CN201319023Y - Visual detecting device for visible foreign matter in bottled liquid on high speed bottling line - Google Patents

Abstract

The utility model discloses a visual detecting device for visible foreign matter in bottled liquid on high speed bottling line, which comprises a continuous rotating feed bottle, a leading in rotary table, a main detecting rotary table, a leading out rotary table, a discharge rotary table, and a defective product eliminating mechanism; wherein, the main detecting rotary table comprises a multi-manipulator grabbing and turning mechanism, a double-station visual tracing shooting mechanism, an image processing and controlling mechanism, etc. The device employs the design thought of using the manipulators to grabbing and turning, and using multiple vidicons to synchronously tracing and shooting to overcome the defects that the prior art is not suitable for detecting flat heterotype bottled liquid and the existing device has a low detecting quality. The device is suitable for detecting the visible foreign matter of cylindrical or heterotype bottled liquid like medicine, drinks and wines, and has the advantages of quick detecting speed, high resolving capability, good consistency of the detecting results, broad application range and high degree of automation.

Description

A visual detection device for visible foreign matter in bottled liquid on a high-speed filling production line

technical field

The utility model relates to a visual detection device for visible foreign matter in bottled liquid on a high-speed filling production line.

Background technique

At present, injections, infusions, oral liquids, eye drops, drinking water, and alcoholic products widely used in our country are usually filled in the form of glass or plastic bottles. Due to poor filtration, Due to poor cleaning of the container, collision during packaging, etc., there may be visible foreign matter such as glass shavings, suspended matter, hair, etc. in the liquid. detection. For liquid medicines, since 1985, the Pharmacopoeia of my country has stipulated the testing of clarity and insoluble particles for the testing of such medicines, and strictly controlled the foreign matter and particles in the medicines. The 2005 edition of "Chinese Pharmacopoeia" revised the original "clarity inspection rules and judgment standards" to "visible foreign matter inspection method". Substance whose particle size or length is usually greater than 50um. Drinking water and wine products also need to be tested for visible foreign matter before leaving the factory, and most of the testing standards are formulated by the manufacturer. Visible foreign matter inspection methods include light inspection method and light scattering method. Generally, light inspection method is often used to ensure online real-time detection. At present, the detection of visible foreign matter in domestic liquid products mostly adopts the method of manual light inspection. Manually rotate or flip the medicine bottle container manually to make the possible visible foreign matter in the liquid medicine move (be careful not to make the liquid medicine produce bubbles), and pass through human eyes. If there is any visible foreign matter, it will be manually removed. In manual inspection, there are unavoidable problems such as low efficiency, high missed detection rate, low precision, poor repeatability and consistency of detection results, and long-term detection work also brings harm to the health of light inspection personnel. With the promotion of GMP certification, the automation and intelligence level of my country's pharmaceutical and food production equipment and testing equipment has been greatly improved, and semi-automatic light inspection machines and full-automatic light inspection machines for the detection of visible foreign matter in drugs have appeared. The inspection machine adopts simple mechanical transmission and optical system to realize the semi-automation of manual light inspection. This inspection device can reduce manual labor to a certain extent, but the detection accuracy and accuracy have not been improved through the analysis and judgment of the light inspection workers. Chinese patent application publication (patent application number: 200510042615.1, publication number CN1760666) discloses "a kind of detection method and system of bottled liquid medicine", this detection method is to utilize the driving device to drive the bottle body that advances at a uniform speed to accelerate and rotate to reach the set speed, and then Quickly brake, take and analyze the image of the detected liquid, and generate a rejection signal when an abnormality occurs. The device designed using this detection method includes a detection workbench, a driving mechanism, a detection device, and an analysis control module. In addition, other types of liquid detection devices have also been disclosed in China, but these detections all have the following disadvantages:

1. The detection object is specific and the application range is small. This type of detection device adopts the detection method of rotation-emergency stop-photographing-analysis. Through experiments, it is found that this detection method is only suitable for products packaged in cylindrical bottles, because products packaged in cylindrical shapes can make the liquid stable when the rotation accelerates or decelerates. Rising or falling, no air bubbles will be generated; if it is a flat special-shaped bottle, a large number of air bubbles will be generated by rotation. The existence of air bubbles will greatly affect the detection accuracy of the system, and the false detection rate is high during online high-speed detection.

2. The system structure is complex. The working wheels of some of the testing equipment need to stop instantaneously, which requires the relevant transmission system of the entire testing machine to be stopped accordingly. The system mechanism is complex and the operation stability is poor; High-speed detection requires as many rotating stations as possible on the working disk, so the number of mechanical and electrical control units is relatively high, which makes the structure of the whole machine more complicated.

3. The detection speed is slow. For devices that require instantaneous pause detection, the detection disc must pause instantaneously during work to achieve a state where the product to be inspected is stationary relative to the camera, which is convenient for camera imaging. In order to reduce the moment of inertia of the system, the rotation speed of this type of inspection device is impossible. Too fast, resulting in slower detection.

4. The type of detection light source is single. For a cylindrical bottle, a large part of the incident light from the side will be diffusely reflected, and the diffuse reflection will cause the image quality to decline, which will bring difficulties to the detection and analysis.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and propose a visual detection device for visible foreign matter in bottled liquid on a high-speed filling production line. The device has a high degree of automation and reliable detection.

The technical solution of the utility model is as follows:

A visual inspection device for visible foreign matter in bottled liquid on a high-speed filling production line, characterized in that it includes a bottle-infeed mechanism, a detection main wheel, a tracking and shooting mechanism, a bottle-out mechanism, a sorting mechanism, and an image processing and control mechanism;

The bottle feeding mechanism includes a bottle feeding conveyor belt, a bottle feeding auger and a bottle feeding roulette, and the bottle feeding conveyor belt, a bottle feeding auger, a bottle feeding roulette and a detection main roulette are matched and connected in sequence, and the bottle feeding conveyor belt The bottle on the top is introduced into the main roulette for detection;

The detection main wheel is provided with a multi-manipulator grasping mechanism for grasping the bottle body and a bottle turning mechanism for turning over the bottle body;

The tracking and shooting mechanism includes the No. 1 detection camera, the No. 1 back light source supporting it, the No. 1 detection station visual tracking mechanism, the No. 2 detection camera, the No. 2 bottom light source supporting it, and the No. 2 detection station visual tracking mechanism ; The tracking and shooting mechanism adopts a mechanism separate from the main detection roulette, and cooperates with the main detection roulette to realize tracking and shooting of the bottle body on the main detection roulette;

The bottle output mechanism is a guide wheel, which is connected with the main detection wheel;

The sorting mechanism is connected with the guide wheels, including rejecting forks, bottle discharge wheels, conveyor belts for qualified products and conveyor belts for unqualified products; the conveyor belt for unqualified products is connected to the guide wheels; The qualified product conveyor belt is connected with the guide wheel through the bottle output wheel, and the rejecting fork is arranged between the guide wheel and the bottle output wheel.

The input end of the image processing and control mechanism is connected to the data output end of the tracking and shooting mechanism, and the output end is connected to the driving device of the sorting mechanism, the multi-manipulator grasping mechanism and the bottle turning mechanism.

The driving device of the rejecting fork adopts a vacuum pneumatic mechanism.

As an improvement, the visual inspection device for visible foreign matter in bottled liquid on the high-speed filling production line also includes a frame arranged outside the entire device, which is composed of a frame and black glass used to block external light, and plays a role in blocking light .

The detection main roulette and the bottle inlet roulette, between the detection main roulette and the guide roulette, and between the guide roulette and the bottle output roulette are all connected by gears.

The multi-manipulator grabbing mechanism and the bottle turning mechanism include an overturning servo motor, an overturning fixed frame, an overturning mechanism, a grasping manipulator, and a manipulator drive control device; the grasping manipulator and the overturning servo motor are arranged on the overturning fixed frame. The servo motor is connected with the grasping manipulator through a flipping mechanism, and the flipping fixture is installed on the shaft sleeve of the main detection wheel.

The overturning action of the manipulator on the multi-manipulator grasping mechanism and the bottle turning mechanism is realized by turning over the servo motor, and the visual tracking mechanisms of the first and second detection stations are connected to the servo tracking motor through bushings and gears.

The main controllers of the image processing and control mechanism are industrial personal computers (specifically two) and PLC processors. Beneficial effect:

1. The utility model has a simple structure and a high degree of automation. Through the design of manipulator flip tracking and shooting, the detection device can not only detect liquids in cylindrical bottles such as existing ampoules, vials, and large infusion bottles, but also liquids in flat special-shaped bottles. Foreign body detection, wide applicability;

2. The detection device of the present invention is equipped with a multi-station image acquisition device, which can configure different light sources according to different types of foreign objects, thereby greatly improving the quality of image acquisition and the accuracy of detection results; in addition, the installed multi-manipulator grasps And the turning mechanism realizes the requirement of detecting multiple products at the same time, which can be increased or decreased according to the needs of users, thus ensuring the rapidity of detection;

3. The detection device of the present invention is equipped with a smart sorting device, which uses the suction of pneumatic components to separate defective products from genuine products through the baffle, and has a simple and practical structure;

4. The detection device of the utility model adopts a modular design on molds such as the import wheel, the main detection wheel, and the bottle output wheel, which can be replaced according to the size of the detection object, which is convenient for the maintenance and function change of the detection device;

5. The central axis of the main wheel disc of the detection device of the present invention adopts a shaft sleeve structure, and the middle is a hollow structure, which is used to realize the arrangement of the internal power line and control and signal lines of the whole machine.

This device adopts the design idea of grasping and flipping by manipulators and synchronous tracking and shooting by cameras, which overcomes the shortcomings of existing detection technologies that are not suitable for the detection of flat and special-shaped bottled liquids and the low quality of existing equipment; this device is suitable for existing drugs and beverages The main reason for the detection of visible foreign objects in cylindrical or special-shaped bottled liquids such as wine, wine, etc. is that when this device detects visible foreign objects in bottled liquids, it does not use the method of rotating the bottle (that is, the rotation of the bottle itself), but uses the method of rotating the bottle The inverted method, so that no air bubbles are created, is suitable for non-cylindrical bottles. The utility model has wide application range and high automation degree.

Description of drawings

Fig. 1 is the front view structural representation of the utility model;

Fig. 2 is a side view structural representation of the utility model;

Fig. 3 is a structural schematic diagram of the bottle discharging and rejecting device of the present invention;

Fig. 4 is a structural schematic diagram of the manipulator grabbing and bottle turning device of the present invention;

Fig. 5 is the schematic diagram of the electric control system of the present utility model;

1- Bottle feeding conveyor belt, 2- Bottle feeding auger, 3- Bottle feeding wheel, 4- Bottle body to be tested, 5- No. 1 station detection camera, 6- Overturning mechanism, 7- Grabbing manipulator, 8- One The back light source of No. 1 station, 9-visual tracking and shooting mechanism of No. 1 inspection station, 10-flip servo motor, 11-rotary shaft, 12-detection main wheel, 13-bottom light source of No. 2 station, 14-frame, 15- No. 2 inspection station visual tracking camera mechanism, 16- No. 2 station inspection camera, 17- Conveyor belt for qualified products, 18- Baffle, 19- Conveyor belt for unqualified products, 20- Bottle output wheel, 21- Reject dial Fork, 22-guide wheel, 23-detection main wheel drive motor, 24-detection main wheel drive belt, 25-support frame, 26-ball bearing, 27-servo tracking and shooting transmission device, 28-servo tracking and shooting drive Motor, 29-conductive slip ring, 30-platform.

Detailed ways

The utility model will be described in further detail below in conjunction with figure and specific implementation process:

Example 1:

As shown in Figure 1 and Figure 2, the visual detection device for visible foreign matter in the bottled liquid on the high-speed filling production line of the present utility model includes a bottle feeding conveyor belt 1, a bottle feeding auger 2, a bottle feeding wheel 3, and a main detection wheel 12. Guide wheel 22, defective product rejecting mechanism, bottle output wheel 20, wherein the detection main wheel 12 includes multi-manipulator grasping and bottle turning mechanism, two-station visual tracking and shooting mechanism, image processing and control mechanism, etc.

The bottle body 4 to be inspected passes through the bottle feeding conveyor belt 1, is unscrambled by the bottle feeding auger 2, and enters the detection main wheel 12 along the star-shaped bottle feeding wheel 3. Detecting main roulette 12 adopts one deck turntable, and the circumference of described detecting main roulette 12 is evenly equipped with a plurality of manipulator grabbing and bottle turning mechanisms, and each manipulator grabbing and bottle turning mechanism is composed of grabbing manipulator 7, turning mechanism 6. Composition of turning servo motor 10, referring to Fig. 3, 24 or more manipulator grabbing and bottle turning mechanisms can be set according to the size of the main detecting wheel 12, the detecting main wheel 12 is passed by the detecting main wheel driving motor 23 Detect primary pulley drive belt 24 drive. After the bottle body 4 to be tested enters the detection main wheel 12, the multi-manipulator grabbing and bottle turning mechanism moves, the grabbing manipulator 7 falls along the arc direction, grabs the neck of the bottle body 4 to be tested, and then moves smoothly along the arc. Go up and perform a 180-degree flexible flip. After it stabilizes and enters the No. 1 inspection station or No. 2 station, follow-up and take pictures. The multi-manipulator grasping and bottle turning mechanism of each detection station can be equipped with 4 or more grasping manipulators, and the turning servo motor 10 that drives the grabbing manipulator to turn over is set on the turning fixed frame, and the turning servo motor 10 is connected with the grabbing The manipulator 7 is connected through the turning mechanism 6 . The detection device includes a two-station visual tracking and shooting mechanism that can be matched with the multi-manipulator bottle turning mechanism. The two-station visual tracking and shooting mechanism includes the visual tracking and shooting mechanism 9 of the first testing station and the visual tracking and shooting mechanism 15 of the second testing station. Among them, the No. 1 detection station visual tracking and shooting mechanism 9 is responsible for the detection of black foreign matter in the liquid, including 4 No. 1 station detection cameras 5, and 4 No. 1 station backlight sources 8. Each camera and a back light source form a group. The No. 1 station detects 4 products at the same time, and they are respectively fixed on the tracking bracket. The tracking bracket is connected to the central axis of the main detection wheel through the bushing, and the tracking bracket is connected to the servo tracking and shooting driving motor through the servo tracking and shooting transmission device 27. On 28, the visual tracking camera mechanism 9 of No. 1 testing station and the main detection wheel 12 move coaxially and track along a certain angle. The camera fixed on the tracking bracket captures a group of product images, and sends the images to the image processing system. After the shooting is completed, the servo tracking and shooting drive motor 28 reverses to drive the tracking bracket back to the initial position, and the specific structure is as shown in Figure 2; wherein the No. 2 detection station visual tracking and shooting mechanism 15 is responsible for the detection of white foreign matter in the liquid, including 4 No. 2 station detection camera 16, 4 No. 2 station bottom light sources 13, No. 2 station detects 4 products at the same time, a camera and a bottom light source form a group, they are respectively fixed on the tracking bracket, and the tracking bracket passes through The bushing is connected to the central rotating shaft 11 of the detection main wheel, the tracking bracket is connected to the servo tracking and shooting drive motor 28 through the servo tracking and shooting transmission device 27, and the visual tracking and shooting mechanism 9 of the second testing station is connected to the detection main wheel 12. Coaxial motion tracking along a certain angle, the camera fixed on the tracking bracket captures a group of product images, and sends the images to the image processing system. After the shooting is completed, the servo tracking and shooting drive motor 28 reverses to drive the tracking bracket back to the starting position. The starting position, the specific structure is shown in Figure 2, the visual tracking camera mechanism 9 of the first inspection station and the visual tracking camera mechanism 15 of the second inspection station move coaxially. The synchronous tracking driving device is a device to ensure the synchronous movement of the two-station cameras and supporting light sources and the detection main wheel 12, and includes a servo tracking and shooting drive motor 28 and a servo tracking and shooting transmission device 27. After the No. 1 detection station camera 5 takes pictures, the grasping manipulator smoothly turns 180 degrees and enters the No. 2 detection station, and then the No. 2 detection station triggers the bottom light source 13 to illuminate, and the No. 2 station detection camera 16 takes pictures. The back light source 8 and the bottom light source 13 in the detection device adopt a stroboscopic triggering method. When the measured bottle body 4 is turned over and stabilized by the grasping manipulator 7, the light source and the camera are triggered to take multiple frames of images. After the photo is taken, the background light source or the bottom light source is turned off. light source. The images captured by the detection cameras of No. 1 station and No. 2 station are used for foreign object detection and identification through the image processing system respectively. After the No. 2 detection camera is finished shooting, the grasping manipulator 7 turns over 180 degrees, and when the grasping manipulator 7 moves to the joint between the detection main wheel 12 and the guide wheel 22, the detection bottle 4 is placed on the guide wheel 22 The upper output, the detected bottle is sent to the guide wheel 22 and the bottle output wheel 20, the rejecting fork 21 and the baffle 18 are installed between the guide wheel and the bottle output wheel, and the rejecting fork 21 according to the image processing system The control signal given after the judgment will sort the measured bottle body 4, and the measured bottle body 4 will be sorted and output through two mutually parallel conveyor belts, that is, the qualified product conveyor belt 17 and the unqualified product conveyor belt 19. Conveyor belt links to each other with bottle-out wheel 20 and guide wheel 22 respectively.

The internal power supply and signal lines of the detection device are introduced through the conductive slip ring 29 on the platform 30 and connected to the electrical control box at the bottom of the platform 30 . The outer frame 14 of the detection device adopts a glass door that can be pushed up and down and can be braked. The glass door is made of black plexiglass to play the role of blocking light, and the top is sealed with stainless steel.

Concrete detection process of the present utility model:

The utility model uses the principle of grabbing the bottle with a manipulator-turning over-emergency stop-tracking and shooting multi-frame product images to detect whether there are visible foreign objects in the bottled liquid, and classifies the products according to the processing results of the image detection mechanism. Due to the complex and diverse types of foreign objects in the liquid, foreign objects are divided into black foreign objects and white foreign objects according to the imaging characteristics. The utility model device is equipped with two detection stations for the two types of foreign objects. , camera, light source, etc., the structure is similar, the lighting method of the light source is different, the black foreign object detection station (No. 1 inspection station) adopts the back lighting method, and the white foreign object detection station (No. The working steps of the device are as follows:

Step 1. After the bottle to be tested enters the detection device through the bottle feeding conveyor belt, the bottle is sorted by the bottle feeding auger and sent to the bottle feeding wheel. When the bottle to be tested enters the No. 1 detection station, the robot grabs the bottle The neck moves upwards, and then the bottle body is turned 180 degrees by the three-stage movement mode of acceleration-uniform speed-deceleration through the manipulator turning mechanism. The liquid in the measured bottle moves toward the neck. When the measured bottle enters the working field of view of the camera, The back light source is triggered, and the No. 1 inspection station visually tracks the action of the shooting mechanism, and simultaneously tracks the movement of the measured bottle. At the same time, the image acquisition system is triggered to capture a set of multi-frame sequence images and send them to the image processing system. After the shooting is completed, the No. 1 inspection station The visual tracking camera mechanism of the station returns to the starting position along the circumference;

Step 2: After the product image of No. 1 testing station is taken, the grasping manipulator on the main detection roulette continues to move. The normal position of the body neck on the top enters the No. 2 detection station. When the measured bottle enters the working field of view of the camera, the bottom light source is triggered, and the No. 2 detection station visually tracks the movement of the shooting mechanism and synchronously tracks the movement of the measured bottle. At the same time, the image acquisition system is triggered to take a group of multi-frame sequence images and send them to the image processing system. After the shooting is completed, the No. 2 inspection station visually tracks the shooting mechanism and returns to the starting position along the circumference;

Step 3: For a bottle of inspected product, the image processing and control mechanism uses the sequential images taken by station No. 1 to detect black foreign objects, and the sequence images taken by station No. 2 to detect white foreign objects, and combines the detection results of the two stations to give The rejecting signal is output to control the rejecting mechanism.

Among them, in step 1 and step 2, the acceleration-constant speed-deceleration three-stage 180-degree flip action time before image capture is 700ms. After the flip is completed, the image capture system and light source trigger system are delayed by 200ms. The measuring bottle body takes 3 frames of continuous images or more, and the interval between frames is 200ms. In-Sight 1403 cameras are used in the No. 1 inspection station and No. 2 inspection station, and the back light source and bottom light source are LDL-TP-100×100 light source and LDL-74×27 light source of CCS Company respectively.

Claims (7)

1. visible foreign matters vision inspection apparatus in the bottling liquid on the high-speed canning production line is characterized in that, comprises mechanism of push bottles ahead, detects main rotary table, track up mechanism, bottle-delivery mechanism, mechanism for sorting and Flame Image Process and control gear;

Described mechanism of push bottles ahead comprises into bottle travelling belt, advances bottle auger and advance a bottle wheel disc, describedly advances bottle travelling belt, advances a bottle auger, advances bottle wheel disc and detect main rotary table and be connected successively, will advance bottle on bottle travelling belt and import and detect main rotary table;

Described detection main rotary table is provided with the bottle reversal mechanism that is used to grasp the multi-robot grasping mechanism of bottle and is used for the bottle upset;

Described track up mechanism comprises detection video camera, a back light source supporting with it, detects station vision track mechanism for No. one, No. two detection video cameras, No. two bottom light source supporting with it, No. two detection station vision track mechanisms; Described track up mechanism adopts and the discrete mechanism of described detection main rotary table, cooperatively interacts with described detection main rotary table and realizes that the bottle to detecting on the main rotary table carries out track up;

Described bottle-delivery mechanism is a guide wheel disk, and this guide wheel disk is connected with the detection main rotary table;

Described mechanism for sorting is connected with described guide wheel disk, comprises rejecting shift fork, bottle outlet wheel disc, specification product travelling belt and substandard product travelling belt; Described substandard product travelling belt connects described guide wheel disk; Described specification product travelling belt is connected with guide wheel disk by the bottle outlet wheel disc, and described rejecting shift fork is arranged between described guide wheel disk and the bottle outlet wheel disc;

The data output end of the described track up of the input termination mechanism of described Flame Image Process and control gear, its output terminal connects the drive unit of described mechanism for sorting, multi-robot grasping mechanism and bottle reversal mechanism.

2. visible foreign matters vision inspection apparatus in the bottling liquid is characterized in that on the high-speed canning production line according to claim 1, and the drive unit of described rejecting shift fork adopts Pneumatic vacuum mechanism.

3. visible foreign matters vision inspection apparatus in the bottling liquid is characterized in that on the high-speed canning production line according to claim 1, comprises that also one is arranged on the outside frame of whole device, by framework be used to stop that the black glass of extraneous light forms.

4. visible foreign matters vision inspection apparatus in the bottling liquid on the high-speed canning production line according to claim 1, it is characterized in that, described detection main rotary table with advance between bottle wheel disc, detect between main rotary table and the guide wheel disk and guide wheel disk and bottle outlet wheel disc between all be connected by gear.

5. visible foreign matters vision inspection apparatus in the bottling liquid on the high-speed canning production line according to claim 1, it is characterized in that described multi-robot grasping mechanism and bottle reversal mechanism comprise upset servomotor, upset fixed mount, switching mechanism, catching robot, robot drives control device; Described catching robot and upset servomotor are located on the upset fixed mount, and the upset servomotor is connected by switching mechanism with catching robot, and the upset fixed mount is located on the axle sleeve that detects main rotary table.

6. visible foreign matters vision inspection apparatus in the bottling liquid on the high-speed canning production line according to claim 1, it is characterized in that, mechanical arm rotary movement on described multi-robot grasping mechanism and the bottle reversal mechanism realizes by the upset servomotor, and No. one and No. two detection station vision track mechanisms are connected on the servo tracking motor by axle sleeve and gear.

7. according to visible foreign matters vision inspection apparatus in the bottling liquid on each described high-speed canning production line of claim 1～6, it is characterized in that the master controller of described Flame Image Process and control gear is industrial computer and PLC processor.

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