Inspection method and inspection system for pillar-shaped honeycomb structure made of ceramic
An inspection system for carrying out an inspection method for a pillar-shaped honeycomb structure, the inspection system including: a robot arm with a robot hand at a tip of the robot arm, the robot hand comprising a pair of gripping surfaces capable of gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface, the pair of gripping surfaces being configured to be able to rotate the pillar-shaped honeycomb structure at a predetermined rotational speed while gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface; the area camera for the side surface; a screen that can display the strip-shaped images; and a controller that can at least set a rotation speed of the pair of gripping surfaces and the shutter speed of the area camera for the side surface.
1. An inspection system for carrying out an inspection method for a pillar-shaped honeycomb structure, the inspection system comprising:
a robot arm with a robot hand at a tip of the robot arm, the robot hand comprising a pair of flat gripping surfaces directly opposed from each other capable of gripping the pillar-shaped honeycomb structure from a first end surface and a second end surface, the pair of flat gripping surfaces being configured to be able to rotate the pillar-shaped honeycomb structure around a rotation axis perpendicular to the pair of flat gripping surfaces at a predetermined rotational speed while gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface;
an area camera for a side surface;
a screen that can display strip-shaped images; and
a controller that can at least set a rotation speed of the pair of flat gripping surfaces and a shutter speed of the area camera for the side surface.
2. The inspection system according to claim 1 , comprising a first light irradiator for irradiating the side surface with the first light and a second light irradiator for irradiating the side surface with the second light from a direction different from the first light with the area camera for the side surface interposed therebetween.
3. The inspection system according to claim 1 , comprising a displacement meter for measuring an imaging distance, which is a distance in a capturing direction between the side surface and the area camera for the side surface, wherein the displacement meter is configured to be able to monitor an amount of change in the distance while the area camera for the side surface orbits the side surface of the pillar-shaped honeycomb structure.
4. The inspection system according to claim 1 , further comprising an area camera for the first end surface for capturing the first end surface, and an area camera for the second end surface for capturing the second end surface which is arranged at a position opposite to the area camera for the first end surface,
wherein the inspection system is configured to be able to measure a position of a center of gravity of the first end surface and a position of a center of gravity of the second end surface based on an image of the first end surface captured with the area camera for the first end surface and an image of the second end surface captured with the area camera for the second end surface, and to correct a posture of the robot arm in a state where the robot hand is gripping the pillar-shaped honeycomb structure so that the straight line connecting the position of the center of gravity of the first end surface and the position of the center of gravity of the second end surface approaches perpendicular to the capturing direction of the area camera for the side surface more than before correcting the posture of the robot arm.
5. The inspection system according to claim 1 , further comprising an area camera for the first end surface for capturing the first end surface,
wherein the inspection system is configured to be able to measure a positional deviation in an X-axis direction and a Y-axis direction on tool coordinates between a center of gravity of the first end surface and a rotation axis of the gripping surface on a side of the first end surface based on a position of the center of gravity of the first end surface specified by an image of the first end surface captured by the area camera for the first end surface and a position of the rotation axis of the gripping surface on the side of the first end surface, and to correct a tool coordinate center in the X-axis direction and the Y-axis direction by an amount of the positional deviation with the robot arm based on a measurement result in a state where the robot hand is gripping the pillar-shaped honeycomb structure.
6. The inspection system according to claim 1 , further comprising an area camera for the first end surface for capturing the first end surface,
wherein the inspection system is configured to be able to measure a deviation of a Z-axis rotation angle on tool coordinates from a target inspection position of the pillar-shaped honeycomb structure based an image of the first end surface captured by the area camera for the first end surface, and to rotate the pillar-shaped honeycomb structure by an amount of the deviation of the angle on the Z-axis with the robot arm based on a measurement result in a state where the robot hand is gripping the pillar-shaped honeycomb structure.