INSPECTION DEVICE FOR TUBULAR BODY OR ROD-LIKE BODY

To provide a pipe inspection device that is capable of inspecting the whole circumference of a pipe under uniform conditions, and that has few restrictions on installation.SOLUTION: A device for inspecting the outer peripheral surface of a pipe 20 which advances straight in its own axial direction includes: plural imaging units 60, 70, 80 provided with a linear imaging element array; plural robot arms 31, 41, 51 which are arranged at an interval from each other in the axial direction along a route of the pipe, and to which one of the imaging units is attached on the tip; and control means for controlling the robot arms. The control means controls the robot arms 31, 41, 51 in a state that the imaging element arrays are in parallel to the pipe 20 and directed toward the center of the pipe, such that the plural imaging units 60, 70, 80 are rotated in respectively different angular ranges around the pipe.SELECTED DRAWING: Figure 2 【課題】パイプの全周を均一な条件で検査できると共に、設置に関する制約の少ないパイプの検査装置を提供する。【解決手段】自身の軸方向に直進するパイプ２０の外周面を検査する装置において、線状の撮像素子アレイを備えた複数の撮像ユニット６０、７０、８０と、パイプの進路に沿って前記軸方向に互いに間隔を開けて配置され、先端に前記撮像ユニットの１つが取り付けられた複数のロボットアーム３１、４１、５１と、前記ロボットアームを制御する制御手段とを設け、前記制御手段を、前記撮像素子アレイをパイプ２０と平行且つ該パイプの中心に向けた状態で、前記複数の撮像ユニット６０、７０、８０を該パイプの周りをそれぞれ異なる角度範囲で回動させるように、前記ロボットアーム３１、４１、５１を制御するものとする。【選択図】図２