JPH04194734A - Image pick-up device and inspection device for inside surface of cylindrical body - Google Patents

Abstract

PURPOSE:To enable an image of an inside wall surface of a cylindrical body to be automatically picked up and inspected by providing a means for transporting a cylindrical body and an image pick-up means which is linked with the cylindrical body and is inserted into the cylindrical body for picking up an image of an inside wall surface of the cylindrical body. CONSTITUTION:A cylindrical body inside surface image pick-up device 100 is equipped with a transport means 101 for transporting a cylindrical body and an image pick-up means 102 which is inserted into the cylindrical body P and which picks up an image of an inside wall surface and an inner wall surface of the cylindrical body P. The means 102 is constituted so that it is directed toward an inner wall surface B of the cylindrical body P and an image of a total inside wall surface is picked up in closely positioned state to the inside wall surface. A cylindrical body inside surface inspection device 110 is transported being linked with the means 101 and the cylindrical body P. The means 101 has the image pick-up means 102 for outputting a video signal Sv, a signal receiving means 103 for transmitting the signal Sv without any contact, and a means 104 for determining quality. Thus the device eliminates the need for separating the cylindrical body P from a production process for still setting, and enabling image pick-up and inspection of the inside wall surface of the cylindrical surface P to be performed at high speed and automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for imaging the inner wall surface of a cylindrical body, and an apparatus for imaging the inner wall surface of the cylindrical body and inspecting its quality.

[Conventional technology]

Conventionally, the main method for inspecting the inner surface of a cylindrical body such as a laminate tube, particularly the inner wall surface, for defects such as scratches and dirt has been to visually inspect the inner surface of the tube.

[Problem to be solved by the invention]

However, with this method, there is a limit to inspection efficiency, and even if other manufacturing processes for laminated tubes are automated and speeded up, this inspection process limits the overall speed, and complete automation cannot be achieved. was there.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device for automatically capturing and inspecting images of the inner wall surface of a cylindrical body at high speed.

[Means to solve the problem]

MEANS TO SOLVE THE PROBLEM In order to solve the said subject, this invention is comprised as follows.

FIG. 1 is a diagram explaining the principle of the present invention.

In FIG. 1, a cylindrical body inner wall surface imaging device 100 according to a first aspect of the present invention includes a transport means 101 for transporting a cylindrical body P, and a transport means 101 for transporting a cylindrical body P in conjunction with the cylindrical body P. Imaging means 1 inserted inside to image the inner wall surface of the cylindrical body P
02, and is configured to image the inner wall surface of the cylindrical body P while moving together with the cylindrical body P.

The invention according to claim 2 is the cylindrical body inner wall surface imaging device 100 according to claim 1, in which the imaging means 102 is arranged such that the cylindrical body P
Alternatively, it is configured to be inserted into the cylindrical body P by moving either one of the imaging means 102.

The invention according to claim 3 is the cylindrical body inner wall surface imaging device 100 according to claim 1 or 2, wherein the imaging means 102 is directed toward the inner wall surface of the cylindrical body P and is arranged close to this inner wall surface. The entire inner wall surface is configured to be imaged of the inner wall surface portion within the field of view determined by the state.

The invention according to claim 4 is the cylindrical body inner wall surface imaging device according to claim 3, in which the imaging means 102 maintains a state in which the imaging means 102 is disposed close to each other and moves in a plane relative to the cylindrical body P. It is configured to image the inner wall surface portion while performing the following steps.

A cylindrical body inner wall surface inspection device 110 according to a fifth aspect of the present invention includes a transporting means 101 for transporting the cylindrical body P, and a transport means 101 that is transported in conjunction with the cylindrical body P and is inserted into the inside of the cylindrical body P. An imaging means 102 that images the inner wall surface of the cylindrical body P and outputs a video signal Sv; a signal exchange means 103 that transmits the video signal S in a non-contact state; a determining means 104 for determining the quality of the inner wall surface of the cylindrical body P based on the video signal Sv;
configured to inspect the quality of the inner wall surface of the

The invention according to claim 6 is the cylindrical body inner wall surface inspection apparatus 110 according to claim 5, in which the imaging means 102 is configured to inspect the cylindrical body P.
Alternatively, it is configured to be inserted into the cylindrical body P by moving either one of the imaging means 102.

The invention according to claim 7 is the cylindrical body inner wall surface inspection apparatus 110 according to claim 5 or 6, wherein the imaging means 102 is directed toward the inner wall surface of the cylindrical body P and is arranged close to this inner wall surface. The entire inner wall surface is configured to be imaged of the inner wall surface portion within the field of view determined by the state.

The invention as set forth in claim 8 is the cylindrical body inner wall surface inspection apparatus 110 as set forth in claim 7, in which the imaging means 102 maintains a close arrangement and is relatively flat with the cylindrical body P. It is configured to image the inner wall surface portion while moving.

[Effect]

According to the invention according to claim 1 or 5 having the above configuration,
The cylindrical body P to be imaged or inspected is transferred to the transport means 10
1, the imaging means 102 is transported by the cylindrical body P.
The inner wall surface of the cylindrical body P is imaged by being inserted into the cylindrical body P while being transported in conjunction with the cylindrical body P. Therefore, the cylindrical body P
There is no need to separate it from the manufacturing process and keep it stationary.
Moreover, imaging and inspection of the inner wall surface of the cylindrical body P can be performed automatically without using human power.

Further, according to the invention described in claim 2 or 6, the imaging means 1
02 may be inserted into the cylindrical body P by moving either the cylindrical body P or the imaging means 102.

According to the invention set forth in claim 3 or 7, the imaging means 102 is directed toward the inner wall surface of the cylindrical body P, and images the inner wall surface portion within the field of view determined while being disposed close to the inner wall surface. It is also possible to perform this on the entire inner wall surface. If the imaging means 102 is brought close to the inner bottom surface B in this way,
Although the field of view is reduced, the resolution is improved, further improving the accuracy of imaging and inspection.

According to the invention set forth in claim 4 or 8, the imaging means 102 includes:
It is also possible to maintain the close arrangement and to perform plane movement relative to the cylindrical body P.

For example, it is a relative rotational movement around the narrow center of the cylindrical body P. During this movement, imaging may be performed by stopping intermittently, or may be performed without stopping the movement.

〔Example〕

Next, preferred embodiments of the present invention will be described based on the drawings. This embodiment discloses an example in which the cylindrical body to be imaged or inspected according to the present invention is a laminate tube.

FIG. 2 shows the configuration of a tube inspection system using an embodiment of the present invention. This tube inspection system 200 includes a tube insertion section 1, a rotary tube inspection machine 2, a tube removal section 3, a conveyance device 4,
An emergency discharge conveyor 5 is provided.

The tube insertion section 1 includes an accumulation conveyor 6, a pusher 7, and a tube insertion jig 8. The rotary tube inspection machine 2 includes a rotating inspection table 12, a star wheel 13 for discharging defective products, and a chute 14 for discharging defective products.
and a defective product pool 15. The tube take-out section 3 includes a stopper 19, a stopper 21, a tube take-out pick-and-place 20, a pi-sochi correction jig 22, a box conveyor 23, and a box holding device 24a12.
4b, box stoppers 25a and 25b, a tube accumulation conveyor 26, and a tube packaging device 27. The transport device 4 includes a transport conveyor 9, a timing screw 10, a star foil 11, a star foil 13 for discharging defective products, a joint screw 16, a star foil 17 for sorting, a good product transport conveyor 18, and an empty holder. It has a conveyor 29, an empty holder conveyor 30, a merging device 31, and an empty holder conveyor 32.

Next, the operation of this tube inspection system 200 will be explained.

The laminate tubes T are conveyed from the previous step A and are accumulated by the accumulation conveyor 6. Thereafter, a predetermined number of tubes are pushed out at once by a pusher 7, and placed on a holder H on a conveyor 9 by a tube insertion jig 8. The laminate tube T is carried by the conveyor 9 toward the rotary tube inspection machine 2 while being placed on the holder H. When reaching the vicinity of the rotary tube inspection machine 2, each holder H is advanced at a predetermined interval by a screw-shaped timing screw 10, and the rotary tube inspection machine 2 is rotated by a star-shaped star foil 11. It is placed on the examination table 12. The rotating inspection table 12 rotates clockwise in the figure, and inspects the inside of the laminate tube T while rotating.

The detailed configuration and operation of the rotary tube inspection machine 2 will be described in detail later. If the product is determined to be defective as a result of the inspection, only the defective laminate tube T is taken out upwards and ejected, leaving only the holder H, in the star-shaped star foil 13 that also serves as defective product discharge. They pass through the chute 14 and are accumulated in a defective product pool 15. The non-defective laminate tubes T and holders H and only the holders H remaining after the defective laminate tubes T are discharged are transferred to a star foil 17 by a screw-like connecting screw 16. The star foil 17 is distributed so that the good laminate tubes T and holders H are placed on the good product conveyor 18, and the empty holders from which the defective laminate tubes T have been discharged are placed on the empty holder conveyor 30. Good quality laminate tube T transported by good quality product conveyor 18
and the holder H are transported to the tube take-out section 3 by the good product transport conveyor 18. In the tube take-out section 3, a predetermined number of laminate tubes T and holders H are first stopped by the stopper 21 and then by the stopper 19, and only the laminate tubes T are taken out from the good product conveyor 18 by the tube take-out pick and place 20. . Next, the pitch of these laminated tubes T is corrected by the pitch correction jig 22, and the tubes are stacked near the tube packaging device 27 by the tube stacking conveyor 26. On the other hand, laminate tube T
A box transport conveyor 23 is provided below the stacking position, and empty boxes E are transported from the previous process B. The empty box E is stopped by the box holding devices 24a, 24b and the box stoppers 25a, 25b, and is transferred to the lower part of the tube packing device 27 as appropriate.

The tube packaging device 27 packs a predetermined number of the accumulated laminate tubes T into empty boxes E.

The boxes that have been packed are transferred to the next box by the box transport conveyor 23.
It is transported to process C. The holder H from which only the laminate tube T has been taken out by the tube take-out pick-and-place 20 is conveyed to the merging device 31 by the empty holder conveyor 29. Further, the empty holders sorted by the star foil 17 are also conveyed to the merging device 31.

The merging device 31 has two timing screws to merge these empty holders in a line and place them on the empty holder conveyor 32. Empty holder conveyor 3
2 conveys the empty holder to the tube insertion section 1 and connects it to the conveyor 9.

In this way, the inside of the laminate tube T can be automatically inspected during the manufacturing process of the laminate tube T.

Next, a third explanation of the configuration of a rotary tube inspection machine, which is an embodiment of the cylindrical body inner wall surface inspection device according to the present invention, will be explained.
This will be explained with reference to FIGS. 4 and 8. This rotary type tube inspection machine 2 includes a base 35, a motor 36, a rotation shaft 37, a rotation inspection table 12, a cam 46, a cam rod lower 47, a holder elevating rotation shaft 48, and a centering jig 38. , an in-tube inspection device 39, a camera selector 43 (FIG. 4), a mixer 44, and an antenna section 4.
5, a rotary resolver 49, a fixed resolver 50, a light intensity checker 51 (Fig. 4), and a cam positioner 87 (8th
) and a discrimination device 84 (FIG. 8). Here, the motor 36, the rotating shaft 37, and the rotating inspection table 12 constitute a transfer means. The tube inspection device 39 constitutes an imaging means. Moreover, the above constitutes a cylindrical body inner wall surface imaging device. Further, the antenna section 45 constitutes a signal transmitting/receiving means. The discriminating device 84 constitutes discriminating means.

A fixed shaft (not shown) is provided on the base 35, and a tubular rotating shaft 37 shares an axis with the fixed shaft and is provided so as to cover the fixed shaft. The rotating shaft 37 is configured to be rotationally driven by the motor 36. Further, a rotary resolver 49 and a fixed resolver 50 are provided to measure the angular positions of the fixed shaft and the rotating shaft. The rotating inspection table 12 is connected to a rotating shaft 37 and rotates as the rotating shaft 37 rotates. A holder H can be placed on the rotating inspection table 12. The holder H is lifted and lowered and rotated by a holder lifting and lowering rotation shaft 48. Holder lifting rotation axis 48
The vertical movement is performed by a cam 46 and a cam follower 47 provided at the lower end of the holder vertical rotation shaft 48. The squeeze opening side of the laminate tube T can be fitted into the holder H. In addition, a centering jig 38 or a holder H that holds the starting side of the laminate tube T in a circular shape can be used.
is supported above. The inside tube inspection device 39 that inspects the inside of the laminate tube T includes an inside tube insertion section 40, a borescope 41, a CCD camera 42,
have. The borescope 41 includes a borescope main body 52 and a borescope insertion section 53. The tube insertion section 40 includes a borescope insertion section 53, a light emitting diode section 54, and a photosensor section 55. Of these, the borescope insertion section 53 mainly inspects the inner bottom side of the laminate tube T in the drawing, that is, the squeezing opening side, and inspects the light emitting diode section 54 and the photosensor section 5.
5 mainly inspects the inner surface of the laminate tube T. The rotary tube inspection machine 2 is provided with 12 tube internal inspection devices 39, and is also provided with 12 cam followers 47 and 12 holder lifting/lowering rotation shafts 48.

The number of these objects is not limited to 12 and may be any other number. Each tube inspection device 39 is connected to a camera selector 43 by a lead wire, and the camera selector 43 is connected to a mixer 44. The mixer 44 is an antenna part 45
It is connected to the. The antenna section 45 is connected to the discrimination device 84.

Next, the operation of the rotary tube inspection machine 2 will be explained with reference to FIGS. 4 and 5.

In FIG. 4, the laminate tube T is placed on a holder H and conveyed to the star foil 11 by a conveyor 9 or the like. Star foil 11 is laminated tube T
The entire holder H is loaded onto the rotating inspection table 12 of the rotary tube inspection machine 2. After being taken onto the rotating rotating inspection table 12, the holder H rises according to the cam curve of the cam 46 as the holder elevating rotation shaft 48 moves up and down,
Also, intermittent rotational movement is performed around the axis of the holder elevating and lowering rotating shaft 48. That is, as shown in FIG. 5, the rotating inspection table 12 rotates on its axis at the inspection position while revolving in the rotational direction, but at this time, the rotation is continued for a predetermined time at the points P , P , P , and P on the figure. -Stop when. As the holder H rises, the laminate tube T also rises, and the tube insertion section 40 of the tube inspection device 39 is inserted into the tube held in a circular shape by the centering jig 38 (FIG. 4). In this way, with the tube inner insertion part 40 inserted inside the tube, the laminated tube T
By rotating intermittently between points P and P4, the inner bottom surface and inner surface of the tube can be inspected in this section using the tube inner inspection device 39 (FIG. 5).

This intermittent rotational movement corresponds to relative plane movement between the cylindrical body and the imaging means. When the inspection of one tube is completed, as described above, the defective laminate tube T is discharged by the defective product discharge star foil 13, and the non-defective laminate tube T is removed from the tube removal a.
It is conveyed in the direction of the cutting section 3. In addition, the tube insertion part 4
0 is inserted into the laminate tube T, the light amount of the light emitting section is checked by a light amount checker 51, and the result is reflected at the time of data processing. Furthermore, if the light intensity is below a reference value, an alarm can be issued and parts can be replaced.

Next, a more detailed configuration of the tube insertion section will be explained based on FIGS. 6 and 7.

FIG. 6(A) shows a cross section of the tube insertion portion 40 inserted into the laminate tube T in the II direction. Moreover, FIG. 6(C) is a cross-sectional view in the nn direction, and FIG. 6(D) is a cross-sectional view in the m-m direction.

The tube insertion part 40 is attached to the borescope 41 via a light emitting diode part 54 or a joining fitting 56 and a bolt 57, and the light emitting diode part 54 and the photosensor 55 are attached to each other.
a, 55 b, 55 c.

55d, 55e, and 55f are attached.

A cross-sectional view of the borescope insertion portion 53 is shown in FIG. 6(B). The borescope insertion part 53 is made of a stainless steel tube 58
A lens section 60 for capturing an image is provided inside the lens section 60, and a light source fiber section 59 including a thin glass fiber is provided around the lens section 60.
is provided.

In the figure, the end surface S of the borescope insertion part 53 is perpendicular to the axis of the borescope insertion part 53, but it may be cut obliquely so as to have a certain angle with respect to the axis. In this case, the field of view is expanded not only vertically downward but also diagonally. Further, whether the borescope insertion portion 53 is eccentric from the axis of the laminate tube T, and the positional relationship thereof is shown in FIGS. 7(A) and 7(C). That is, in this case, the inspection possible area F of the borescope insertion part 53
1 is a quarter-circular portion obtained by excluding the mask portion (hatch portion) from the square camera field of view. As shown in Fig. 5, the laminate tube T rotates intermittently and stops at points P, P, , P, P, so that when it stops at point P1, it rotates intermittently as shown in Fig. 7(C). The testable area F1 can be inspected, and when the point P2 stops, the testable area F2 can be inspected. Thereafter, similarly, the testable area F3 can be inspected when the point P is stopped, and the testable area F4 can be inspected when the point P4 is stopped. In this way, by dividing the inspection area as shown in FIGS. 7(A) and (C) and imaging and inspecting the inner bottom surface, the area shown in FIGS. 7(B) and (D) is obtained. Attach the borescope insertion part 5 to the axis of the laminate tube T as shown in the figure.
Compared to inspecting 3 as one inspection area, it is possible to further improve the resolution and detect finer contaminants.
It becomes possible to detect defects such as scratches. The division of the inspection area is not limited to four, and may be any other number.

On the other hand, the light emitting diode section 54 is made of a laminate tube T.
It has a length that covers from the inner bottom surface to the upper opening surface, and can illuminate the inner surface from the top end to the bottom end.

Each of the photosensors 55a to 55f has a light emitting diode section 5.
Three test tubes are provided on each side of the test tube 4, and the test regions overlap each other as shown in FIG. 6(C). With this configuration, during the period when the photosensors 55a to 55f1 laminate tube T is rotating, that is, the points P1 and P Sp in FIG.
- The inner surface can be inspected during the period excluding the period stopped at P4. Here, the photosensor 55
a to 55f may be provided in one row, or may be photoelectric conversion elements other than photosensors, such as CCD elements.

Next, processing of the inspection information detected by the in-tube inspection device 39 will be explained. The image information of the inner bottom surface of the laminate tube T detected by the CCD camera 42 is converted into a video signal, and the image information of the inner surface of the laminate tube T detected by the photosensor section 55 is converted into an audio signal, and both are mixed. , and is transmitted to the outside to determine whether or not it is defective. FIG. 8 is a block diagram showing the flow of image information processing of the inner bottom surface of the laminate tube T detected by the CCD camera 42. Image processing of the inner surface of the laminate tube T can also be performed in the same manner.

In FIG. 8, the block is roughly divided into a rotating block 85 and a fixed block 86. The rotating block 85 includes 12 CCD cameras 42a%42b142c-.

42d, 42e, 42f, 42g, 42h.

42 i, 42 j, 42, 421, a camera selector 43, a mixer 44, an electromagnetic shielding cover 72 of the antenna section 45, a transmitting antenna 74, a cam positioner 87, and a rotary resolver 49.

The fixed block 86 includes an antenna section, an electromagnetic shield cover 73 of 45, a receiving antenna 75, a distributor 88,
Tuners 89a, 89b, 89C.

89d, 89e, 89f, 89g, and 89h, controllers 90A and 90B, monitors 91a191b, cam positioner 92, defective determination circuit 93, and fixed resolver 50. Here, a distributor 88, tuners 89a to 89h, controllers 90A and 90B,
The monitor 91a191b, cam positioner 92, and defective determination circuit 93 constitute a determining device.

The image information of the inner bottom surface of the laminate tube T from each CCD camera 42a to 42β is information such as the angular position of the rotating inspection table 12 detected by the rotating resolver 49 and the height position of the cam follower 47 detected by the cam positioner 87. The camera selector 43 specifies the camera that should take in the image information, selects and takes in only the image information from that camera, and transmits it to the mixer 44. As is clear from FIG. 5, when a certain laminate tube T reaches point P4, it has already reached point P.
Since the subsequent laminate tube T has also reached point P1 and point P1, image information from four cameras is simultaneously captured. The mixer 44 mixes these four pieces of image information and outputs it to the transmitting antenna 74. The mixed image information is transmitted from transmitting antenna 74 to receiving antenna 75. The transmitting antenna 74 and the receiving antenna 75 are electromagnetically shielded by an electromagnetic shielding cover 72 and an electromagnetic shielding cover 73. The mixed image information received by the receiving antenna 75 is divided into frequency bands by a distributor 88 and sent to each tuner 89a to 89h, where information signals are detected. Among each tuner 89a to 89h,
Information signals from tuners 89a-89d are sent to controller 90A. Information signals from the tuners 89e to 89h are also sent to the controller 90B. Controllers 90A and 90B are monitored by monitors 91a and 9Lb. The cam positioner 92 identifies the camera number from the detected angular position of the rotating inspection table 12 and the height position of the cam follower 47 detected by the cam positioner 87 and transmits it to the defect judgment circuit 9; 92 issues a selection signal to controller 90A or controller 90B to select a signal to be sent to defect determination circuit 93 from among the information signals from each tuner. The defect determination circuit 93 determines whether or not the image information signal from each camera is defective, and outputs the result to the outside. For example, the image information signal is binarized based on brightness and judged based on the number of pixels in the dark area.

FIGS. 9 and 10 show examples of the configuration of the antenna section 45.
This will be explained using figures. Here, the hatched portion indicates an example of a fixed block. The antenna section 45 is the transmitting antenna 7
4 and a receiving antenna 75, and an electromagnetic shielding cover 72 and an electromagnetic shielding cover 73 that electromagnetically shield these.
, mounting brackets 76 and 77 for each antenna, and single-tot wires 81 and 82 for supplying signals. As shown in FIG. 9, the transmitting antenna 74 is attached to the rotating block side, and the receiving antenna 75 is attached to the fixed block side. The transmitting antenna 74 and the receiving antenna 75 are in a non-contact state and always face each other even when the rotating block rotates, allowing stable transmission and reception of information signals. Since it is shielded, it is not affected by external noise.

The configuration example of the rotary resolver 49 and the fixed resolver 50 is shown in the ninth example.
The resolver shown in the figure is a device that provides angular position information of a rotating shaft, etc., in the form of an electrical signal. As illustrated, the rotary resolver 49 is a resolver for detecting angular position information on the rotary block side, and the resolver main body is attached to the rotary block side. The shaft 71 that serves as the reference for rotation is the gear 69
．． 70a and 70b are configured to exhibit the same angular position as the fixed axis 65. That is, the gear 70b is a planetary gear, and the gear 69 and the gear 70a have the same number of teeth. With this configuration, the shaft 71
always exhibits an angular position equal to the fixed axis 65. Further, the fixed resolver 50 is a resolver for detecting angular position information on the fixed side, and the resolver main body is attached to the fixed block side. The rotation of the rotating shaft 80 is controlled by the gear 7.
8 and gear 79 from the rotating block section.

The motor 36 is attached to the fixed shaft 65 by a motor stand 66 and rotates the rotary block by means of gears 67,68.

FIG. 11 is a diagram showing the operating status of the camera and controllers 90A and 90B at each angular position, and when the number in each column is 1, it is in the ON state, and when it is 0, it is in the OFF state.

FIG. 12 is a diagram showing the transition of the controller used for each camera.

FIG. 13 is an operation timing chart of the camera and controller.

By operating in this manner, the number of expensive controllers can be reduced and the small number of controllers can be operated efficiently.

Note that the present invention is not limited to the above embodiments. In the above embodiment, the laminate tube T which is a cylindrical body is used.
is rotated intermittently by the holder H, and the CCD camera 42
itself was fixed to a rotating block, but this was reversed by C.
The CD camera 42 itself may rotate intermittently, and the laminate tube T itself may not rotate. However, in this case, a transmitting/receiving antenna (for example, a small antenna section 45) is required to transmit and receive image signals of the CCD camera 42 between the rotating camera side and the rotating block, which is the fixed side for the camera. It is necessary to provide one for each camera. Further, the CCD camera 42 does not need to be moved by rotation (rotation), but may be moved in other ways, such as a zigzag movement, as long as the entire inner bottom surface can be covered.

In addition, 1. In this example, the laminate tube T is intermittently rotated and the quality is inspected using images when it is still.
It is also possible to continuously rotate it to capture image information, process it, and perform discrimination. Similar to the above, the laminate tube may move in a zigzag motion or the like instead of a rotational motion.

Furthermore, in this embodiment, the laminate tube T also performs a revolution movement. This is because by doing so, it becomes possible to install the inspection positive in a small space directly in the middle of the production line.

However, this is not necessarily limited to orbital movement, and may be linear movement as long as it rotates intermittently while moving in the - direction and a camera can be inserted.

Further, in this embodiment, the CCD camera 42 is inserted into the laminate tube T by raising and lowering the laminate tube T, but this is different from the case where the CCD camera 42 is raised and lowered and inserted into the laminate tube T. It's okay.

Furthermore, in the above embodiment, the laminate tube T is a cylindrical body whose bottom end is tapered and has a take-out port in a part thereof, but this is similar to a closed bottle or can. A cylindrical body with a bottom may also be used. Furthermore, it may be a cylindrical body without a bottom surface.

〔Effect of the invention〕

As explained above, according to the present invention, the inner wall surface of a cylindrical body can be imaged and inspected automatically at high speed, and the efficiency of the entire cylindrical body manufacturing line can be improved. have

[Brief explanation of the drawing]

Fig. 1 is a diagram explaining the principle of the present invention. Fig. 2 is a diagram showing the configuration of a tube inspection system using a rotary tube inspection machine which is an embodiment of the present invention. Fig. 3 is an embodiment of the present invention. Figures 4 and 5 are diagrams explaining the operation of the rotary tube inspection machine shown in Figure 3. Figure 6 is a diagram showing the structure of the rotary tube inspection machine shown in Figure 3. Figure 7 is a diagram illustrating the camera field of view of the insertion part in the tube, Figure 8 is a block diagram showing image information processing of the inner bottom surface of the laminate tube detected by the CCD camera, and Figure 9 is the antenna part. Figure 10 shows the configuration of the antenna section, Figure 11 shows the CC
D A diagram showing the operating status of the camera and the controller. FIG. 12 is a diagram showing the transition of the controller used for each camera. FIG. 13 is an operation timing chart of the camera and the controller. 1... Tube insertion section 2... Rotary tube inspection machine 3... Tube removal section 4... Conveying device 5... Emergency discharge conveyor 6... Accumulating conveyor 7... Pusher 8...・Tube insertion jig 9 ・Transport conveyor 10 ・Timing screw 11 ・Star foil 12 ・Rotary inspection table 13 ・Star foil 14 for discharging defective products ・Chute for discharging defective products 15...Defective product pool 16...Joining screw 17...Distribution is done by star foil 18...Good product conveyor 19...Stopper 20...Tube take-out pick and place 21.
... Stopper 22 ... Pitch correction jig 23 ... Box conveyor 24a, 24b ... Box holding device 25a, 25b ... Box stopper 26 ... Tube accumulation conveyor 27 ... Tube packing device 29.30... Empty holder conveyor 31... Merging device 32... Empty holder conveyor 35... Base 36... Motor 37... Rotating shaft 38... Centering jig 39. ... Tube inspection device 40 ... Tube insertion section 41 ... Borescope 42.42 a ~ 421-CCD camera 43 ... Camera selector 44 ... Mixer 45 ... Antenna section 46 ... Cam 47...Cam follower 48...Holder elevating rotation shaft 49...Rotating resolver 50...Fixed resolver 51...Light intensity checker 52...Borescope body 53...Borescope insertion part 54... - Light emitting diode section 55...Photo sensor section 558-55f...Photo sensor 56...Joining fitting 57...Bolt 58...Stainless steel tube 59...Light source fiber section 60...Lens section 65...Fixed shaft 66...Motor stand 67.68.69.70a, 70b...Gear 71...
- Axis 72.73... Electromagnetic shielding cover 74... Transmitting antenna 75... Receiving antenna 76.77... Mounting bracket 78.79... Gear 80... Rotating shaft 81.82... Lead wire 84... Discrimination device 85... Rotating block 86... Fixed block 87... Cam positioner 88... Distributor 89a to 89h... Tuner 90A, 90B... Controller 91 a, 9 l b=-mo, ri 92...Cam positioner 93...Failure determination circuit 100...Cylindrical body inner wall surface imaging device 101...Transfer means 102...Imaging means 103...Signal exchange Means 104... Discrimination means 110... Cylindrical body inner wall surface inspection device 200... Tube inspection system E... Empty box F... Inspection possible area H... Holder P... Cylindrical body P...Tube position on the rotating inspection table S...End face of the borescope insertion part S...Video signal■ T...Laminated tube applicant Yasushi Ishikawa (brother) Figure 5

Claims (1)

[Scope of Claims] 1. A transport means for transporting a cylindrical body; a means for transporting a cylindrical body in conjunction with the cylindrical body and inserted into the inside of the cylindrical body to image an inner wall surface of the cylindrical body; An imaging device for capturing an inner wall surface of a cylindrical body, the apparatus being configured to image the inner wall surface of the cylindrical body while moving together with the cylindrical body. 2. The cylindrical body inner wall surface imaging device according to claim 1, wherein the imaging means is inserted into the inside of the cylindrical body by moving either the cylindrical body or the imaging means. A cylindrical body inner wall imaging device characterized by: 3. The cylindrical body inner wall surface imaging device according to claim 1 or 2, wherein the imaging means is directed toward the inner wall surface of the cylindrical body, and
A cylindrical body inner wall surface imaging device characterized in that the inner wall surface portion of the inner wall surface in the field of view determined in a state where the inner wall surface is placed close to the inner wall surface is imaged for the entire inner wall surface. 4. The inner wall surface imaging device of a cylindrical body according to claim 3, wherein the imaging means maintains the closely arranged state and moves in a plane relative to the cylindrical body while capturing the inner wall surface of the cylindrical body. A cylindrical body inner wall surface imaging device characterized by imaging a wall surface portion. 5. A transport means for transporting the cylindrical body, which is transported in conjunction with the cylindrical body, is inserted into the inside of the cylindrical body, images the inner wall surface of the cylindrical body, and outputs a video signal. a signal transmitting/receiving means for transmitting the video signal in a non-contact manner; and a determining means for determining the quality of the inner wall surface of the cylindrical body based on the video signal transmitted via the signal transmitting/receiving means. An inner wall surface of a cylindrical body, characterized in that the inner wall surface of the cylindrical body is configured to image the inner wall surface of the cylindrical body while moving together with the cylindrical body, and to inspect the quality of the inner wall surface of the cylindrical body. Inspection equipment. 6. The cylindrical body inner wall surface inspection apparatus according to claim 5, wherein the imaging means is inserted into the inside of the cylindrical body by moving either the cylindrical body or the imaging means. A cylindrical body inner wall surface inspection device characterized by: 7. The cylindrical body inner wall surface inspection apparatus according to claim 5 or 6, wherein the imaging means is directed toward the inner wall surface of the cylindrical body, and
An apparatus for inspecting an inner wall surface of a cylindrical body, characterized in that an image of an inner wall surface portion within a field of view determined while the inner wall surface is placed close to the inner wall surface is captured for the entire inner wall surface. 8. The apparatus for inspecting the inner wall surface of a cylindrical body according to claim 7, wherein the imaging means maintains the closely arranged state and moves in a plane relative to the cylindrical body while inspecting the inner wall surface of the cylindrical body. A cylindrical body inner wall surface inspection device characterized by capturing an image of a wall surface portion.