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WO2010128384A1 - Machine contrôlant des contenants et procédé de contrôle utilisant ladite machine - Google Patents

Machine contrôlant des contenants et procédé de contrôle utilisant ladite machine Download PDF

Info

Publication number
WO2010128384A1
WO2010128384A1 PCT/IB2010/001048 IB2010001048W WO2010128384A1 WO 2010128384 A1 WO2010128384 A1 WO 2010128384A1 IB 2010001048 W IB2010001048 W IB 2010001048W WO 2010128384 A1 WO2010128384 A1 WO 2010128384A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
machine
reference axis
rotation
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2010/001048
Other languages
English (en)
Inventor
Bruno Isoli
Massimo Frasson
Mariano Sartor
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brevetti CEA SpA
Original Assignee
Brevetti CEA SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brevetti CEA SpA filed Critical Brevetti CEA SpA
Publication of WO2010128384A1 publication Critical patent/WO2010128384A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F29/00—Mixers with rotating receptacles
    • B01F29/20—Mixers with rotating receptacles with receptacles rotating about an axis at an angle to their longitudinal axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F29/00—Mixers with rotating receptacles
    • B01F29/30—Mixing the contents of individual packages or containers, e.g. by rotating tins or bottles
    • B01F29/32—Containers specially adapted for coupling to rotating frames or the like; Coupling means therefor
    • B01F29/321—Containers specially adapted for coupling to rotating frames or the like; Coupling means therefor of test-tubes or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
    • B07C5/3408—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level for bottles, jars or other glassware
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9009—Non-optical constructional details affecting optical inspection, e.g. cleaning mechanisms for optical parts, vibration reduction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9018—Dirt detection in containers
    • G01N21/9027—Dirt detection in containers in containers after filling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/93—Detection standards; Calibrating baseline adjustment, drift correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0078—Testing material properties on manufactured objects

Definitions

  • the present invention concerns a machine for inspecting the contents of containers with the aim to identify any defects and impurities.
  • the present invention also concerns an inspection method employing said machine.
  • the inspection of containers is an activity that is particularly widespread in the pharmaceutical industry, given the need to eliminate the product units presenting impurities that are potentially dangerous.
  • the above mentioned impurities are mainly constituted by foreign particles that have got into the container during packaging and may transport undesired microorganisms capable of contaminating the product.
  • particles are typically divided into three categories: floating particles, which remain on the surface of the liquid, suspended particles, which remain immersed in the liquid, and heavy particles, which are deposited on the bottom of the container.
  • inspection is carried out manually by an operator, who manually shakes the container in order to make the liquid move.
  • the operator then observes the container against a white and a black background, alternately, in such a way as to identify any moving particles inside it.
  • This technique is very flexible and, in principle, makes it possible to identify any type of particles, be they floating, suspended or heavy particles.
  • this technique also makes it possible to inspect substantially solid substances, like for example lyophilized pharmaceutical products, by observing the surface of the substance in order to identify any undesired inclusions.
  • a further drawback posed by the above mentioned manual technique is represented by its low productivity, which means a high cost per each unit inspected. Therefore, this technique poses the drawback of being anti-economical when the number of containers to be inspected is high, as it happens for example in the pharmaceutical industry, where production has increased exponentially over the last years.
  • a known automatic inspecting machine comprises a system for transporting and handling a plurality of containers, as well as a given number of cameras or other analogous electro-optical systems for their inspection.
  • Inspection is carried out by imparting motion to the substance contained in the container and recording its movement by means of the cameras, which acquire a sequence of images that, properly processed with known algorithms, allow any defects or foreign particles to be identified.
  • the container is first set rotating at high speed around its longitudinal axis in order to transmit a swirling motion to the liquid and involve in said motion also any particles contained therein, and successively it is abruptly stopped in front of the camera, in order to discriminate the particles moving in the liquid from simple defects of the container.
  • the rotation speed is typically in the order of a few thousand rev/min, so that friction between the walls of the container and the fluid is such as to impart considerable motion to the liquid in a very limited lapse of time.
  • the high speed is also necessary to raise any heavy particles that otherwise would remain invisible near the bottom of the container.
  • this is carried out by slowly rotating the container in front of the camera, which can analyze the surface of the substance.
  • a first drawback posed by the inspection machines of known type described above is their high cost.
  • a further drawback is represented by the fact that the above mentioned machine allows only containers with specific shape and size to be inspected, so that in case of different shapes or sizes it is necessary to modify the equipment of the machine, bearing the consequent additional costs.
  • the present invention aims to overcome all the drawbacks described above, which are typical of the inspection techniques of known type.
  • the objects mentioned above are achieved by a machine for inspecting containers according to the main claim and by the variants described in the dependent claims.
  • the machine that is the subject of the invention transmits to the longitudinal axis of the container a rotary motion along a conical surface, said rotary motion being such as to generate a swirling motion around said longitudinal axis in the substance contained therein.
  • the motion described above advantageously makes it possible to transmit to the substance contained in the container a more complex motion compared to the motion generated by the machines of known type.
  • the motion just mentioned causes the container to move crosswise with respect to its longitudinal axis, so as to transmit to the substance contained therein a faster motion compared to the motion that can be obtained with the machines of known type, which make use of the friction generated by the high-speed rotation of the container around its own axis.
  • the lower cost of the machine of the invention makes it more convenient for inspection of containers produced in small series.
  • the movement of the longitudinal axis of the container makes it possible to move also any particles that may lie on said axis, differently from what happens in the known technique described above.
  • said movement is obtained by means of an articulated arm suited to rotate the container according to at least two mutually incident and independent axes.
  • the articulated arm is more flexible and less complex than the moving systems of the known machines.
  • the articulated arm is more versatile compared to the moving systems used in the machines of known type, as it can impart different motion sequences to the container, each one of which is more suited to a particular type of inspection.
  • the container can be overturned, thus allowing both the heavy and the floating particles to be easily identified.
  • the machine that is the subject of the invention ensures a safe inspection of dangerous substances like, for example, some drugs used for treating some specific diseases.
  • the articulated arm makes it possible to reproduce a movement of the container that is similar to the movement imparted during a manual inspection.
  • FIG. 1 shows an axonometric view of the machine that is the subject of the invention
  • FIG. 1 shows the machine shown in Figure 1 in a different operating configuration
  • FIG. 3 shows an enlarged detail of the machine shown in Figures 1 and 2;
  • FIG. 4a and 4b show a portion of the machine of Figure 1 , during application of the method of the invention
  • FIG. 5a and 5b show a portion of the machine of Figure 1 , during application of a variant of the method of the invention.
  • the machine 1 is also suited to inspect the containers in order to identify any defects that may affect the soundness of the containers themselves.
  • the machine 1 comprises an optical unit 4 that defines a viewing field.
  • the optical unit 4 preferably comprises two cameras 4a, 4b with the respective focal axes orthogonal to each other that, allowing the simultaneous take of the container 2 from different angles, advantageously make inspection quicker.
  • the cameras 4a, 4b can be positioned with their focal axes in a different arrangement from the one described above, provided that they can provide a stereoscopic image of the container 2 and its contents.
  • the above mentioned cameras 4a, 4b are preferably associated with a so-called "telecentric" optical system whose depth of field, as is known, is higher compared to traditional optical systems and that therefore advantageously make it possible to avoid image distortions.
  • the cameras 4a, 4b use optical systems whose focal length varies, preferably automatically according to the dimensions of the container 2.
  • the optical unit 4 may be provided with electro-optical systems different from cameras, using for example matrices of photodiodes or other equivalent devices, provided that they are capable of identifying any particles present in the substance to be analyzed and/or defects in the container.
  • the machine 1 comprises also grasping means 6 that define a reference axis X and are configured so as to grasp said container 2 in such a way as to maintain its longitudinal axis coaxial with respect to the reference axis X.
  • the above mentioned grasping means 6 are associated with moving means 5 that make it possible to transport the container 2 from a collection point 8, where the container 2 is positioned while waiting for inspection, to the viewing field of the optical unit 4.
  • the machine 1 preferably but not necessarily includes a feeding unit 11 suited to move the containers to be inspected from a store 12 to the above mentioned collection point 8.
  • the moving means 5 are configured so as to transmit to the reference axis X of the grasping means 6 a rotary motion following a conical surface.
  • the invention achieves the object to provide a machine 1 that is less complex and less expensive than the machines of known type.
  • the moving means 5 preferably comprise an articulated arm 7, one end of which is associated with the grasping means 6.
  • the above mentioned articulated arm 7 is configured in such a way as to move the grasping means 6 and, consequently, the container 2, according to at least two degrees of freedom Y1, Y2 corresponding to the rotation around two axes incident on each other.
  • At least a first one of said rotation axes is incident on the direction defined by the reference axis X, coinciding with the longitudinal axis of the container 2 when this is in grasping position.
  • the rotation around the first axis Y1 makes it possible to vary the inclination of the longitudinal axis of the container 2, in order to position it in front of the optical unit 4 with the orientation that is most suitable for the inspection to be carried out, as shown in Figure 5b.
  • the machine 1 of the invention makes it possible to carry out different inspections according to the substance 3 to be inspected, thus being more flexible than the machines of known type.
  • the articulated arm 7 preferably has additional degrees of freedom that allow it to collect the container 2 from the collection point 8, transport it within the viewing field and leave it in one or more delivery points 13a, 13b.
  • the articulated arm 7 preferably makes it possible to arrange the container 2 in different points of the viewing field, in order to advantageously allow optimal focusing of the optical unit 4, independently of the shape and size of the container 2.
  • the second rotation axis Y2 of the articulated arm 7 is incident on the reference axis X, as is clearly shown in Figures 4a, 4b, 5a and 5b.
  • the above mentioned swirling movement makes it possible to set in motion also any particles that may be aligned on the longitudinal axis of the container 2, since this motion is produced by a rotation around an axis that is different from the longitudinal axis.
  • Y2 makes it also possible to overturn the container 2, as shown in Figure 4b, thus making the heavy particles fall and the light particles raise, the latter being thus easily identified.
  • the overturning of the container 2 causes the wetting of its upper dry portion, so that any particles adhering to it are captured.
  • the combination of rotation and overturning of the container 2 makes it possible to identify all the types of particles present inside the container 2, thus obtaining a high-quality inspection process.
  • the above mentioned analogy with manual inspection facilitates also the setting of the machine 1, thus allowing the comparison of the results with those obtained by an operator.
  • the above mentioned overturning movement is preferably carried out in a sufficiently slow manner, so as to allow the gradual flow of the air bubble from one side of the container 2 to the other, and prevent the bubble from breaking up into a plurality of smaller bubbles, which would negatively affect the inspection process.
  • the articulated arm 7 preferably comprises a further degree of freedom corresponding to the rotation of the grasping means 6 around a third rotation axis Y3 that is coaxial with the reference axis X.
  • the above mentioned rotation can be advantageous in case of inspection of the already mentioned lyophilized substances, as it makes it possible to expose the entire lateral surface of the substance 3 to the cameras while maintaining the container 2 with its longitudinal axis fixed in front of the cameras and rotating it around the axis Y3, as shown in Figure 5a.
  • the articulated arm 7 has in total at least three degrees of freedom corresponding to the three rotations around the axes Y1 , Y2 and
  • an articulated arm 7 with any number of degrees of freedom exceeding two, preferably an anthropomorphic arm with six degrees of freedom that, advantageously, can arrange the container 2 in any point in space and with any orientation.
  • this flexibility of movement makes it possible to arrange the container 2 at different distances from the optical unit 4, so as to optimize focusing according to the size of the container 2.
  • the machine 1 of the invention also comprises a logic control unit for the articulated arm 7, not illustrated herein but known per se, suited to move the grasping means 6 in such a way as to obtain the predefined motion of the reference axis X, and therefore of the container 2.
  • the logic unit is configured so as to generate the above mentioned predefined motion via simultaneous rotations of the grasping means 6 around the first and the second rotation axes Y1, Y2.
  • the logic control unit is operationally connected to the optical unit 4, in such a way as to activate the cameras 4a, 4b when the container 2 is in taking position.
  • articulated arm 7 it is also preferable for the articulated arm 7 to be configured in such a way as to be able to arrange the containers 2 in at least two different delivery points
  • the articulated arm 7 arranges the containers 2 at the level of a single delivery point, while separation of the containers with positive outcome from those with negative outcome is obtained by means of a deviation device capable of conveying the containers towards two distinct collection areas.
  • grasping means 6 illustrated in detail in Figure 3, they preferably comprise pliers 10 suited to clamp containers of different sizes.
  • the above mentioned pliers 10 preferably comprise a pair of shaped jaws 10a,
  • the jaws are preferably closed at the level of an undercut area of the container
  • this closing action on two opposite sides prevents the jaws from being interposed between the container 2 and the cameras, as is clear from Figure 4b.
  • the jaws are preferably but not necessarily made of a transparent material, in order to avoid producing undesired shadows on the container.
  • the number, the material and the grasping method of the jaws can be different from those described above, provided that they are such as to allow a stable hold of the container in all the positions assumed by the latter during handling.
  • the jaws 10a, 10b are preferably V-shaped, as shown in Figure 3, said shape being advantageously suitable for grasping cylindrical containers having different diameters.
  • the shape of the jaws can be different from the one described, provided that it is compatible with the type of container to be inspected.
  • the closing and opening of the jaws is preferably but not necessarily controlled by pneumatic actuators, not illustrated herein but known per se, suited to generate a pre-established force sufficient to firmly grasp the container 2 without breaking it.
  • the grasping means 6 comprise one or more suction cups, or means of another type suitable for guaranteeing a tight hold of the container 2.
  • An inspection machine in any of the embodiments described above makes it possible to implement the inspection method of the invention, comprising the following operations:
  • the above mentioned predefined motion comprises a rotation of the reference axis X according to a conical surface, as shown in
  • the above mentioned rotation makes it possible to transmit a swirling motion to the liquid substance 3 contained in the container 2, said swirling motion making it possible to identify the particles present in the substance 3.
  • the above mentioned conical rotation is preferably obtained by combining the rotations around the two rotation axes Y1 and Y2 orthogonal to each other and to the reference axis X.
  • the above mentioned predefined motion preferably comprises also the overturning of the container 2, which can be obtained through a combination of the rotations around the two axes Y1 , Y2 and is illustrated in Figure 4b.
  • the overturning makes it possible to move also the floating particles and the heavy particles present in the container 2.
  • the overturning preferably takes place in such a way as to arrange the container 2 with its longitudinal axis in vertical position.
  • the overturning movement can also be partial, provided that after the overturning movement the container 2 has the bottom facing upwards.
  • the two rotations around the axes Y1 and Y2 make it also possible to inspect solid substances, as they allow the container 2 to be arranged in front of the optical unit 4 with different angles, as shown in Figures 5a and 5b, so as to take the entire surface of the substance 3.
  • the possibility to modify the inclination of the container 2 makes it possible to modify the incidence of the light source with respect to the object being taken, thus allowing the identification of some defects that may be invisible with the container 2 arranged in the other position.
  • each rotation may have any angular extension, even if in most cases a rotation of 360° or less is sufficient.
  • any of the embodiments of the invention described above can preferably include also a rotation of the container 2 around a third axis Y3 coaxial to the longitudinal axis of the container 2.
  • This rotation is particularly advantageous when it comes to inspecting a solid substance 3, as it makes it possible to take the entire lateral surface of the substance 3 by rotating the container 2 around the third axis Y3 in front of a single camera.
  • the containers to be inspected are arranged in a store 12, from which they are transported to the collection point 8 by means of the feeding unit 11.
  • the store 12 is preferably an inclined tank, so that the containers slide by gravity towards the feeding unit 11.
  • the feeding unit 11 comprises a conveyor belt 14 associated with a guide 16, whose geometry can be modified according to the type of container.
  • the conveyor belt 14 conveys the containers at the level of an actuator 15, which pushes each container 2 to the collection point 8.
  • the actuator 15 is preferably configured so as to move containers of different shapes and sizes with no need to modify the configuration of the machine 1.
  • the store 12 and the feeding unit 11 may have any construction form different from the one described above, provided that they allow the containers that are going to be inspected to be arranged on the collection point 8.
  • the invention preferably but not necessarily includes an auxiliary camera 9 suited to take the container 2 in the collection point 8, so as to identify any aesthetic defect of the same before inspecting the substance 3.
  • power means may be provided that are not illustrated herein and are suited to rotate the container 2 with respect to the auxiliary camera 9, so that the latter can take the entire surface of the container 2 itself.
  • the articulated arm 7 grasps it with the corresponding grasping means 6 and transmits the predefined motion that is most suitable for the type of inspection to be carried out.
  • the container 2 is moved so that its longitudinal axis describes a cone, as shown in Figure 4a.
  • the container 2 is overturned and arranged within the viewing field of the optical unit 4, as shown in Figure 4b, in a way sufficiently rapid to allow the still moving liquid to be taken.
  • the container 2 is preferably brought within the viewing field and rotated by one revolution around its own longitudinal axis, so that a first camera 4a takes its bottom while a second camera 4b views the lateral surface of the substance 3.
  • the above mentioned rotation preferably takes place with the container 2 arranged with its longitudinal axis aligned with the focal axis of the camera 4a, as shown in Figure 5a.
  • the container 2 is also taken while arranged with its longitudinal axis inclined with respect to the focal axis of the cameras, if necessary by rotating the container 2 around the longitudinal axis, as shown in Figure 5b.
  • the camera 4a can take the lower angle of the container 2, where sometimes defects are present, while the camera 4b takes the upper surface of the substance 3.
  • the images acquired by the cameras 4a, 4b are processed by means of an algorithm known per se, in order to identify any impurities present in the substance 3.
  • the articulated arm 7 transports the container 2 to one of the delivery points 13a, 13b, depending on the result of the inspection, pushing it so as to make the other containers, which have already been deposited, slide towards corresponding collection tanks.
  • the invention achieves the object to provide a machine for inspecting a liquid substance contained in a container that is less expensive than the machines of known type and that therefore is suitable for inspecting containers produced in small series.
  • the conical motion of the container makes it possible to transmit a swirling motion to the liquid, with no need to rotate the container around its longitudinal axis at high rotation speeds.
  • the flexibility of use of the articulated arm makes it possible to handle a plurality of containers having different shapes and to carry out various types of inspection according to the substance to be analyzed, with no need to modify the equipment.

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  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

Cette invention concerne une machine (1) permettant de contrôler une substance liquide (3) présente dans un contenant (2), ladite machine comprenant une unité optique (4) définissant un champ d'observation, un système de préhension (6) définissant un axe de référence (X) et configuré pour saisir le contenant (2) de manière à maintenir l'axe longitudinal du contenant (2) coaxial par rapport à l'axe de référence (X), et un système (5) permettant de déplacer le système de préhension (6), configuré de manière à transmettre un mouvement prédéfini à l'axe de référence (X), ledit mouvement prédéfini comprenant un mouvement de rotation selon une surface conique.
PCT/IB2010/001048 2009-05-07 2010-05-06 Machine contrôlant des contenants et procédé de contrôle utilisant ladite machine Ceased WO2010128384A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITVI2009A000107 2009-05-07
IT000107A ITVI20090107A1 (it) 2009-05-07 2009-05-07 Macchina per l'ispezione di recipienti e metodo di ispezione impiegante tale macchina

Publications (1)

Publication Number Publication Date
WO2010128384A1 true WO2010128384A1 (fr) 2010-11-11

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PCT/IB2010/001048 Ceased WO2010128384A1 (fr) 2009-05-07 2010-05-06 Machine contrôlant des contenants et procédé de contrôle utilisant ladite machine

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IT (1) ITVI20090107A1 (fr)
WO (1) WO2010128384A1 (fr)

Cited By (7)

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WO2019190647A1 (fr) * 2018-03-30 2019-10-03 Amgen Inc. Inspection de récipient à médicament à base d'appareil de prise de vues
EP3882611A3 (fr) * 2020-03-17 2021-09-29 Manuel A. Soto Station d'inspection de médicaments parentérale pré-remplie et son procédé d'utilisation
IT202000014842A1 (it) * 2020-06-22 2021-12-22 S P A M I S R L Apparato e metodo di ispezione di un contenitore di sostanze medicali
JPWO2022059185A1 (fr) * 2020-09-18 2022-03-24
WO2022133359A1 (fr) * 2020-12-18 2022-06-23 Sio2 Medical Products, Inc. Procédés d'inspection de récipients pharmaceutiques pour des particules et de défauts
WO2024115163A1 (fr) * 2022-12-02 2024-06-06 Groninger & Co. Gmbh Dispositif de surveillance, système de charge, système et procédé de lyophilisation
US12170849B2 (en) 2022-02-04 2024-12-17 Applied Materials, Inc. Pulsed illumination for fluid inspection

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Publication number Priority date Publication date Assignee Title
US5479969A (en) * 1992-08-19 1996-01-02 British Nuclear Fuels Plc Apparatus for dispensing substances which are biologically hazardous
US5844677A (en) * 1997-12-04 1998-12-01 Agr International, Inc. Apparatus and associated method for inspecting containers for bulges
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JP7476105B2 (ja) 2018-03-30 2024-04-30 アムジエン・インコーポレーテツド カメラベースの薬物容器検査
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WO2019190647A1 (fr) * 2018-03-30 2019-10-03 Amgen Inc. Inspection de récipient à médicament à base d'appareil de prise de vues
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