detection precision, good stability, strong safety etc..

Description

Technical Field

[0001] This invention relates to the field of drug tube inspection technology, and more specifically, to a drug tube visual inspection device that integrates multiple parameter detection functions such as drug tube appearance, concentricity, cut and length. Background Technology

[0002] As a core component of pyrotechnic devices, explosive charges are widely used in civil blasting, military, and other fields. Their quality directly affects their safety and detonation reliability. Appearance defects (such as scratches, damage, stains, and exposed core), concentricity deviation, cut smoothness, and length accuracy are key indicators of their quality, thus requiring rigorous testing of these parameters.

[0003] Currently, traditional drug testing mostly relies on manual methods, with inspectors relying on visual observation and simple tools to complete the testing. This method has several drawbacks, such as: 1. Low testing efficiency, making it difficult to meet the testing needs of large-scale production; 2. High testing accuracy is greatly affected by human factors, is highly subjective, and prone to missed or false detections, especially for subtle parameters like concentricity, where accuracy is difficult to guarantee. Deviations in drug concentricity can lead to uneven combustion rates, posing safety hazards; 3. Manual testing is labor-intensive, and prolonged work can easily lead to fatigue, further reducing testing reliability. Furthermore, direct contact with the drug poses certain safety risks.

[0004] To address the drawbacks of manual inspection, some automated inspection equipment has emerged on the market. However, most existing equipment is single-function, often only capable of visual inspection or single-dimensional parameter testing. To complete comprehensive testing of multiple parameters of tubing, multiple different inspection devices are required. This not only increases equipment investment costs and floor space but also necessitates multiple loading and unloading operations, prolonging the inspection process and reducing production efficiency. Furthermore, during multi-device inspection, repeated positioning of tubing can introduce errors, affecting the consistency of inspection accuracy, and frequent transfers may damage the tubing surface. Summary of the Invention

[0005] (a) Technical issues In summary, how to provide a solution that integrates the appearance inspection station, concentricity inspection station, cut inspection station, and length inspection station required for visual inspection of pharmaceuticals, in order to achieve multi-parameter synchronous inspection, has become an urgent problem to be solved by those skilled in the art.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: This invention provides a visual inspection device for drug delivery tubes, which includes: A conveyor line mechanism used for transporting tubular medicines; A vision inspection mechanism for conveying the tubular medicine along the conveyor line mechanism, the vision inspection mechanism being used to inspect the appearance, concentricity, cuts and length of the tubular medicine; A robotic arm for transferring tubular medicines, the robotic arm is provided in two sets, one set is provided at the starting end of the conveyor line mechanism, and the other set is provided at the retrieval end of the conveyor line mechanism; A control system is electrically connected to the conveyor line mechanism, the vision inspection mechanism, and the robotic arm, and is used to realize the collaborative operation and drug inspection among the conveyor line mechanism, the vision inspection mechanism, and the robotic arm.

[0007] Preferably, in the tube medicine visual inspection device provided by the present invention, the conveyor line mechanism is a conveyor belt structure, the conveyor belt structure adopts a rotary operation mode, a tray is provided on the conveyor belt of the conveyor belt structure, and a V-shaped groove for placing tube medicine is provided on the tray.

[0008] Preferably, in the drug tube visual inspection device provided by the present invention, the robotic arm includes a multi-axis robot, and a spider arm for grasping the drug tube is provided at the end of the multi-axis robot.

[0009] Preferably, in the tube medicine visual inspection device provided by the present invention, the robotic arm includes a gantry frame, which is horizontally arranged above the conveyor line mechanism. A crane is arranged on the gantry frame, and a lifting device is arranged on the crane. At the end of the lifting device, a negative pressure suction cup is provided for gripping the tube medicine by negative pressure adsorption.

[0010] Preferably, in the tube drug visual inspection device provided by the present invention, the visual inspection structure includes an appearance inspection unit, the appearance inspection unit includes an industrial camera, and at least three industrial cameras are provided; in the appearance inspection units in the same group, all the industrial cameras are arranged at equal intervals around the axis of the tube drug being inspected.

[0011] Preferably, in the tube medicine visual inspection device provided by the present invention, the appearance inspection unit further includes a mounting frame, the mounting frame includes four mounting shafts, and the four mounting shafts are equally spaced around the tube medicine axis in a front-up, front-down, rear-up, and rear-down manner relative to the tube medicine to be inspected.

[0012] Preferably, the drug visual inspection device provided by the present invention further includes a sorting conveyor belt, an adjustable limiting plate with an adjustable width is provided at the end of the sorting conveyor belt, and a sliding plate is connected to the sorting conveyor belt, the sliding plate being connected to the conveyor line mechanism.

[0013] Preferably, in the tube visual inspection device provided by the present invention, the visual inspection structure includes a concentricity detection unit, which includes an industrial camera and a telecentric eight-eighths lens used in conjunction with the industrial camera; the concentricity detection unit is used to acquire tube end face images and calculate concentricity based on the contours of the outer circle and inner core of the tube.

[0014] Preferably, in the tube-based visual inspection device provided by the present invention, the visual inspection structure includes a cut detection unit, which includes an industrial camera and an eight-part lens used in conjunction with the industrial camera; the cut detection unit is used to acquire the flatness, smoothness, cut angle, and cut shape parameters of the tube-based cut.

[0015] Preferably, in the tube visual inspection device provided by the present invention, the visual inspection structure includes a length detection unit, the length detection unit includes a height adjustment frame, an industrial camera is mounted on the height adjustment frame, and a telecentric lens is used in conjunction with the industrial camera; the length detection unit is used to acquire tube images from top to bottom, and to determine the length of the tube by analyzing the pixel information in the image.

[0016] (III) Beneficial Effects As described above, this invention provides a tube-based visual inspection device. This device includes: a conveyor line mechanism for conveying tubes; a visual inspection mechanism along the conveyor line mechanism for inspecting the appearance, concentricity, cuts, and length of the tubes; a robotic arm for transferring the tubes, comprising two sets, one set located at the starting end of the conveyor line mechanism and the other at the retraction end; and a control system electrically connected to the conveyor line mechanism, the visual inspection mechanism, and the robotic arm, for enabling collaborative operation and tube inspection among these components. Based on the structural design of this inspection device, the invention includes appearance inspection stations, concentricity inspection stations, cut detection stations, and length inspection stations, enabling multi-station collaborative and accurate inspection. The tube-based visual inspection device provided by this invention has advantages such as high inspection efficiency, high inspection accuracy, good stability, and strong safety. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. Wherein: Figure 1 This is a flowchart illustrating the operation of a drug visual inspection device in one embodiment of the present invention. Figure 2 This is a block diagram of the detection logic of the tube medicine visual inspection device when inspecting tube medicine in one embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the drug delivery visual inspection device in one embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the drug delivery visual inspection device in another embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the robotic arm in one embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a sorting conveyor belt in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a visual inspection mechanism in one embodiment of the present invention; Figure 8 This is a partial structural schematic diagram of the visual inspection mechanism in one embodiment of the present invention; Figure 9 This is a partial structural schematic diagram of the visual inspection mechanism in one embodiment of the present invention; Figure 10 This is a partial structural schematic diagram of the conveyor line mechanism in one embodiment of the present invention.

[0018] Figure 3 The robotic arm adopts a gantry structure. Figure 4 The robotic arm adopts a structure combining a multi-axis robot and a spider arm.

[0019] exist Figure 3 In the figures, the correspondence between the reference numerals and the component names is as follows: 1. Automatic feeding unit; 2. Telecentric imaging system; 3. CMOS camera; 4. Conveyor line mechanism; 5. Intelligent detection and processing unit; 6. Fully automatic material receiving and rejection unit; 7. Human-machine interaction and data management unit; 8. Automatic feeding and conveying assembly; 9. Appearance and curvature detection assembly; 10. Concentricity detection assembly; 11. Cutting detection assembly; 12. Length detection assembly; 13. Material collection system; 14. Data management and traceability device.

[0020] exist Figure 4 In the figures, the correspondence between the reference numerals and the component names is as follows: Spider hand a, conveyor line mechanism b, appearance inspection unit c, concentricity inspection unit d, cut inspection unit e, length inspection unit f, sorting conveyor belt g, inclined track h, recycling belt i, rejection track j. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. Indeed, those skilled in the art will recognize that modifications and variations can be made to the invention without departing from its scope or spirit. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the invention encompass such modifications and variations falling within the scope of the appended claims and their equivalents.

[0022] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0023] Please refer to Figures 1 to 10 .

[0024] To address the problems of limited functionality, low efficiency, insufficient accuracy, and inadequate safety in existing gunpowder testing equipment, this invention provides a visual inspection device capable of detecting the appearance, concentricity, cuts, and length of gunpowder tubes (cylinders are cylindrical objects composed of gunpowder). The visual inspection device provided by this invention forms a complete visual inspection system by setting up appearance inspection stations, concentricity inspection stations, cut inspection stations, and length inspection stations, achieving simultaneous multi-parameter detection, improving inspection efficiency and accuracy, and reducing inspection costs and safety risks.

[0025] The present invention provides a tube visual inspection device capable of detecting the appearance, concentricity, cuts, and length of tube medicines. The device includes a conveyor line mechanism (the conveyor line mechanism includes a frame, a circulating conveyor belt on the frame, and a pallet on the conveyor belt), a loading and unloading robot (in one specific embodiment of the present invention, the robot includes a spider arm, which is the Delta parallel robot robot in the field of industrial technology. It is named for its resemblance to a spider with many legs and is a special robot for high-speed sorting, grasping, and handling), a visual inspection mechanism, a rejection device, and a control system.

[0026] The robotic arms used for loading and unloading are located at the starting end (also known as the loading end) and the recycling end of the conveyor system. The robotic arm at the starting end picks up the tubes to be tested from the hopper and accurately places them onto the trays of the conveyor system. (In embodiments with a sorting conveyor belt, the robotic arm primarily removes the tubes from the hopper and transfers them to the sorting conveyor belt, which then transports them one by one to the trays of the conveyor system.) The robotic arm at the recycling end picks up qualified tubes from the trays of the conveyor system and moves them to the qualified product recycling area. Through the cooperation of the robotic arms and the conveyor system, the entire process of tube testing—loading and recycling—is automated, reducing direct human contact and improving safety.

[0027] In one specific embodiment of the present invention, the robotic arm includes a multi-axis robot body, an end effector (spider hand), and a vision positioning component. The multi-axis robot body adopts a four-axis parallel robot structure, fixed on a frame, with a repeatability accuracy of ±0.01mm, fast motion response speed, and smooth movement. The end effector is an adaptive pneumatic gripper-type spider hand, with silicone anti-slip pads embedded on the inner side of the grippers. The gripping force adjustment range is 3-30N, which can automatically adjust the force according to the diameter of the drug tube to avoid damaging the drug tube surface or squeezing the drug core during gripping, while ensuring gripping stability. The vision positioning component consists of a binocular positioning camera and a positioning lens. The positioning camera is integrated into the robot body via a bracket, and the positioning lens faces the hopper, the starting end of the conveyor line mechanism, and the recycling area (recycling end and rejection area), respectively, to collect real-time coordinate information of the drug tube position, the V-groove station of the conveyor line (the V-groove set on the bracket of the conveyor line mechanism to stably hold the drug tube), and the recycling bin. The data is transmitted to the control system to guide the spider hand to complete precise gripping and placement actions.

[0028] The conveyor system includes a frame, which is a straight frame structure. The conveyor system also includes a conveyor belt, which is set along the length of the frame and is the core transmission component connecting each inspection station. Its core function is to drive the tubing to be transported one by one in a preset order to the visual inspection station corresponding to the appearance inspection station (or appearance and curvature inspection station), concentricity inspection station, cut inspection station, and length inspection station. After the accurate detection of each parameter is completed, the tubing is transported to the recycling end or rejection area.

[0029] The conveyor system includes a stepper motor, a synchronous belt conveyor assembly, and V-groove positioning components (i.e., the aforementioned brackets). The stepper motor is fixed to the bottom of the frame and connected to the synchronous belt conveyor assembly via a reducer, enabling stepless adjustment of the conveying speed to ensure smooth transmission and match the inspection rhythm of each station. V-groove positioning components (brackets) are evenly spaced on the synchronous belt of the synchronous belt conveyor assembly. These V-groove positioning components are integrally molded from anti-static nylon material, with polished inner walls. They are adaptable to different specifications of tubes and utilize the self-centering characteristic of the V-groove structure to automatically center and fix the tubes, ensuring the stability of the central axis as the tubes pass through each visual inspection station, preventing deviation from affecting inspection accuracy. Simultaneously, the anti-static material prevents static electricity generation, meeting the safety requirements for pyrotechnics inspection.

[0030] The conveyor line mechanism is divided along the conveying direction in the following order: "feeding station → appearance inspection station → concentricity inspection station → cut inspection station → length inspection station → rejection station → recycling station". Each station is equipped with a position sensor to provide real-time feedback on the position of the medicine tube to the control system, ensuring that the medicine tube accurately reaches each visual inspection station and triggers the inspection action.

[0031] As can be seen from the above, the present invention has multiple detection stations set along the conveying direction of the conveyor line mechanism. The tube medicine is conveyed one by one by matching the conveying speed of the conveyor line mechanism. Each detection station is equipped with at least one trigger sensor. When the trigger sensor (laser sensor, mainly used to detect whether the tube medicine has been conveyed to the position) of the detection station detects the tube medicine, the trigger sensor is triggered, and the PLC controller controls the detection camera of the corresponding station to perform image acquisition.

[0032] The visual inspection mechanism is set up at each visual inspection station of the corresponding conveyor line mechanism to form a complete multi-parameter inspection system. Specifically, it includes an appearance inspection component that matches the appearance inspection station, a concentricity inspection component that matches the concentricity inspection station, a cut inspection component that matches the cut inspection station, a length inspection component that matches the length inspection station, and a dedicated light source component that provides an adaptive light source for each component. Each inspection component corresponds to its corresponding station to ensure that accurate inspection is started synchronously when the medicine arrives at the station.

[0033] The appearance inspection component (or appearance and curvature inspection component 9) is installed at the appearance inspection station and includes four symmetrically arranged industrial cameras. These cameras are mounted on the conveyor line via a gantry frame (composed of an X-shaped mounting plate and mounting shaft), with their lenses facing the circumference of the drug tube within the V-groove. Combined with a low-power surround ring light source, it can simultaneously acquire appearance images of the upper and lower halves of the drug tube, accurately identifying defects such as surface cracks, scratches, fish-scale patterns, pitting, damage, stains, exposed drug core, and bulges, achieving comprehensive inspection without blind spots. Simultaneously, it calculates whether the curvature of the drug tube is within acceptable limits.

[0034] The concentricity detection component 10 is set at the concentricity detection station and consists of an industrial camera, a telecentric lens, and a backlight. The backlight and the industrial camera are located on opposite sides of the conveyor line and are coaxially arranged. The parallel light emitted by the backlight penetrates the drug tube to form a contour projection. After the industrial camera acquires the projected image, it is transmitted to the control system. By extracting the contour coordinates of the outer skin and the core of the drug tube, their center positions are calculated, thereby obtaining the concentricity deviation. The detection accuracy reaches ±0.005mm, avoiding uneven combustion caused by concentricity difference.

[0035] The cut inspection component 11 is set at the cut inspection station. It uses an industrial camera with a high-resolution lens, which is set vertically toward the end of the tube. The lens focus is aligned with the cut plane. It is illuminated by a high-brightness strip light source (soft light without direct glare) to highlight the characteristics of the cut, such as burrs, chips, and flatness, to ensure clear imaging of defects and avoid the cut defects from affecting the assembly sealing.

[0036] The length detection component 12 is installed at the length detection station and includes an industrial camera and a high-resolution telecentric lens. The telecentric lens's field of view covers the entire axial length of the propellant tube. A calibration scale is parallel to the propellant tube and fixed beside the conveyor line as a length measurement reference. Length accuracy of ±0.02mm is achieved through image pixel comparison to ensure that the propellant tube length meets detonation requirements. Each industrial camera communicates with the control system in real time via an explosion-proof image acquisition card.

[0037] The rejection device is installed at the rejection station of the conveyor line mechanism to remove unqualified medicine tubes determined by the control system from the conveyor line. The rejection device includes an explosion-proof rejection cylinder, a pusher block, a defective product chute, and an anti-static waste box. The rejection cylinder is fixed to the conveyor line by an insulating bracket. The pusher block is connected to the cylinder piston rod, and its end has an arc shape adapted to the medicine tube. It is made of soft rubber to avoid damaging the medicine tube or generating static electricity during rejection. The defective product chute is made of anti-static PVC material, with a 30° inclination angle, corresponding to the pusher block. The end of the chute is connected to the waste box, which contains an anti-static cushioning pad and is grounded to prevent static electricity accumulation. When the unqualified medicine tube reaches the rejection station, the position sensor sends a signal, and the control system controls the rejection cylinder to move. The pusher block smoothly pushes the medicine tube from the V-groove into the defective product chute, where it falls into the waste box. After rejection, the cylinder quickly resets, without affecting subsequent medicine tube conveying. The control system is the core control unit of the entire device, electrically connected to the robotic arm, conveyor line mechanism, various vision inspection mechanisms, and rejection devices to achieve coordinated operation of these mechanisms. The system also features anti-static and explosion-proof control characteristics. The control system includes an industrial computer, a PLC controller, a human-machine interface, and a data storage module. The industrial computer integrates an image processing module and a motion control module to perform defect identification, parameter calculation, and conformity judgment on images acquired by various industrial cameras. The accuracy rate for identifying key defects such as exposed drug cores and damaged outer skin in drug tubes is ≥99.8%. The motion control module generates the optimal motion trajectory for the spider arm based on the coordinate data from the vision positioning components, ensuring smooth and shock-free movement. The PLC controller is responsible for controlling the start, stop, and speed of the conveyor line stepper motors, the opening and closing of the spider arm's pneumatic grippers, the switching of various detection light sources, and the timing of the rejection cylinder's actions. The response time of each actuator (the mechanism requiring PLC control in this application) is ≤1ms. The human-machine interface uses an explosion-proof touchscreen, which can display real-time detection data, equipment operating status, defect type statistics, and other information, and supports the custom setting and storage of detection parameters. The data storage module can automatically record the test results of each tube, including defect images, dimensional parameters, test time, operator information, etc. The data can be exported or uploaded to the MES system via explosion-proof Ethernet to achieve full-process traceability of production quality.

[0038] The tube visual inspection device provided by the present invention for detecting the appearance, concentricity, cut and length of tube medicine includes a conveyor line mechanism, a robot, a visual inspection mechanism and a rejection device.

[0039] Two sets of robotic arms are configured, located at the loading end (starting end) and the recycling end of the conveyor mechanism, respectively. The robotic arm at the loading end corresponds to the anti-static hopper, and the robotic arm at the recycling end corresponds to the anti-static qualified product recycling bin. The loading and unloading robotic arms include a multi-axis robot, which is a four-axis parallel robot with a repeatability of ±0.01mm, a maximum movement speed of 3m / s, and smooth acceleration. An end effector, i.e., a spider arm, is installed at the end of the multi-axis robot. The end effector uses an explosion-proof adaptive pneumatic gripper with a gripping force adjustment range of 3-30N.

[0040] The conveyor system uses a stepper motor as its power unit. The stepper motor is an explosion-proof servo motor with a power of 400W, a speed of 0-3000rpm, and an operating noise level of ≤55dB. The conveyor system uses a conveyor belt system. The synchronous belt (i.e., the transmission belt) is made of anti-static polyurethane material. A support plate with V-grooves is installed on the synchronous belt (transmission belt). The support plate, as a positioning component for the V-grooves, is made of anti-static nylon, and the groove opening is mirror-polished.

[0041] A visual inspection agency uses an industrial camera with a customized light source (backlight, coaxial light, ring light, etc.) to capture high-contrast original images for appearance, concentricity, cut, and length inspection. For appearance inspection, a color industrial camera with a high-resolution lens is used to capture images of the tube surface from all angles. Image analysis software is then used to detect defects such as cracks, scratches, fish-scale patterns, and pitting on the tube surface. In a preferred embodiment of the invention, the visual inspection agency can also calculate whether the degree of curvature of the tube is acceptable. For concentricity inspection, a color industrial camera with a high-resolution telecentric lens is used to capture images of the tube end faces from both ends. Based on the contours of the outer circle and inner core of the tube, their center positions are calculated to obtain the concentricity value. Products exceeding the set range are judged as unacceptable. For cut inspection, a color industrial camera with a high-resolution lens is used to capture images, and then image processing algorithms are used to analyze the images to detect features such as the flatness, smoothness, cut angle, and cut shape of the cut. For length inspection, an industrial camera with a high-resolution telecentric lens is used. After acquiring images of the tubing through a visual inspection agency, the length of the tubing is determined by analyzing the pixel information in the image using image processing software. Then, based on the image scale (obtained through pre-calibration), the pixel distance is converted into the actual length. Finally, it is compared with the set qualified value, and products that exceed or fall below the qualified value range are considered unqualified products.

[0042] Specifically, the principle of this invention for surface defect detection is: local texture anomaly analysis; the principle for curvature detection is: central axis fitting and curvature calculation; the principle for concentricity detection is: biorthogonal projection circle center offset composite image analysis; and the principle for cut end face detection is: end face flatness and core exposure analysis.

[0043] The rejection device includes a rejection cylinder, which is an explosion-proof series with an operating speed of 0.1-0.5 m / s and a buffer device. A pusher block made of soft silicone rubber is installed on the rejection cylinder. An arc-shaped groove is provided on the end face of the pusher block used for pushing materials, and the radius of the arc-shaped groove matches the largest specification tube. The non-conforming product chute is made of anti-static PVC material; the waste box is made of anti-static plastic material, lined with anti-static cushioning cotton, and the box body is connected to the frame via a grounding wire. This device, through the coordinated operation of a robotic arm and a V-groove conveyor line, combined with anti-static and explosion-proof design, resolves the contradiction between positioning accuracy, transmission efficiency, and safety control in the tube inspection process. The optical design of each visual inspection station (appearance, concentricity, cut, length) ensures the accuracy of multi-parameter detection. The equipment can quickly switch inspection parameters via a human-machine interface, adapting to different tube specifications without complex mechanical adjustments, significantly improving production flexibility. The automatic storage and traceability of inspection data meets the stringent quality control requirements of the pyrotechnics industry, making it suitable for online inspection scenarios in large-scale tube production, effectively reducing safety risks and improving production efficiency.

[0044] In this invention, the drug delivery visual inspection device operates as follows: 1. Loading Stage: The tubes to be tested are placed in batches into an anti-static hopper. The robotic arm uses a vision positioning component to collect the three-dimensional position data of the tubes within the hopper, transmitting this data to the motion control module of the control system to generate a gripping trajectory. When the robotic arm uses a spider-arm approach, the multi-axis robot body drives the end effector to move to the target tube position. The pneumatic gripper adaptively adjusts its gripping force to complete the gripping, then precisely places the tube into the V-groove positioning component at the beginning of the conveyor line. The spider-arm then returns to the hopper for the next gripping operation. When the robotic arm uses a gantry crane + overhead crane + negative pressure suction cup approach, the movement of the overhead crane is controlled so that the negative pressure suction cup aligns with the tube and descends to absorb it. This control method is simpler than the spider-arm approach.

[0045] 2. Conveying and Inspection Stage: The control system starts the stepper motor of the conveyor line, and the V-groove (pallet) drives the tubing to move along the conveying direction, entering each inspection station sequentially according to the preset order of the visual inspection stations: "Appearance Inspection Station → Concentricity Inspection Station → Cut Inspection Station → Length Inspection Station". When the tubing reaches a certain inspection station, the position sensor of that station immediately sends a signal, triggering the corresponding inspection component to start the image acquisition and inspection process. After the inspection of the current station is completed, the conveyor line carries the tubing to the next inspection station, realizing the orderly and accurate detection of various parameters. Image data is transmitted to the industrial computer in real time, and the image processing module simultaneously completes defect identification and parameter calculation, and stores the pass / fail judgment results; the conveying speed between stations can be adjusted according to the inspection requirements to avoid affecting the inspection accuracy.

[0046] 3. Rejection Stage: After completing full parameter testing, the tubes arrive at the rejection station along the conveyor line. The control system calls up the judgment result of the tube. If it is a defective product, the PLC controller controls the corresponding rejection cylinder to act, and the pusher block smoothly pushes the tube into the defective product chute, where it falls into a special waste box. If it is a qualified product, the rejection device does not act, and the tube continues to move along the conveyor line to the recycling station.

[0047] 4. Recycling Stage: When qualified medicine tubes arrive at the recycling station at the end of the conveyor line, the vision positioning component of the spider arm at the recycling end collects the position data of the medicine tubes and guides the robot to move above the V-shaped groove. The pneumatic gripper smoothly picks up the medicine tubes and then puts them into the anti-static qualified product recycling box. When the box is full, the human-machine interface issues a prompt signal to remind the staff to wear anti-static gloves to replace the box. 5. Cyclic Operation Phase: Each mechanism operates continuously according to the above process, with feeding, conveying, detection, rejection, and recycling carried out simultaneously. The control system monitors the status of each workstation's medicine tubes in real time through position sensors, enabling parallel processing of multiple medicine tubes and improving overall detection efficiency. When equipment malfunctions, the silo is short of material, or an abnormal pressure signal is detected, the alarm indicator light illuminates, the equipment automatically stops, and the cause of the malfunction is displayed on the human-machine interface, while the safety protection program is activated.

[0048] The detection steps of this invention are as follows: Step 1: Automatic feeding and conveying: The system is equipped with a hopper containing adjustable partitions to support the storage of various sizes of tubular medicines. The hopper is used for gripping and conveying of tubular medicines by a spider arm that works in conjunction with a conveyor system.

[0049] Step 2: Multi-dimensional detection: Appearance curvature inspection: A color industrial camera with a high-resolution lens is used to capture images of the tube surface from all angles. Image analysis software is then used to detect defects such as cracks, scratches, fish-scale patterns, and pitting on the tube surface. Simultaneously, the curvature of the tube is calculated to determine if it meets the acceptable standards. Concentricity detection: Using a color industrial camera with a high-resolution telecentric 8-point lens, images of the end faces of the tube are taken from both ends. Based on the contours of the outer circle and inner core of the tube, the center positions of the circles are calculated to obtain the concentricity value. Products that exceed the set range will be judged as unqualified. Cut end face inspection: A color industrial camera with a high-resolution eight-eighths-inch lens is used to capture images, which are then analyzed using image processing algorithms to detect features such as the flatness, smoothness, angle, and shape of the cut. Based on the data analysis results, the inspection system accurately determines whether the cut end face of each sample is qualified. Length detection: An industrial camera with a high-resolution telecentric lens is used. After acquiring an image of the tubing, image processing software is used to analyze the pixel information in the image to determine the length of the tubing. Then, based on the image scale (obtained through pre-calibration), the pixel distance is converted into the actual length.

[0050] Step 3: Intelligent material collection and rejection: Qualified and unqualified products are stored in separate compartments. A rejection device is installed, and a triggering mechanism is designed: the first trigger sends a pre-instruction based on the detection result, and the second verification confirms the target position through the encoder position signal, ensuring that the rejection error is ≤2mm and the accuracy rate is ≥99.99%.

[0051] Step 4: Data Management and Traceability The detection data and images are encrypted and stored in the database, and statistical reports can be generated by batch and defect type. The human-machine interface displays the inspection pass rate and defect distribution heat map in real time, and abnormal status is notified through audible and visual alarms and remote push notifications.

[0052] This invention uses physical rules and mathematical modeling to integrate the detection results of appearance, curvature, concentricity, cut end face, and length, and sets multi-level thresholds (such as appearance defects having higher priority than dimensional deviations). When the detection result of any dimension exceeds the threshold, a defective product rejection instruction is triggered, and the defect type and location information are recorded.

[0053] Compared with the prior art, the present invention has the following beneficial effects: 1. Seamless process integration and high testing efficiency: The combination of robotic arms and V-groove conveyor lines enables a fully automated process from disordered feeding to orderly testing and qualified recycling of medicines, reducing manual intervention, lowering safety risks, and allowing each station on the conveyor line to operate synchronously and in parallel. 2. High positioning accuracy and strong detection reliability: The V-groove positioning component utilizes the self-centering principle to achieve precise fixation of the drug tube. Combined with a dedicated optical system for visual inspection of each station (appearance, concentricity, cut, length), the accuracy rate of appearance defect identification is ≥99.8%, the concentricity and length detection accuracy reaches ±0.005mm and ±0.02mm respectively, and the identification of defects such as cut burrs is accurate. It effectively identifies key safety hazards such as exposed drug core and concentricity deviation, reducing the rate of missed and false detections. The Spider Hand's 3D visual positioning technology ensures the accuracy of grasping and placement, avoiding positioning errors caused by manual intervention. 3. High versatility and wide compatibility: The V-groove positioning parts of the conveyor line are compatible with diameters of 3-15mm, without the need to replace the positioning parts; the spider hand's adaptive gripper and the parameterized settings of the control system can quickly switch the detection mode of different specifications of tubes to meet the needs of multi-variety production. 4. High level of intelligence and convenient operation and maintenance: The control system has data storage, statistical analysis and quality traceability functions; the human-machine interface is easy to operate, and staff only need to perform basic operations such as loading and changing boxes, and wear anti-static equipment throughout the process, which reduces operation and maintenance costs; 5. Excellent safety performance and stable operation: It adopts a dual control mode of PLC + industrial computer to ensure precise coordination of the actions of each mechanism; it is equipped with anti-static and explosion-proof components, as well as safety devices such as safety light curtains and emergency stop buttons. The entire frame is grounded, which meets the strict safety standards for pyrotechnics testing; the smooth pushing design and buffer structure of the rejection device reduce damage to the pyrotechnic tubes and improve the stability of equipment operation.

[0054] This invention features a hopper at the starting end of the conveyor line mechanism. Adjustable partitions within the hopper create multiple adjustable storage spaces, supporting the storage of various sizes of tubular medicines. The hopper is positioned to one side of the starting end of the conveyor line mechanism (essentially parallel to it, allowing for a fixed installation of the gantry crane; the gantry crane can then be moved laterally to remove the tubular medicines from the hopper and place them onto the conveyor line mechanism). In one specific embodiment, a gantry crane is installed at the starting end of the conveyor line mechanism. This gantry crane can move along the conveyor line mechanism's direction (or be fixed). A crane is mounted on the gantry crane, its movement direction perpendicular to the conveyor line mechanism's direction. A lifting mechanism is installed on the crane. The gantry crane, crane, and lifting mechanism constitute a three-dimensional movable system (parallel to the conveyor line mechanism's direction, perpendicular to the conveyor line mechanism's direction, and in the vertical direction). A robotic arm is installed on the lifting mechanism. The robotic arm can be a spider arm or a negative pressure suction cup. The invention also includes a pressure sensor to monitor the contact pressure between the robotic arm and the medicine tube in real time, thereby enabling the pressure sensor to monitor the material handling.

[0055] For the visual inspection mechanism, this invention incorporates a telecentric imaging system, which includes a telecentric lens. The telecentric lens is a key component in this invention, ensuring inspection accuracy. It effectively solves the parallax problem inherent in ordinary lenses, guaranteeing consistent and accurate imaging regardless of the tube's position. This makes the data more reliable and reduces errors when measuring the dimensions and end faces of the tube. The visual inspection mechanism also includes a high-precision CMOS camera (i.e., an industrial camera). The high-precision CMOS camera used in this invention possesses excellent light sensitivity, enabling it to capture more detailed information about the tube, providing a solid foundation for subsequent accurate inspection. In practical applications, it can clearly identify minute defects on the tube surface, supporting micron-level defect identification and significantly improving inspection accuracy.

[0056] The conveyor system includes a conveyor belt and a servo drive system. The conveyor belt works in conjunction with the servo drive system (position control accuracy ±2mm) to dynamically match the conveyor belt speed (v) with the camera exposure frequency through a PID algorithm, ensuring that the image acquisition integrity rate of the detection area is ≥99.5%. Combined with a time synchronizer module (response delay ≤20ms), it realizes multi-sensor data synchronization.

[0057] The control system includes an embedded industrial computer with an integrated deep learning defect detection module. Based on physical rules and mathematical modeling, it requires only a small number of samples and does not need massive training data for deployment. Furthermore, its feature logic is transparent (e.g., adjustable thresholds and traceable filtering parameters). In scenarios involving strong lighting changes and small-sample defect detection, it exhibits high logical determinism, strong anti-interference capabilities, and long-term stability.

[0058] This invention also includes a qualified product temporary storage bin and a non-qualified product scrap bin, both of which employ a separate storage structure. The control system also features a human-machine interface; this invention provides a touchscreen display that supports setting detection parameters (such as light source brightness and threshold), real-time status monitoring, and historical data traceability (generating statistical reports by batch and defect type). Furthermore, this invention has the function of encrypting and storing detection results and corresponding image data in a database, supporting integration with MES systems to achieve end-to-end quality traceability.

[0059] Based on the above system design, the detection method for tubular medicine in this embodiment of the invention is as follows: The feeding system (i.e., the automatic feeding unit 1 mentioned above, which is the robot in this invention) adopts a truss mechanism (gantry frame) in conjunction with a vacuum suction cup (a structural form of the robot). The vacuum suction cup is installed on the truss mechanism. The vacuum suction cup places the tubular medicine in the tubular medicine box onto the conveyor belt of the conveyor line mechanism. A tray is set on the conveyor belt, and a V-shaped groove is set on the tray. The conveyor belt transports the tubular medicine to each detection station, and each detection station performs item-by-item detection on the tubular medicine.

[0060] 1. Appearance and curvature inspection process.

[0061] A color industrial camera with a high-resolution lens is used to capture comprehensive images of the tubing surface. Image analysis software is then used to detect defects such as cracks, scratches, fish-scale patterns, and pitting on the tubing surface. Simultaneously, the curvature of the tubing is calculated to determine if it meets safety standards. These defects can affect the performance and safety of the tubing; any defective tubing is immediately recorded and discarded.

[0062] 2. Concentricity detection process.

[0063] Using a color industrial camera with a high-resolution telecentric octave lens, images of the end faces of the tubing are captured from both ends. Based on the contours of the outer circle and inner core of the tubing, their center positions are calculated, thus obtaining the concentricity value. Products that exceed the set range are judged as unqualified.

[0064] For concentricity detection, this invention utilizes a color industrial camera with a high-resolution telecentric lens to capture images of the tube's end faces from both ends (the tube is a cylindrical structure, meaning both ends are along the tube's axial direction). Based on the contours of the outer circle and inner core of the tube, the center positions are calculated, thus yielding the concentricity value ϵ. Products exceeding the set range are deemed unqualified. The concentricity detection algorithm formula is as follows: 3. Incision inspection process.

[0065] A color industrial camera with a high-resolution eight-eighths-inch lens is used to capture images, which are then analyzed using image processing algorithms to detect features such as the flatness, smoothness, angle, and shape of the cut. Based on the data analysis results, the inspection system accurately determines whether the cut end face of each sample is qualified.

[0066] For cut end face inspection, this invention utilizes a color industrial camera with a high-resolution eight-eighths-inch lens to capture images. Image processing algorithms are then used to analyze the images to detect features such as the flatness, smoothness, and angle of the cut. Based on the data analysis and calculation results (cut end face quality score Q), the inspection system accurately determines whether the cut end face of each sample is qualified. The formula for the cut end face quality inspection algorithm is as follows: 4. Length detection process.

[0067] An industrial camera with a high-resolution telecentric lens is used to acquire images of the tubing. Image processing software analyzes the pixel information in the image to determine the tubing length. Then, based on the image scale (obtained through pre-calibration), the pixel distance is converted into the actual length. This is compared to a set acceptable value; products exceeding or falling below the acceptable value range are considered unacceptable.

[0068] After all tests are completed, any non-conforming products must be removed. Specifically, after the tubular medicine undergoes appearance, concentricity, cut, and length checks on the conveyor line, the control system analyzes the data from each station's checks and removes any products that do not meet the requirements. These non-conforming products are then collected. For qualified products, collection is required. The material collection system 13 consists of a robotic arm and a material hopper. The robotic arm uses a gantry mechanism combined with a vacuum suction cup (i.e., the aforementioned gantry and vacuum suction cup combination structure; in this invention, at least two sets of this combination structure are provided, one set at the beginning of the conveyor line for discharging material, and the other set at the recovery end of the conveyor line for collecting material), to place the tested qualified tubular medicine into the tubular medicine box.

[0069] In this embodiment, the present invention also provides data management and traceability functions, namely: the detection data and images are encrypted and stored in an SQL database using blockchain technology, and statistical reports are generated by batch and defect type; the human-computer interaction interface displays the detection pass rate and defect distribution heat map in real time, and abnormal status is notified through audible and visual alarms and remote push notifications.

[0070] This invention provides a tube-based visual inspection device, which comprises the following components: a conveyor line mechanism for conveying tubes of medicine; a visual inspection mechanism along the conveyor line mechanism for inspecting the appearance, concentricity, cuts, and length of the tubes of medicine; a robotic arm for transferring the tubes of medicine, comprising two sets, one set located at the starting end of the conveyor line mechanism and the other set located at the retraction end of the conveyor line mechanism; and a control system electrically connected to the conveyor line mechanism, the visual inspection mechanism, and the robotic arm, for enabling collaborative operation and tube inspection among the conveyor line mechanism, the visual inspection mechanism, and the robotic arm.

[0071] The conveyor line mechanism is a conveyor belt structure, including a frame on which a conveyor belt is mounted. The conveyor belt operates in a rotary manner, meaning it rotates around the frame. Pallets are mounted on the conveyor belt, consisting of two vertically arranged plate structures. Pallets are grouped in pairs, with the two pallets in each group positioned on opposite sides of the conveyor belt. V-shaped grooves are provided on the pallets for placing vials of medicine. The vials near their ends can be secured to the two pallets in the same group. This ensures the stability of the vials on the pallets and maximizes the exposure of the surface structure, guaranteeing the reliability of the inspection data obtained by the visual inspection agency. Furthermore, when the conveyor line mechanism consists of multiple conveyor belts, it facilitates the connection between adjacent conveyor belts. For example, the upstream conveyor belt can be set at a slightly higher height, and the downstream conveyor belt at a slightly lower height, with their ends joined together. When the upstream conveyor belt rotates, the vials descend and are caught by the pallets on the downstream conveyor belt, thus completing the transfer of the vials.

[0072] The present invention provides a robotic arm for transferring tubular medicine from the medicine box (silo) to the conveyor line mechanism. In a specific embodiment of the present invention, the robotic arm includes two structural forms: 1. The robotic arm includes a multi-axis robot, with a spider arm at the end of the multi-axis robot for grasping the tubular medicine; 2. The robotic arm includes a gantry frame, which is horizontally arranged above the conveyor line mechanism. A crane is installed on the gantry frame, and a lifting device is installed on the crane. At the end of the lifting device, a negative pressure suction cup is installed to grasp the tubular medicine by negative pressure adsorption.

[0073] During the inspection process, the medicine tubes are placed on the pallets of the conveyor mechanism. To reduce the difficulty of operating the robotic arm (if the robotic arm is used to place the medicine tubes one by one and stably onto the pallets, the requirements for the robotic arm's motion precision and control capability will be very high), this invention also provides a sorting conveyor belt. The robotic arm only needs to take the medicine tubes out of the medicine box and place them on the sorting conveyor belt. An adjustable limit plate with an adjustable width is provided at the end of the sorting conveyor belt to adjust the posture of the medicine tubes so that the medicine tubes can be transported in a set posture. A slide plate is connected to the sorting conveyor belt. The slide plate is connected to the conveyor mechanism. The end of the slide plate corresponds to the pallet. After the medicine tubes slide off the slide plate, they can fall directly onto the pallet.

[0074] The visual inspection structure can detect the appearance, concentricity, cuts and length of the tube. For each type of inspection, the present invention is provided with a corresponding inspection unit.

[0075] Specifically, the visual inspection structure includes an appearance inspection unit, which in turn includes at least three industrial cameras. Within the same group of appearance inspection units, all industrial cameras are equally spaced around the axis of the tube being inspected. The appearance inspection unit also includes a mounting frame, which is fixedly mounted on a machine frame. The mounting frame includes four mounting axes (the four mounting axes are mounted on the machine frame via X-shaped mounting plates; two mounting plates are provided, one on each side of the conveyor belt). The four mounting axes are equally spaced around the axis of the tube being inspected in a front-up, front-down, rear-up, and rear-down configuration. The industrial cameras are mounted on the mounting axes using clamps or similar structures.

[0076] Specifically, the visual inspection structure includes a concentricity detection unit, which comprises an industrial camera and a telecentric eight-eighths-inch lens used in conjunction with the industrial camera. The concentricity detection unit is used to acquire images of the tube end face and calculate the concentricity based on the contours of the outer circle and inner core of the tube. Further, in this invention, the concentricity detection unit is fixedly disposed on one side of the conveyor belt mechanism. This invention can also include a circular calibration component between the concentricity detection unit and the tube. Both the calibration component and the concentricity detection unit are fixedly disposed on one side of the conveyor belt mechanism. The calibration component is a standard circular ring structure. When the concentricity detection unit takes a picture, both the calibration component and the tube are within the field of view of the concentricity detection unit. The calibration component can provide a standard coordinate system for calculating the concentricity of the tube (e.g., the circle of the calibration component is the origin; the center of the tube is calculated based on the pixel position through image analysis), thereby facilitating the calculation.

[0077] Specifically, the visual inspection structure includes a cut detection unit, which comprises an industrial camera and an octet lens used in conjunction with the industrial camera. The cut detection unit is used to acquire the flatness, smoothness, cut angle, and cut shape parameters of the drug delivery cut. Like the concentricity detection unit, the cut detection unit is fixedly installed on one side of the conveyor mechanism.

[0078] Specifically, the visual inspection structure includes a length detection unit, which includes a height adjustment frame, an industrial camera mounted on the height adjustment frame, and a telecentric lens used in conjunction with the industrial camera. The length detection unit is used to acquire tube images from top to bottom and determine the length of the tube by analyzing the pixel information in the image.

[0079] Specifically, the recovery end of the conveyor mechanism is equipped with an inclined track, and a recovery belt is installed below the inclined track. When qualified products on the conveyor mechanism reach the recovery end, they will detach from the pallet as the conveyor mechanism rotates and fall onto the recovery belt. The recovery belt then transports the tubing to the qualified product hopper, where it is transferred by a robotic arm. Parallel to the inclined track is a rejection track, which is a liftable structure. When the tubing on the conveyor mechanism is qualified, the rejection track is raised, moving away from the conveying trajectory of the tubing, allowing it to fall smoothly onto the recovery belt. When the tubing on the conveyor mechanism is unqualified, the rejection track is lowered, intervening in the conveying trajectory of the tubing. As the conveyor mechanism rotates, the tubing can contact and be caught by the rejection track, allowing it to slide down into the rejection area.

[0080] exist Figure 3 In this application, the automatic feeding unit 1 is equivalent to the robotic arm, used to transfer the tubular medicine at the starting and ending points of the conveyor line mechanism. The telecentric imaging system 2 and the CMOS camera 3 can form the visual inspection mechanism of this application, used to detect appearance and curvature, concentricity, and compliance of cuts.

[0081] based on Figure 3 In this embodiment of the invention, the specific structure of the drug delivery visual inspection device is as follows: Automatic feeding unit 1: The automatic feeding unit, also known as the robotic arm in this invention, has an adjustable partition built into the hopper to support the storage of multiple sizes of tubular medicines and uses a pressure sensor to monitor material handling. The transition wheel mechanism is driven by a servo motor and, in conjunction with the conveyor belt speed, achieves orderly conveying of single tubes.

[0082] Visual inspection unit: Telecentric Imaging System 2: The telecentric lens is a key component ensuring inspection accuracy. It effectively solves the parallax problem inherent in ordinary lenses, guaranteeing consistent and accurate imaging regardless of the tube's position. This makes the data more reliable and reduces errors when measuring the dimensions and inspecting the end faces of tubes.

[0083] High-precision CMOS Camera 3 (Industrial Camera): Utilizing a high-precision CMOS camera, it boasts excellent light-sensing performance. Compared to traditional cameras, it can capture more detailed information, providing a solid foundation for subsequent accurate inspection. In practical applications, it can clearly identify minute defects on the surface of pharmaceutical tubes, supporting micron-level defect identification, greatly improving inspection accuracy.

[0084] Conveyor Mechanism 4: The conveyor belt, in conjunction with a servo drive system (position control accuracy ±2mm), dynamically matches the conveyor belt speed (v) with the camera exposure frequency through a PID algorithm, ensuring that the image acquisition integrity rate of the detection area is ≥99.5%; the absolute encoder provides real-time feedback on the motion status, and combined with a time synchronizer module (response delay ≤20ms), it achieves multi-sensor data synchronization.

[0085] Intelligent detection and processing unit 5: An embedded industrial control computer integrates a deep learning defect detection module. Based on physical rules and mathematical modeling, it requires only a small number of samples and does not need massive training data for deployment. Furthermore, the feature logic is transparent (e.g., adjustable thresholds and traceable filtering parameters). In scenarios involving strong lighting changes and small-sample defect detection, the self-developed custom algorithm exhibits high logical determinism, strong anti-interference capabilities, and long-term stability.

[0086] Fully automatic material receiving and rejection unit 6: Both the qualified product temporary storage bin and the unqualified product scrap bin adopt separate storage; the high-speed air knife rejection device (air jet pressure 0.3-0.8MPa, response time ≤30ms) is combined with a triggering mechanism: the first trigger sends a pre-command based on the detection result, and the second verification confirms the target position through the encoder position signal, ensuring that the rejection error is ≤2mm and the accuracy is ≥99.99%; For the rejection of non-conforming products, after the pharmaceutical company completes the appearance, concentricity, cut, and length inspections on the production line, the inspection control system analyzes the data based on the inspection results of each station and uniformly rejects products that do not meet the requirements. The rejected non-conforming products are collected in a centralized manner.

[0087] Human-Computer Interaction and Data Management Unit 7: The touch screen supports setting detection parameters (such as light source brightness and threshold), real-time status monitoring, and historical data traceability (generating statistical reports by batch and defect type). The test results and corresponding image data are encrypted and stored in the database, which supports integration with the MES system to achieve full-process quality traceability.

[0088] Automatic feeding and conveying assembly 8: The automatic feeding and conveying assembly 8 consists of a conveyor line mechanism and a sorting conveyor belt. At the beginning of the conveyor line mechanism, the robot (automatic feeding unit 1) takes the tube medicine out of the hopper and places it on the conveyor line mechanism. Then, the sorting conveyor belt arranges the tube medicine and transfers it to the subsequent conveyor line mechanism in an orderly manner.

[0089] The automatic feeding unit 1 uses a truss mechanism in conjunction with a vacuum suction cup to place the tube medicine to be tested into the designated tube medicine box. The vacuum suction cup is installed on the truss and places the tube medicine in the tube medicine box onto the feeding conveyor belt. The feeding conveyor belt transports the tube medicine to the testing feeding station. The testing feeding station distributes the tube medicine to the testing conveyor line support frame at a certain pitch for testing.

[0090] Appearance and curvature inspection component 9: A color industrial camera with a high-resolution lens is used to capture comprehensive images of the tubing surface. Image analysis software is then used to detect defects such as cracks, scratches, fish-scale patterns, and pitting on the tubing surface. Simultaneously, the curvature of the tubing is calculated to determine if it meets safety standards. These defects can affect the performance and safety of the tubing; any defective tubing is immediately recorded and discarded.

[0091] Concentricity detection component 10: Using a color industrial camera with a high-resolution telecentric octave lens, images of the end faces of the tubing are captured from both ends. Based on the contours of the outer circle and inner core of the tubing, their center positions are calculated, thus obtaining the concentricity value. Products that exceed the set range are judged as unqualified.

[0092] Incision detection component 11: A color industrial camera with a high-resolution eight-eighths-inch lens is used to capture images, which are then analyzed using image processing algorithms to detect features such as the flatness, smoothness, angle, and shape of the cut. Based on the data analysis results, the inspection system accurately determines whether the cut end face of each sample is qualified.

[0093] Length detection component 12: An industrial camera with a high-resolution telecentric lens is used to acquire images of the tubing. Image processing software analyzes the pixel information in the image to determine the tubing length. Then, based on the image scale (obtained through pre-calibration), the pixel distance is converted into the actual length. This is compared to a set acceptable value; products exceeding or falling below the acceptable value range are considered unacceptable.

[0094] Material collection system 13: The material collection system 13 consists of a robotic arm and a hopper (a hopper for recycling qualified products). The robotic arm uses a truss mechanism in conjunction with a vacuum suction cup to put the qualified tubes that have completed testing into the qualified product hopper.

[0095] Data management and traceability device 14: The detection data and images are encrypted and stored in an SQL database using blockchain technology, and statistical reports can be generated by batch and defect type. The human-machine interface displays the detection pass rate and defect distribution heat map in real time, and abnormal status is notified through audible and visual alarms and remote push notifications.

[0096] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual inspection device for drug delivery, characterized in that, include: A conveyor line mechanism used for transporting tubular medicines; A vision inspection mechanism for conveying the tubular medicine along the conveyor line mechanism, the vision inspection mechanism being used to inspect the appearance, concentricity, cuts and length of the tubular medicine; A robotic arm for transferring tubular medicines, the robotic arm is provided in two sets, one set is provided at the starting end of the conveyor line mechanism, and the other set is provided at the retrieval end of the conveyor line mechanism; A control system is electrically connected to the conveyor line mechanism, the vision inspection mechanism, and the robotic arm, and is used to realize the collaborative operation and drug inspection among the conveyor line mechanism, the vision inspection mechanism, and the robotic arm.

2. The drug delivery visual inspection device according to claim 1, characterized in that, The conveyor line mechanism is a conveyor belt structure, which operates in a rotary mode. A tray is provided on the conveyor belt of the conveyor belt structure, and a V-shaped groove for placing tubular medicines is provided on the tray.

3. The drug delivery visual inspection device according to claim 1, characterized in that, The robotic arm includes a multi-axis robot, with a spider arm at the end of the multi-axis robot for grasping the medicine tube.

4. The drug delivery visual inspection device according to claim 1, characterized in that, The robotic arm includes a gantry frame, which is horizontally positioned above the conveyor line mechanism. A crane is mounted on the gantry frame, and a lifting device is mounted on the crane. At the end of the lifting device is a negative pressure suction cup for gripping tubular medicines by negative pressure adsorption.

5. The drug delivery visual inspection device according to claim 1, characterized in that, The visual inspection structure includes an appearance inspection unit, which includes an industrial camera, and at least three industrial cameras are provided. In the same group of appearance inspection units, all the industrial cameras are arranged at equal intervals around the axis of the tube being inspected.

6. The drug delivery visual inspection device according to claim 5, characterized in that, The appearance inspection unit also includes a mounting frame, which includes four mounting shafts. The four mounting shafts are arranged at equal intervals around the axis of the tube being inspected in a front-up, front-down, rear-up, and rear-down manner.

7. The drug delivery visual inspection device according to claim 2, characterized in that, It also includes a sorting conveyor belt, at the end of which is an adjustable limiting plate with an adjustable width, and a sliding plate connected to the sorting conveyor belt, the sliding plate being connected to the conveyor line mechanism.

8. The drug delivery visual inspection device according to claim 1, characterized in that, The visual inspection structure includes a concentricity detection unit, which includes an industrial camera and a telecentric eight-eighths lens used in conjunction with the industrial camera. The concentricity detection unit is used to acquire images of the end face of the tube and calculate the concentricity based on the contours of the outer circle and inner core of the tube.

9. The drug delivery visual inspection device according to claim 1, characterized in that, The visual inspection structure includes a cut detection unit, which includes an industrial camera and an eight-part lens used in conjunction with the industrial camera. The incision detection unit is used to obtain the flatness, smoothness, incision angle, and incision shape parameters of the drug delivery incision.

10. The drug delivery visual inspection device according to claim 1, characterized in that, The visual inspection structure includes a length detection unit, the length detection unit includes a height adjustment frame, an industrial camera is mounted on the height adjustment frame, and a telecentric lens is used in conjunction with the industrial camera; The length detection unit is used to acquire images of the medicine tube from top to bottom and determine the length of the medicine tube by analyzing the pixel information in the image.

Images