JP2017083322A - Internal inspection apparatus for kneaders - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an internal inspection apparatus for kneaders that can easily inspect the inside of a kneader.SOLUTION: The internal inspection apparatus for kneaders includes: a camera (imaging unit) 1 for taking an image of the inside of a kneader 100; a linear light source part 8 for applying a linear light to the inside of the kneader 100; an illumination part 3 for illuminating the inside of the kneader 100; a holding member 2 for holding the camera 1 and the linear light source part 8; a suspension supporting member 4 for suspending to support the holding member 2 in the kneader 100 so that the holding member is movable up and down; and an inspection device body part 5 for operating the holding member 2 from the outside of the kneader 100.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an internal inspection device for a kneading apparatus for inspecting the inside of a kneading apparatus for kneading rubber or resin.

  A kneading apparatus for kneading rubber or resin is conventionally known. For example, Patent Document 1 discloses a kneading apparatus. The kneading apparatus disclosed in Patent Document 1 includes a rotor that is rotatably disposed inside a chamber formed by a casing. By rotating the rotor, the kneading apparatus is deformed so as to tear a processed material such as rubber or resin. Knead.

  Since such a kneading apparatus is used in a state where strong friction is generated between the workpiece and the inner walls of the rotor and the chamber, it is necessary to withstand abrasion. In particular, when a hard material such as silica is kneaded into tire raw rubber as in recent years, wear becomes more severe. Therefore, the components of the kneading apparatus are often subjected to chrome plating treatment or thermal spraying treatment in order to impart wear resistance.

  However, wear progresses during the period of use, and the thickness of the surface treatment layer decreases or peeling occurs. Also, even in the same type of machine, the operation content (hardness and softness of the processing raw material, etc.) is different, so it is difficult to simply determine the wear state based on the operation time. Therefore, it is important to check these conditions when maintaining the equipment.

  Conventionally, such an inspection is performed by visual inspection and manual operation of a place corresponding to a check point by a skilled worker, for example, when a door (drop door) provided in the apparatus is opened. For this reason, when including the personnel for ensuring safety and the time for starting and stopping the machine, a large number of people and time are required. Judgment is made based on the machine maintenance history and operating conditions. If simple inspections reveal whether such a full-scale inspection is necessary immediately, it is possible to formulate an appropriate maintenance plan and reduce costs. In particular, the effect will be great if the machine downtime and the work required for inspection can be reduced.

  However, the kneading apparatus has a structure in which the rotor rotates in a space called a chamber, for example, as in Patent Document 1 above, so the entire interior cannot be seen at once, and inspection cannot be performed unless the viewing direction is changed in various ways. The work is difficult.

  For example, in Patent Document 2, the casing forming the chamber is divided into two parts, and the casing is separated and opened so that the inside can be inspected at the time of inspection.

Japanese Patent No. 3095656 Japanese Patent No. 3756766

  However, in Patent Document 2, since the casing is opened in two parts, a lot of manpower and time are required for the inspection, and a lot of manpower and time are also required for recovery of the casing assembly after the inspection, It is not something that can be easily checked.

  In addition, since the kneading apparatus is a machine that requires a very large force for kneading, such a two-part structure is disadvantageous in terms of strength, and in order to ensure the same strength as a unitary structure apparatus that cannot be divided into two parts. However, reinforcement such as increasing the wall thickness is necessary, which is disadvantageous in terms of weight and size.

  An object of this invention is to provide the internal inspection apparatus for kneading apparatuses which can check the inside of a kneading apparatus easily.

  As a result of various studies, the present inventor has found that the above object is achieved by the present invention described below. That is, an internal inspection device for a kneading apparatus according to an aspect of the present invention includes an imaging unit that is arranged so as to be able to image the inside of the kneading device, a linear light source unit that applies linear light to the inside of the kneading device, The size of the measurement object on the image based on the image captured by the imaging unit with the linear light from the linear light source unit applied to the predetermined measurement object inside the kneading apparatus A detection unit that detects the image, a distance acquisition unit that acquires an imaging unit distance from the measurement target to the imaging unit, a size on the image obtained by the detection unit, and the imaging unit distance obtained by the distance acquisition unit And a calculation unit for calculating the actual size of the measurement object based on the above.

  According to this, it becomes possible to easily observe the internal state of the kneading apparatus with a small number of people by the imaging unit, and it is possible to perform preliminary investigation before performing inspection by disassembling and opening each part inside the kneading apparatus. Maintenance is possible. For example, if the wear in the equipment is very small, it is possible to perform maintenance by rationally determining the intervals required for maintenance, such as extending the maintenance interval without conducting full-scale inspections that require disassembly and opening of the internal parts of the kneading equipment. become. Further, since the stop time of the kneading apparatus is short and there are few operation restrictions, it is easy to create an inspection plan. Further, the number of inspections can be reduced, which is advantageous in terms of required inspection costs.

  In addition, in order to determine the size of a predetermined measurement object by the detection unit, the distance acquisition unit, and the calculation unit, for example, a wearable part inside the kneading apparatus is set as the measurement object, and the measurement object size is obtained. Thus, a change in size can be seen by comparing with the size of the object to be measured before being worn. Thereby, the part which is easy to wear can be inspected easily and reliably.

  In addition, when obtaining the size on the image based on the image obtained by imaging the measurement object by the imaging unit with the detection unit, the imaging unit captures an image of the measurement object in a state where the linear light from the linear light source unit is struck. The measurement object can be clearly shown on the image, and the measurement object can be easily specified.

  In another aspect, in the internal inspection device for a kneading apparatus, an illumination unit that illuminates the inside of the kneading apparatus, a holding member that holds the imaging unit and the linear light source unit, and the kneading member that is the kneading unit The apparatus further includes a suspension support member that suspends and supports the apparatus so as to be vertically movable, and an operation unit that operates the holding member from the outside of the kneading apparatus.

  According to this, since the holding member holding the imaging unit and the linear light source unit is suspended and supported inside the kneading device by the hanging support member so as to be vertically movable, the inspection device disassembles the kneading device, etc. The image can be captured by the imaging unit from the upper part to the lower part of the kneading apparatus without being done, the size of various locations can be measured, and a wide range of inspections can be performed.In addition, the internal inspection of the kneading apparatus can be performed more easily. It can be carried out.

  In another aspect, in the internal inspection device for a kneading apparatus, the distance acquisition unit converts the reflected light of the linear light emitted from the linear light source to the measurement object to an image captured by the imaging unit. On the basis of this, the distance of the imaging unit is obtained by the principle of triangulation (light cutting method).

  According to this, the imaging unit distance is easily and reliably obtained, and the internal inspection device for the kneading apparatus is simplified. Further, when the distance of the imaging unit is obtained by the principle of triangulation, the linear light emitted from the linear light source unit to the measurement object can be used, and the internal inspection device for the kneading apparatus is simplified.

  In another aspect, the internal inspection device for a kneading apparatus further includes a distance measuring sensor disposed inside the kneading apparatus so that the imaging unit distance can be measured, and the distance acquisition unit includes the distance measuring sensor. The imaging unit distance information is obtained from

  According to this, since the distance acquisition unit obtains the imaging unit distance information from the distance measuring sensor, the imaging unit distance is easily and reliably obtained. Further, by obtaining the imaging unit distance information from the distance measuring sensor, the imaging unit distance can be obtained regardless of the linear light source unit or the imaging unit. For example, the linear light source unit and the imaging unit approach each other. It is also possible to arrange them, and the entire internal inspection device for the kneading apparatus can be made compact.

  In another aspect, in the internal inspection device for a kneading apparatus, the kneading apparatus further includes a storage unit that associates and stores the position of the imaging unit and the imaging unit distance inside the kneading device, and the distance acquisition unit includes: Obtaining positional information of the imaging unit inside the kneading apparatus, and obtaining imaging unit distance information corresponding to the position of the imaging unit from the storage unit based on the obtained positional information of the imaging unit To do.

  According to this, the imaging part distance information memorize | stored in the memory | storage part according to the position of the imaging part arrange | positioned inside a kneading apparatus is obtained, and an imaging part distance is calculated | required easily and reliably. Further, by obtaining the imaging unit distance information stored in the storage unit, the imaging unit distance can be obtained regardless of the linear light source unit or the imaging unit. For example, the linear light source unit and the imaging unit approach each other. It is also possible to arrange them, and the internal inspection device for a kneading apparatus can be made compact as a whole.

  In another aspect, in the internal inspection device for a kneading apparatus, the imaging unit and the linear light source unit can rotate about the horizontal axis with respect to the holding member and rotate about a vertical axis, respectively. The operation unit is configured to operate the holding member so that the imaging unit and the linear light source unit rotate about the horizontal axis and the vertical axis, respectively. Features.

  According to this, from the upper part to the lower part of the inner wall of the casing inside the kneading apparatus, or from the upper part to the lower part of the rotor provided inside the kneading apparatus, detailed inspection can be performed via the imaging unit and the linear light source unit. . In addition, for example, one imaging unit and one linear light source unit can be used to inspect almost the entire interior of the kneading apparatus, thereby simplifying the kneading apparatus internal inspection apparatus and making it inexpensive and easy to use. Become a thing.

  In another aspect, in the internal inspection device for a kneading apparatus, the holding member can transmit and receive an electric signal to the operation unit via a signal cable, and the suspension support member is the signal cable. It is characterized by.

  According to this, since the signal cable suspends and supports the holding member, it is possible to eliminate the need for a suspension support member such as a wire rope that separately supports the suspension member. However, it becomes simpler and easier to use.

  In another aspect, in the internal inspection device for a kneading apparatus, the holding member and the operation unit can wirelessly transmit and receive electrical signals to each other, and the suspension support member is provided from the inside of the kneading apparatus. A wire rope extended outside is provided.

  According to this, a signal cable for sending an electrical signal between the holding member and the operation unit can be eliminated, and the internal inspection device for the kneading apparatus is further simplified and easily used.

  In another aspect, in the internal inspection device for a kneading apparatus, the kneading apparatus includes a cylindrical chamber and a rotor rotatably disposed in the chamber, and an outer peripheral tip of the rotor and the chamber An inner wall is arranged so that a gap is formed between an outer peripheral tip of the rotor and an inner wall of the chamber, and the predetermined measurement object is the gap.

  In the kneading apparatus, the inner wall of the chamber and the outer peripheral tip of the rotor are most easily worn by use, and if the wear between the inner wall of the chamber and the outer peripheral tip of the rotor is excessive, kneading may not be performed smoothly. Therefore, the inspection efficiency can be improved by checking the wear state between the inner wall of the chamber and the outer peripheral tip of the rotor. In this embodiment, since the wear state is checked by measuring the size of the gap formed between the inner wall of the chamber and the outer peripheral tip of the rotor, wear due to the use of the kneading apparatus can be checked efficiently.

  The internal inspection device for a kneading apparatus of the present invention can easily check the inside of the kneading apparatus.

It is the schematic of the state which is checking the inside of a kneading apparatus with the internal inspection apparatus for kneading apparatuses of one embodiment of this invention. It is a front view of the imaging part, linear light source part, and holding member which are used for the internal inspection apparatus for kneading apparatuses of FIG. FIG. 3 is a side view of FIG. 2. It is a block diagram which shows the electrical structure of the internal inspection apparatus for kneading apparatuses of FIG. It is sectional drawing of the kneading apparatus in which the internal inspection apparatus for kneading apparatuses of FIG. 1 is used. It is explanatory drawing which made the chamber and a part of rotor provided in the kneading apparatus in FIG. 5 into a cross section. It is explanatory drawing which looked at the inside of the chamber of the kneading apparatus in FIG. 6 from the upper side. It is explanatory drawing which shows the state which the camera rotated from the state of FIG. It is explanatory drawing which expanded the boundary part of the chamber and rotor of a kneading apparatus. It is explanatory drawing of the state which applied linear light to the chamber and rotor of a kneading apparatus. It is explanatory drawing and numerical formula at the time of calculating | requiring the clearance gap between a chamber and a rotor by the principle of triangulation. It is an example of the table which linked | related and memorize | stored the position of the camera (imaging part) and the imaging part distance in the inside of a kneading apparatus.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic view of a state in which the inside of the kneading apparatus is inspected by the internal inspection apparatus for the kneading apparatus of the present invention.

  The internal inspection device 10 for a kneading apparatus of the present invention is used for checking the inside of the kneading apparatus 100. Prior to the description of the internal inspection device 10 for a kneading apparatus of the present invention, the kneading device 100 in which the internal inspection device 10 for a kneading apparatus is used will be described.

  The kneading apparatus 100 used in this embodiment is a biaxial batch type mixer as shown in FIG. 5, for example, kneading kneaded rubber raw materials and various materials (reinforcing agent, plastic material, anti-aging agent, etc.). Used to produce products. In the present embodiment, a kneading apparatus 100 that generates a kneaded product that becomes a rubber product will be described as an example. However, the present invention is not limited to this. Can also be applied.

  As shown in FIG. 5, the kneading apparatus 100 includes a material supply cylinder 111, a floating weight 113, a pneumatic cylinder 115, a casing 117, two first and second chambers (kneading chambers) 119a, 119b, Two rotors 121a and 121b and a drop door 123 are provided.

  Specifically, the material supply cylinder 111 extends in the vertical direction above the casing 117. A pneumatic cylinder 115 is provided at the upper end of the material supply cylinder 111. A piston rod 129 is arranged from the inside of the pneumatic cylinder 115 to the inside of the material supply cylinder 111. A piston 131 fixed to the upper end of the piston rod 129 is disposed inside the pneumatic cylinder 115.

  A floating weight 113 is disposed inside the material supply cylinder 111. The floating weight 113 is fixed to the lower end of the piston rod 129 and moves up and down together with the piston rod 129.

  The lower end of the material supply tube 111 communicates with the two chambers 119a and 119b through the material supply port 125 formed in the casing 117.

  A hopper 127 is provided on the side surface of the material supply cylinder 111. From the hopper 127, materials (rubber materials and various materials) are charged into the material supply cylinder 111. The hopper 127 is provided with a hopper opening / closing lid 127a.

  When the floating weight 113 is lowered by the action of the pneumatic cylinder 115, the material introduced into the material supply cylinder 111 is supplied to the first chamber 119 a and the second chamber 119 b.

  The first chamber 119a and the second chamber 119b are formed inside the casing 117. Each of the first chamber 119a and the second chamber 119b has a substantially cylindrical shape extending in a direction perpendicular to the paper surface of FIG.

  A first rotor 121a is disposed in the first chamber 119a, and a second rotor 121b is disposed in the second chamber 119b. These rotors 121a and 121b extend in a direction perpendicular to the paper surface of FIG. 5, and the rotors 121a and 121b have a gap 9 between the outer peripheral tips of the rotors 121a and 121b and the inner walls of the chambers 119a and 119b. The outer peripheral tip and the inner walls of the chambers 119a and 119b are arranged to have a predetermined distance. Then, power is applied from a motor (not shown), the first rotor 121a rotates in the direction of arrow A, and the second rotor 121b rotates in the direction of arrow B opposite to the direction of arrow A.

  A kneaded material discharge port 133 for discharging the kneaded material is provided at the lower portion of the casing 117.

  The drop door 123 functions as a lid for closing the kneaded product discharge port 33. The drop door 123 is arranged so that it can move up and down. As the drop door 123 descends, the kneaded product discharge port 133 is opened. As the drop door 123 rises, the kneaded product discharge port 133 is closed.

  FIG. 6 is an enlarged view of the chambers 119a and 119b and the rotors 121a and 121b shown in FIG. The first rotor 121a includes a trunk portion 141a and a wing portion 143a provided on the trunk portion 141a. Similar to the first rotor 121a, the second rotor 121b includes a trunk portion 141b and a wing portion 143b provided on the trunk portion 141b.

  The diameters of these body portions 141a and 141b are relatively large. This is because a large force acts on the rotors 121a and 121b at the time of kneading, that is, when the rubber raw material is sheared and the rubber raw material and various materials are mixed by the rotation of the rotors 121a and 121b. 121b is prevented from being destroyed. Further, in order to absorb the heat generated by the kneading, the cooling pipes are passed through the body parts 141a and 141b.

  As shown in FIGS. 9 and 10, the outer peripheral tip 143c of the wing 143a and the inner wall 145a of the first chamber 119a are formed so that a gap 9 is formed between the outer peripheral tip 143c of the wing 143a and the inner wall 145a of the first chamber 119a. Are arranged with a distance. Similarly, the distance between the outer peripheral tip 143c of the wing 143a and the inner wall 145b of the second chamber 119b is such that a gap 9 is formed between the outer peripheral tip 143c of the wing 143b and the inner wall 145b of the second chamber 119b. (See FIGS. 9 and 10). The size (distance) L10 of these gaps 9 is made small in order to increase the efficiency of shearing the rubber material and dispersing various materials in the rubber material.

  Thus, the gap 9 is small, and the diameters of the body portions 141a and 141b are relatively large. Therefore, when the chambers 119a and 119b, for example, the inner wall 145a of the chamber 119a are viewed from the kneaded product discharge port 133, a blind spot is inevitably generated, and therefore there is an invisible region in the inner wall 145a.

  The first rotor 121a and the second rotor 121a configured in this manner rotate around the rotation shaft 147 (shown in FIG. 7) by the driving force of a motor (not shown) in the chamber 119b.

  Next, the internal inspection device 10 for a kneading apparatus of the present invention will be described. As shown in FIG. 1, the kneading device internal inspection device 10 includes a camera (imaging unit) 1 that images the inside of the kneading device 100, a linear light source unit 8 that applies linear light to the inside of the kneading device 100, and A lighting unit 3 that illuminates the interior of the kneading apparatus 100, a holding member 2 that holds the camera 1 and the linear light source unit 8, and a suspension that suspends and supports the holding member 2 so as to be vertically movable inside the kneading apparatus 100. The supporting member 4 and the holding member 2 are operated from the outside of the kneading apparatus 100, and an inspection apparatus main body (operation part) 5 for obtaining the size of the measurement object is provided.

  The camera 1 includes, for example, an imaging optical system 11, an image sensor (image sensor) 12 (see FIG. 11), and an image processing circuit, and an optical image on a measurement target is received by the imaging optical system. The optical image thus formed is received by an image sensor to generate a light reception signal of the optical image, and a known image processing is performed on the light reception signal of the generated optical image to obtain a measurement target. An image (image data) is generated.

  The linear light source unit 8 irradiates (projects) linear (slit-shaped) light (linear light) onto a measurement target. For example, the linear light source unit 8 irradiates a laser light source that irradiates laser light and the laser light source. And an optical system that irradiates the measurement target with the formed linear laser light (linear laser light).

  As shown in FIGS. 2 and 3, the holding member 2 includes a frame portion 21, a holding portion main body 22 that holds the camera 1 and the linear light source portion 8, and the camera 1 and the linear light source portion 8. Movable operation sections 23 to 25 that are movable are provided.

  The frame portion 21 includes a rectangular first frame portion 21a arranged horizontally and a rectangular second frame portion 21b connected to the first frame portion 21a. The length L1 of the first frame portion 21a in the width direction is smaller than the widths of the material supply cylinder 111 and the hopper 127, and can be inserted into the material supply cylinder 111 from the hopper 127.

  The length L1 of the first frame portion 21a in the width direction is the length L2 (shown in FIG. 7) of the first chamber 119a and the second chamber 119b formed in the casing 117, that is, the rotor 121a. , 121b is approximately the same as the length L2 of the rotation axis direction D1.

  The lower end of the second frame portion 21b is fixedly connected to the front end (one end) of the first frame portion 21a, and the upper end thereof extends upward from the front end of the first frame portion 21a. Thereby, the 1st frame part 21a and the 2nd frame part 21b are mutually orthogonally crossed, and are formed in the shape which exhibits L shape by a side view. In this embodiment, the first frame portion 21a and the second frame portion 21b are reinforced by the reinforcing member 21c so as not to be deformed.

  The holding part main body 22 includes a long and long holding body 22a and a mounting shaft 22b to which the camera 1 and the linear light source part 8 are attached.

  The long holding body 22a is held in the first frame portion 21a in a state where the longitudinal direction thereof is along the vertical direction and the lower end of the long holding body 22a protrudes downward from the first frame portion 21a. The body 22a is rotatably held around the axis of the body 22a, that is, around the vertical axis (V1-V2).

  The attachment shaft 22b is rotatably attached to the lower end of the long holding body 22a so as to extend horizontally and form a horizontal axis (an axis parallel to the rotation shaft 147 of the rotors 121a and 121b). In this embodiment, the linear light source unit 8 is fixedly attached to the attachment shaft 22b with a predetermined distance L16 from the camera 1 in the axial direction of the attachment shaft 22b. Therefore, in this embodiment, the linear light source unit 8 moves with the camera 1 without moving with respect to the camera 1. Further, the linear light source unit 8 is attached to the attachment shaft 22b so as to form a predetermined angle θ2 (see FIG. 11) in a direction orthogonal to the optical axis of the camera 1.

  The movable operation unit includes a horizontal axis rotation member 23 that rotates the camera 1 about the horizontal axis, a vertical axis rotation member 24 that rotates the camera 1 about the vertical axis, and the camera 1 that rotates the rotor 121a. , 121b and a moving member 25 that moves in the direction of the rotation axis.

  The horizontal axis turning member 23 includes a first motor 23 a attached to the long holding body 22 a and a first rotation transmission member 23 b that transmits the rotation of the first motor 23 a to the camera 1.

  In this embodiment, the first rotation transmission member 23b is endlessly hung on the belt winding shaft 23c rotatably attached to the upper end of the long holding body 22a, and the belt winding shaft 23c and the attachment shaft 22b. Belt 23d.

  The belt winding shaft 23c is connected to the first motor 23a via a gear (not shown) so as to be able to transmit rotation.

  The endless belt 23d travels with the rotation of the belt winding shaft 23c and rotates the attachment shaft 22b. As the mounting shaft 22b rotates, the camera 1 rotates about the mounting shaft 22b, that is, about the horizontal axis (W1-W2).

  In this embodiment, the horizontal axis rotation member 23 includes a rotation angle detection sensor 23e that detects a rotation angle of the camera 1 about the horizontal axis. The rotation angle detection sensor 23e around the horizontal axis of this embodiment is attached to the belt winding shaft 23c, and detects the rotation angle around the horizontal axis of the camera 1 by detecting the amount of rotation of the belt winding shaft 23c. To do.

  The vertical axis turning member 24 includes a second motor 24 a attached to the first frame portion 21 a and a second rotation transmission member 24 b that transmits the rotation of the second motor 24 a to the camera 1.

  The second rotation transmission member 24b includes a cylindrical worm gear 24c attached to the long holder 22a, and a wheel 24d engaged with the worm gear 24c.

  The wheel 24d is attached to the first frame portion 21a and is connected to the second motor 24a via a gear (not shown) so as to be able to transmit rotation.

  In the thus configured vertical axis turning member 24, the worm gear 24c is rotated via the wheel 24d in accordance with the operation of the second motor 24a, and the long holding body 22a is moved together with the worm gear 24c. Rotate around the axis of the long holder 22a, that is, around the vertical axis (V1-V2).

  In this embodiment, the vertical axis rotation member 24 includes a vertical axis rotation angle detection sensor 24e that detects the rotation angle of the camera 1 about the vertical axis. The rotation angle detection sensor 24e around the vertical axis of this embodiment is attached to the wheel 24d, and detects the rotation angle around the vertical axis of the camera 1 by detecting the rotation amount of the wheel 24d.

  The moving member 25 includes a third motor 25a attached to the first frame portion 21a, and a third rotation transmission member 25b that transmits the rotation of the third motor 25a to the attachment shaft 22b.

  The third rotation transmission member 25b includes a guide screw shaft 25c and a moving screw member 25d screwed to the guide screw shaft 25c.

  The guide screw shaft 25c extends along the width direction of the first frame portion 21a, and is rotatably attached to the first frame portion 21a. The guide screw shaft 25c is connected to the third motor 25a via a gear (not shown) so as to be able to transmit rotation.

  The moving screw member 25d is fixedly connected to the long holding body 22a. The third rotation transmitting member 25b is not limited to the one provided with the guide screw shaft 25c and the moving screw member 25d, but the long holding body 22a holding the mounting shaft 22b by, for example, a drive belt is used as the first frame portion 21a. You may make it move along the width direction of this, and can change suitably.

  In this embodiment, the moving member 25 includes a movement amount detection sensor 25e that detects the movement amount of the camera 1. The movement amount detection sensor 25e of this embodiment is attached to the guide screw shaft 25c and detects the movement amount of the camera 1 by detecting the rotation amount of the guide screw shaft 25c.

  In the moving member 25 configured as described above, the guide screw shaft 25c rotates with the operation of the third motor 25a. As the guide screw shaft 25c rotates, the moving screw member 25d moves along the guide screw shaft 25c to one side or the other side in the width direction of the first frame portion 21a. The body 22a moves in the same direction together with the moving screw member 25d (Z1-Z2 direction). By this movement, the camera 1 is movable in the rotation axis direction D1 of the first rotor 121a and the second rotor 121b.

  Next, the illumination unit 3 will be described. The illumination unit 3 of this embodiment includes an overall illumination (first illumination) 31 that illuminates the entire interior of the kneading apparatus 100 and a proximity illumination that partially illuminates the interior of the kneading apparatus 100 that is smaller than the overall illumination 31. (Second illumination) 32 and two types of illumination.

  The whole illumination 31 is composed of two attached to the lower surface of the first frame portion 21a on both sides of the long holding body 22a with the long holding body 22a interposed therebetween. Each overall illumination 31 illuminates downward.

  The proximity illumination 32 is fixedly attached to the attachment shaft 22b in a state of facing the same direction as the camera 1. Accordingly, the proximity illumination 32 is rotated about the horizontal axis and the vertical axis together with the camera 1 by the movable operation units 23 to 25 and moved in the width direction of the first frame portion 21a.

  Next, the suspension support member 4 will be described. As shown in FIG. 1, the suspension support member 4 of this embodiment includes a wire rope 41 and a signal cable 42 that connects the holding member 2 and the inspection device main body 5 so as to communicate with each other.

  One end of the wire rope 41 is connected to the upper end of the second frame portion 21 b in the frame portion 21 of the holding member 2. Further, the other end of the wire rope 41 is connected to a suspension operation portion of the inspection device main body 5 described later.

  The wire rope 41 is guided by a wire rope guiding pulley 41a attached to the hopper opening / closing lid 127a.

  In this embodiment, the signal cable 42 includes the camera 1, the linear light source unit 8, the motors 23a, 24a, and 25a, the rotation angle detection sensor 23e around the horizontal axis, the rotation angle detection sensor 24e around the vertical axis, and the movement. Each of the quantity detection sensors 25e and the inspection device body 5 are configured by a bundle of a plurality of signal cables that are communicably connected.

  One end of each signal cable 42 is connected to the camera 1, the linear light source 8, the motors 23a, 24a, 25a, the rotation angle detection sensor 23e around the horizontal axis, the rotation angle detection sensor 24e around the vertical axis, and the movement. The other end of each signal cable 42 is connected to a suspension operation portion 6 of the inspection device main body 5 described later.

  The signal cable 42 is guided by a signal cable guiding pulley 42a attached to the hopper opening / closing lid 127a.

  Next, the inspection apparatus main body 5 will be described. In this embodiment, the inspection device main body 5 includes a suspension operation unit 6 for operating the suspension support member 4 and a personal computer (personal computer) 7 as shown in FIG.

  The suspension operation unit 6 sequentially winds up the wire rope 41 and the signal cable 42 of the suspension support member 4 from the other end by a motor (not shown), and the wire rope 41 and the signal cable 42 of the suspended support member 4 that has been wound up. Operate to unwind sequentially.

  As illustrated in FIG. 4, the personal computer 7 includes a control processing unit 70, an input unit 75, an output unit 76, an interface unit (IF unit) 77, and a storage unit 78.

  The control processing unit 70 controls each part of the personal computer 7 according to the function of each part. The control processing unit 70 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits.

  Further, the control processing unit 70 of this embodiment functionally includes a motor control unit 71, a camera position control unit 72, a winding member control unit 73, and a measurement target size acquisition unit 80.

  The motor control unit 71 controls the first motor 23a, the second motor 24a, and the third motor 25a to start and stop operating.

  The camera position control unit 72 controls the rotation angle of the camera 1 around the horizontal axis based on the detection information of the rotation angle detection sensor 23e around the horizontal axis. The camera position control unit 72 controls the rotation angle of the camera 1 around the vertical axis based on the detection information of the rotation angle detection sensor 24e around the vertical axis. The camera position control unit 72 controls the amount of movement of the rotors 121a and 121b of the camera 1 in the axial direction based on the detection information of the movement amount detection sensor 25e.

  The hoisting member control unit 73 controls the hoisting operation unit 6 to hoist the hoisting support member 4 and controls the hoisting support member 4 to unwind.

  The measurement target size acquisition unit 80 obtains the size of the measurement target inside the kneading apparatus 100. The measurement target size acquisition unit 80 includes a detection unit 81, a distance acquisition unit 82, a calculation unit 83, It has. In this embodiment, the size of the measurement object is the measurement object, with the gap 9 formed between the outer peripheral tip 143c of the wing part 143a and the ends of the inner walls 145a and 145b of the chambers 119a and 119b being the measurement object. The gap size L10 is set.

  As shown in FIG. 10, the detection unit 81 has a gap 9 between the outer peripheral tip 143c of the wing part 143a irradiated with the linear light from the linear light source unit 8 and the ends of the inner walls 145a and 145b of the chambers 119a and 119b. Based on the image captured by the camera 1, the size L11 on the image of the gap 9 (see FIG. 11) is acquired.

  As shown in FIG. 11, the distance acquisition unit 82 acquires an imaging unit distance L12 from the ends of the inner walls 145a and 145b of the chambers 119a and 119b or the outer peripheral tip 143c of the wing unit 143a to the imaging optical system 11 (imaging unit). To do. In this embodiment, the distance acquisition unit 82 captures the reflected light of the linear light irradiated to the measurement target from the linear light source unit 8 with the camera 1, and from the image, as shown in FIG. The angle θ1 formed with respect to the direction orthogonal to the optical axis of the camera 1 is obtained using (Equation 1), and the imaging unit distance L12 can be obtained by the triangulation principle using (Equation 2) below. ing.

θ1 = tan ⁻¹ (L14 / L15) (Equation 1)
Note that L15 shown in FIG. 11 is the distance from the center of the image sensor 12, and L15 = pixel size × number of pixels from the center.

  L12 = L16 × (tan θ1 × tan θ2) / (tan θ1 + tan θ2) (Equation 3)

  Based on the apparent size L11 on the image obtained by the detection unit 81 and the imaging unit distance L12 obtained by the distance acquisition unit 82, the calculation unit 83 determines the outer peripheral tip 143c of the wing 143a and the inner walls of the chambers 119a and 119b. The actual distance L10 with the ends of 145a and 145b is calculated. In this embodiment, the calculation unit 83 calculates the actual distance L10 from the size L11 on the image obtained by the detection unit 81, the imaging unit distance L12 obtained by the distance acquisition unit 82, and the following (Equation 3). (Shown in FIGS. 9 and 10) is calculated.

  L11 = L13 × L12 / L14 (Equation 3)

  The input unit 75 is connected to the control processing unit 70 and is, for example, a device that inputs various commands and necessary various data to the personal computer 7, for example, a plurality of input switches assigned a predetermined function, a keyboard, Or a mouse.

  The output unit 76 is connected to the control processing unit 70, and is a device that outputs commands and data input from the input unit 75 and image data captured by the camera 1 according to the control of the control processing unit 70. A display device such as a CRT (Cathode Ray Tube) display, an LCD (liquid crystal display) and an organic electroluminescence (organic EL) display, a printing device such as a printer, and the like.

  The IF unit 77 is a circuit that is connected to the control processing unit 70 and inputs / outputs data to / from an external device according to the control of the control processing unit 70. For example, an interface circuit of RS-232C that is a serial communication system , An interface circuit using the Bluetooth (registered trademark) standard, an interface circuit performing infrared communication such as an IrDA (Infrared Data Association) standard, and an interface circuit using the USB (Universal Serial Bus) standard.

  The IF unit 77 of this embodiment includes, for example, the camera 1, motors 23a, 24a, and 25a, a rotation angle detection sensor 23e around the horizontal axis, a rotation angle detection sensor 24e around the vertical axis, a movement amount detection sensor 25e, and a suspension. Communication is performed with the operation unit 6 through the signal cable 42.

  The storage unit 78 is a circuit that is connected to the control processing unit 70 and stores various predetermined programs and various predetermined data under the control of the control processing unit 70. The storage unit 78 includes, for example, a ROM (Read Only Memory) that is a nonvolatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) that is a rewritable nonvolatile storage element, and the like. The storage unit 78 includes a RAM (Random Access Memory) serving as a working memory for the so-called control processing unit 70 that stores data generated during execution of the predetermined program.

  In this embodiment, the storage unit 78 stores the above (Expression 1), (Expression 2), and (Expression 3).

  Next, a method for inspecting the inside of the kneading apparatus 100 using the kneading apparatus internal inspection apparatus 10 will be described.

  As shown in FIG. 1, the holding member 2 holding the camera 1 and the linear light source unit 8 in the internal inspection device 10 for a kneading apparatus is put into the kneading apparatus 100 from a hopper 127.

  Then, by operating the inspection device main body 5, the suspension operation unit 6 is operated, and for example, the holding member 2 is moved to a position where the camera 1 and the linear light source unit 8 come to the material supply port 125 of the kneading device 100. Lower. In this state, the operation of the suspension operation unit 6 is stopped. In this state, the second frame portion 21b extends along the inner wall of the kneading apparatus 100, the second frame portion 21b is arranged vertically, and the first frame portion 21a is arranged horizontally.

  Further, from this state, by operating the inspection device main body 5, for example, the first motor 23a is operated, and the camera 1 is directed to the second rotor 121b as shown in FIG. Stop operation. Further, if necessary, by operating the inspection device main body 5, the second motor 24 a is operated, and the camera 1 is rotated about the vertical axis. As a result, the camera 1 can see the state of wear of the upper end portion of the inner wall 145b of the second chamber 119b and the wing portion 143b of the second rotor 121b along the rotation axis direction of the second rotor 121b.

  Further, as shown in FIG. 10, the inspection apparatus main body is formed in a state in which the light from the linear light source 8 is linearly applied from the inner wall 145b to the wing 143b of the second chamber 119b to form a light cutting line 801. 5 generates an image of the boundary portion between the upper end portion of the inner wall 145b of the second chamber 119b and the wing portion 143b in which the optical cutting line 801 is formed via the camera 1.

  At this time, the light cutting line 801 is not reflected by the gap 9 formed at the boundary between the upper end of the inner wall 145b of the second chamber 119b and the outer peripheral tip 143c of the wing 143b, and therefore the upper end of the inner wall 145b of the second chamber 119b. The boundary portion including the gap 9 between the portion and the outer peripheral tip 143c of the wing portion 143b can be clearly grasped.

  Then, based on the generated image, the detection unit 81 of the inspection apparatus main body 5 measures the size L11 of the gap 9 between the upper end of the inner wall 145b and the outer peripheral tip 143c of the wing 143b on the image. The inspection device main body 5 is operated. For example, as shown in FIG. 10, the inspection apparatus main body 5 is operated so that a first measurement reference line P1 that is a straight line passing through the upper end of the inner wall 145b and orthogonal to the optical axis of the camera 1 passes through the end of the inner wall 145a. At the same time, the inspection apparatus body 5 is operated so that the second measurement reference line P2 parallel to the first measurement reference line P1 passes through the outer peripheral tip 143c of the wing part 143b. In this state, the inspection device main body 5 reads the distance between the first measurement reference line P1 and the second measurement reference line P2.

  In this state, the distance acquisition unit 82 of the inspection apparatus main body 5 sets the imaging unit distance L12 from the upper end of the inner wall 145a of the first chamber 119a to the imaging optical system 11 as shown in FIG. It is obtained by the principle of triangulation using 1) and (Equation 2).

  Next, the calculation unit 83 of the inspection device main body unit 5 calculates the second chamber 119b from the size L11 on the image obtained by the detection unit 81, the imaging unit distance L12 obtained by the distance acquisition unit 82, and the above (Equation 3). The size L10 (shown in FIGS. 9 and 10) of the actual gap 9 between the end of the inner wall 145b and the outer peripheral tip 143c of the wing 143b is calculated.

  Thereby, the actual size L10 of the gap 9 between the upper end portion of the inner wall 145b of the second chamber 119a and the outer peripheral tip 143c of the wing portion 143b can be measured. Therefore, the size of the gap between the upper end portion of the inner wall 145b of the second chamber 119b and the outer peripheral tip 143c of the wing portion 143b before being worn (before use) is compared with the measured gap size L10. A change in size can be seen, and how much the inner wall 145b and the wing portion 143b of the second chamber 119b are worn can be expressed by specific numerical values. Therefore, the degree of wear is judged objectively and can be inspected accurately regardless of the inspector.

  Further, by operating the inspection apparatus main body 5, the first motor 23a is operated, the camera 1 is directed toward the first rotor 121a, and the operation of the first motor 23a is stopped in this state. From this state, the third motor 25a is operated by operating the inspection apparatus main body 5 to move the camera 1 in the rotation axis direction D1 of the first rotor 121a, and slowly rotate the second rotor 121b. As a result, the camera 1 can see the state of the upper end portion of the inner wall 145a of the first chamber 119a and the wing portion 143a of the first rotor 121a along the rotational axis direction of the first rotor 121a.

  Similarly, based on the image of the boundary between the upper end of the inner wall 145a of the first chamber 119a and the wing 143a in which the optical cutting line 801 is formed via the camera 1, the detection unit of the inspection apparatus main body 5 81 measures the image size L11 of the gap 9 between the upper end of the inner wall 145a and the outer peripheral tip 143c of the wing 143a.

  Further, as shown in FIG. 11, the distance acquisition unit 82 of the inspection apparatus main body unit 5 sets the imaging unit distance L12 from the inner wall 145a of the first chamber 119a to the imaging optical system 11 as described above (Formula 1) and (Formula 2). By using the principle of triangulation.

  Further, the calculation unit 83 of the inspection apparatus main body unit 5 determines the first chamber 119b based on the size L11 on the image obtained by the detection unit 81, the imaging unit distance L12 obtained by the distance acquisition unit 82, and the above (Equation 3). An actual size L10 (shown in FIGS. 9 and 10) of the gap 9 formed between the upper end portion of the inner wall 145a and the outer peripheral tip 143c of the wing portion 143a is calculated.

  Thereby, the actual size L10 of the gap 9 formed between the upper end portion of the inner wall 145a of the first chamber 119a and the outer peripheral tip 143c of the wing portion 143a can be measured. Therefore, the size of the gap between the upper end portion of the inner wall 145a of the first chamber 119a and the outer peripheral tip 143c of the wing portion 143a before being worn (before use) is compared with the measured gap size L10. A change in size can be seen, and how much the upper end portion of the inner wall 145a of the first chamber 119a and the outer peripheral tip end of the wing portion 143a are worn can be expressed by specific numerical values. Therefore, the degree of wear is judged objectively and can be inspected accurately regardless of the inspector.

  Next, for example, as shown in FIG. 6, the suspension operation unit 6 is operated by operating the inspection apparatus main body unit 5, and the camera 1 is moved to a position below the chambers 119 a and 119 b of the kneading apparatus 100. Lower.

  In this state, the operation of the suspension operation unit 6 is stopped. Further, by operating the inspection device main body 5, the first motor 23a is operated, and the camera 1 is directed toward the boundary between the lower end portion of the inner wall of the second chamber 119b and the material supply port 125, and the first motor 23a is in that state. The operation of the motor 23a is stopped. Further, if necessary, by operating the inspection device main body 5, the second motor 24 a is operated, and the camera 1 is rotated about the vertical axis.

  Accordingly, as described above, the state of the boundary portion between the lower end portion of the inner wall of the second chamber 119b that is easily damaged and the material supply port 125 can be viewed along the rotation axis direction of the second rotor 121b with the camera 1. it can. Further, the size L10 of the gap 9 between the lower end of the inner wall 145b of the second chamber 119b and the outer peripheral tip 143c of the wing 143b can be measured, and the lower end of the inner wall 145b of the second chamber 119b and the outer peripheral tip 143c of the wing 143b. A change in size can be seen by comparing the size of the gap before wear (before use) with the measured size L10 of the gap 9, and the lower end of the inner wall 145b of the second chamber 119b. The extent to which the part and the wing part 143b are worn can be expressed by specific numerical values. Therefore, the degree of wear is judged objectively and can be inspected accurately regardless of the inspector.

  Further, by operating the inspection apparatus main body 5, the first motor 23 a is activated, and the camera 1 is directed to the boundary between the lower end portion of the inner wall of the first chamber 119 a and the material supply port 125, as described above. The state of the boundary between the lower end portion of the inner wall of the first chamber 119a and the material supply port 125, which is easily damaged, can be viewed along the rotation axis direction of the first rotor 121a with the camera 1. Further, the size L10 of the gap between the lower end portion of the inner wall 145a of the first chamber 119a and the outer peripheral tip 143c of the wing portion 143a can be measured, and the lower end portion of the inner wall 145a of the first chamber 119a and the outer peripheral tip 143c of the wing portion 143a A change in size can be seen by comparing the size of the gap before wear (before use) with the measured size L10 of the gap, and the inner wall 145a and wing part 143a of the first chamber 119a can be seen. The degree of wear can be expressed by a specific numerical value. Therefore, the degree of wear is judged objectively and can be inspected accurately regardless of the inspector.

  According to the internal inspection device for a kneading apparatus of the present application configured as described above, the internal state of the kneading apparatus can be easily observed by a small number of people by the camera 1, and each part inside the kneading apparatus is disassembled and opened. Therefore, it is possible to conduct appropriate maintenance because a reliable preliminary survey can be conducted before the inspection. For example, if the wear in the equipment is very small, it is possible to perform maintenance by rationally determining the intervals required for maintenance, such as extending the maintenance interval without conducting full-scale inspections that require disassembly and opening of the internal parts of the kneading equipment. become. Further, since the stop time of the kneading apparatus is short and there are few operation restrictions, it is easy to create an inspection plan. Further, the number of inspections can be reduced, which is advantageous in terms of required inspection costs.

  In addition, since a measurement target size acquisition unit for determining the size of the measurement target is provided, for example, by setting an easily wearable part inside the kneading apparatus as the measurement target and determining the size of the measurement target, A change in size can be seen by comparing the size of the object before it is worn. Thereby, the part which is easy to wear can be inspected easily and reliably.

  In addition, when obtaining the size of the measurement object on the image based on the image captured by the imaging unit by the detection unit of the distance acquisition unit, the measurement target in a state where the linear light from the linear light source unit hits is captured. Since the image is captured by the unit, the measurement object can be clearly displayed on the image, and the measurement object can be easily specified.

  In addition, since the image pickup unit and the linear light source unit are suspended and supported by the suspension support member so as to be vertically movable, the inspection device is provided inside the kneading device without disassembling the kneading device. From the upper part to the lower part, the image can be picked up by the image pickup unit, the size (length) of various parts can be measured, the inspection can be performed over a wide range, and the internal inspection of the kneading apparatus can be performed more easily. .

  The distance acquisition unit obtains the imaging unit distance based on the principle of triangulation based on the image obtained by imaging the reflected light of the linear light emitted from the linear light source unit to the measurement object. Therefore, the internal inspection device for the kneading apparatus is simplified.

  Further, since the gap between the end of the inner wall of the chamber that is most easily worn by the distance acquisition unit and the outer peripheral tip of the rotor is measured, wear due to the use of the kneading apparatus can be efficiently inspected.

  In the above embodiment, the distance acquisition unit 82 is based on the image captured by the camera (imaging unit) 1 of the reflected light of the linear light emitted from the linear light source 8 to the measurement target, and the imaging unit distance L12. Is determined by the principle of triangulation, but is not limited to this form and can be changed as appropriate. For example, a distance measuring sensor 200 (shown by an alternate long and short dash line in FIG. 2) disposed so as to be connected to the inspection apparatus main body 5 so as to be able to measure the imaging unit distance L12 and to be communicable at a position near the camera 1. It is also possible to obtain the imaging unit distance L12 with the distance measuring sensor 200, and the distance acquisition unit 82 to obtain the obtained imaging unit distance L12. Thereby, the imaging unit distance L12 can be obtained irrespective of the linear light source unit 8 and the camera 1, for example, the linear light source unit 8 and the camera 1 approach each other (the linear light source unit 8 and the camera 1). It is also possible to arrange the distance L16 with 1 close to “0” or “0”), and the entire internal inspection device 10 for a kneading apparatus can be made compact.

  Alternatively, for example, the storage unit 78 associates the position of the camera 1 in the kneading apparatus 100 with the imaging unit distance L12 and stores the distance information acquisition unit 781 stored in the table 782 shown in FIG. 12 (shown by a one-dot chain line in FIG. 4). ). Then, the distance acquisition unit 82 uses the position information of the camera 1 inside the kneading apparatus 100 as the rotation angle detection sensor 23e around the horizontal axis, the rotation angle detection sensor 24e around the vertical axis, and the movement amount of the holding member 2, for example. The imaging unit distance information corresponding to the position of the camera 1 may be obtained from the table 782 based on the position information of the camera 1 obtained from the detection sensor 25e and the table 782. Thereby, the imaging unit distance L12 can be easily and reliably obtained, and the imaging unit distance information is obtained by the distance information acquisition unit 781 of the storage unit 78, so that the imaging unit is independent of the linear light source unit 8 and the camera 1. The distance L12 can be obtained, and, for example, the linear light source unit 8 and the camera 1 can be disposed close to each other, and the entire internal inspection device 10 for a kneading apparatus can be made compact. .

  Moreover, in the said embodiment, although the suspension support member 4 was comprised from what was provided with the wire rope 41 and the signal cable 42, it can change suitably not only in this form. For example, the suspension support member 4 may be configured only from the signal cable 42 and not include the wire rope 41. Alternatively, the photographing unit 1 is assumed to have a built-in power source such as a rechargeable battery, and the photographing unit 1 incorporating the power source and the inspection device main body unit 5 are connected so as to be able to communicate with each other wirelessly. It is assumed that the cable 42 is not provided, and the suspension support member 4 may be constituted only by the wire rope 41.

1 Camera (imaging part)
DESCRIPTION OF SYMBOLS 2 Holding member 3 Illumination part 4 Suspension support member 5 Inspection apparatus main-body part 8 Linear light source part 10 Internal inspection apparatus for kneading apparatuses 81 Detection part 82 Distance acquisition part 83 Calculation part 100 Kneading apparatus

Claims (9)

An imaging unit arranged to be capable of imaging the inside of the kneading apparatus;
A linear light source unit that applies linear light to the inside of the kneading device;
The size of the measurement object on the image based on the image captured by the imaging unit with the linear light from the linear light source unit applied to the predetermined measurement object inside the kneading apparatus A detection unit for detecting
A distance acquisition unit that acquires an imaging unit distance from the measurement target to the imaging unit;
A calculation unit that calculates an actual size of the measurement object based on the size on the image obtained by the detection unit and the imaging unit distance obtained by the distance acquisition unit;
An internal inspection device for a kneading apparatus, comprising: An illumination unit that illuminates the interior of the kneading device;
A holding member that holds the imaging unit and the linear light source unit;
A suspension support member that suspends and supports the holding member so as to be vertically movable inside the kneading apparatus;
The internal inspection device for a kneading apparatus according to claim 1, further comprising an operation unit that operates the holding member from the outside of the kneading apparatus.   The distance acquisition unit obtains the imaging unit distance according to the principle of triangulation based on an image obtained by imaging the reflected light of the linear light emitted from the linear light source unit to the measurement target by the imaging unit. The internal inspection device for a kneading apparatus according to claim 1 or 2, characterized in that. A distance measuring sensor disposed so as to be able to measure the imaging unit distance inside the kneading apparatus, further comprising:
The internal inspection device for a kneading apparatus according to claim 1, wherein the distance acquisition unit obtains imaging unit distance information from the distance measuring sensor. A storage unit that stores the position of the imaging unit and the imaging unit distance in the kneading apparatus in association with each other;
The distance acquisition unit obtains positional information of the imaging unit in the kneading apparatus, and based on the obtained positional information of the imaging unit, imaging unit distance information corresponding to the position of the imaging unit from the storage unit The internal inspection device for a kneading apparatus according to claim 1 or 2, wherein The imaging unit and the linear light source unit are each held by the holding member so as to be rotatable about a horizontal axis and rotatable about a vertical axis,
The operation unit operates the holding member so that the imaging unit and the linear light source unit are rotated about the horizontal axis and the vertical axis, respectively. The internal inspection apparatus for kneading apparatuses as described in any one of 2-5. The holding member can transmit and receive electrical signals to and from the operation unit via a signal cable.
The internal inspection device for a kneading apparatus according to any one of claims 2 to 6, wherein the suspension support member is the signal cable. The holding member and the operation unit can transmit and receive electrical signals wirelessly with each other,
The internal inspection device for a kneading apparatus according to any one of claims 2 to 6, wherein the suspension support member includes a wire rope extending from the inside of the kneading device to the outside. The kneading apparatus includes a cylindrical chamber, and a rotor that is rotatably disposed in the chamber.
The rotor is disposed in the chamber such that a gap is formed between an outer peripheral tip of the rotor and an inner wall of the chamber;
The internal inspection device for a kneading apparatus according to any one of claims 1 to 8, wherein the predetermined measurement object is the gap.

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