Systems and methods for 360° inspection of objects

Abstract

In one embodiment, a system for inspecting an object includes a first camera for inspecting a first surface of the object and a second camera for inspecting a second surface of the object. The object may be mounted on a support structure for simultaneous inspection by the first and second cameras. At least one roller is positioned to selectively engage the object when the object is mounted on the support structure, the at least one roller adapted to rotate circumferentially relative to the support structure. Rotation of the at least one roller causes corresponding circumferential rotation of the object relative to the first and second cameras.

Description

[Technical Field]

[0001] The present embodiments generally relate to systems and methods for inspecting at least 360° of an object, such as a tire bead apex.

[0002] REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 62 / 970,904, filed February 6, 2020, entitled "Systems and Methods for Three-Hundred Sixty Degree Inspection of an Object," the entire disclosure of which is incorporated herein by reference. [Background technology]

[0003] During the process of applying a profiled rubber apex to a tire bead, there are several factors that affect the quality of the finished tire bead apex. Both tire manufacturers and automobile manufacturers strive to ensure a high quality product, preferably without the need to manually inspect every tire bead apex.

[0004] In modern automated manufacturing environments, most tire bead apexes are not handled or monitored by humans throughout their transfer from the apex machine to the tire building machine. In such environments, a defective bead apex may not be discovered until the bead apex reaches the final tire building machine, resulting in costly scrap in addition to lost production time.

[0005] Some systems utilize a camera positioned above the tire bead apex to inspect a portion of the tire bead apex. In such cases, the bead apex is typically positioned on a flat conveyor while the camera is positioned above the bead apex and points downward toward the conveyor. In this manner, the camera can detect certain parameters, such as splices, from a single vantage point above the conveyor, pointing downward toward the object. Summary of the Invention [Problem to be solved by the invention]

[0006] Such a system has several drawbacks. For example, inspection is constrained by the machine's cycle time and must be positioned midway along the conveyor during forward motion. Inspection is also constrained by the camera's viewing window, so only the seam area can be inspected. Also, the camera's viewing window may not include the seam area because the tire bead apex may not be positioned correctly on the conveyor belt, which may give a false positive on the seam health.

[0007] In view of the above, it would be desirable to provide a system and method for improved inspection of objects, such as tire bead apexes. [Means for solving the problem]

[0008] In one embodiment, a system for inspecting an object includes a first camera for inspecting a first surface of the object and a second camera for inspecting a second surface of the object. The object may be mounted on a support structure for simultaneous inspection by the first and second cameras. At least one roller is positioned to selectively engage the object when the object is mounted on the support structure, the at least one roller adapted to rotate circumferentially relative to the support structure. Rotation of the at least one roller causes corresponding circumferential rotation of the object relative to the first and second cameras.

[0009] In one embodiment, at least one roller rotates the object at least 360 degrees relative to the locations of the first and second cameras, such that the first and second cameras each inspect a different 360 degree surface of the object.

[0010] In some examples, the system further includes at least one gripper having a retracted state and an extended state, the at least one gripper configured to engage an inner surface of the object during rotation by the at least one roller. In one embodiment, at least three grippers are configured to engage an inner surface of the object at circumferentially spaced locations from one another during rotation by the at least one roller.

[0011] The support structure may comprise a table, with the first and second cameras inspecting the object on opposite sides of the table. The table may have at least one opening, with the first and second cameras inspecting the object on opposite sides of the opening. In one embodiment, the at least one roller is positioned within the opening.

[0012] In some embodiments, the table can have first and second inspection stations spaced apart along the table, and the first and second cameras can inspect a first object at the first inspection station and then move to the second inspection station for inspection of a second object. The first and second cameras can move along guide rails when moving between the first and second inspection stations.

[0013] In some embodiments, the robotic device can be adapted to place the object at a predetermined location on the support structure for inspection by the first and second cameras and further adapted to remove the object from the support structure after inspection is complete. The robotic device can be adapted to place a second object at a second inspection station on the support structure while the first object is being inspected by the first and second cameras at the first inspection station, and the robotic device can then place a third object at the first inspection station while the second object is being inspected at the second inspection station. In some non-limiting embodiments, the object is a tire bead apex.

[0014] Other systems, methods, features, and advantages of the present invention will become apparent to one with skill in the art upon examination of the following figures and detailed description, and all such additional systems, methods, features, and advantages are included within the scope of this disclosure and the claimed invention.

[0015] The present invention can be better understood with reference to the following drawings and description. The components in the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Moreover, in the drawings, like reference characters indicate corresponding parts throughout the different views. [Brief explanation of the drawings]

[0016] [Figure 1]FIG. 1 is a top perspective view of an embodiment of a system for inspecting objects, showing first and second cameras positioned at a first inspection station. [Figure 2] FIG. 2 is a plan view of the system of FIG. 1. [Figure 3] FIG. 2 is an end view of the system of FIG. 1. [Figure 4] FIG. 2 is a side view of the system of FIG. 1. [Figure 5] FIG. 5 is a perspective view of the system of FIGS. 1 to 4, seen from above, with the first and second cameras depicted in solid lines at the first inspection system and in dashed lines at the second inspection station. [Figure 6] FIG. 6 is a top perspective view of the system of FIGS. 1-5, illustrating an additional robotic device suitable for moving an object. DETAILED DESCRIPTION OF THE INVENTION

[0017] 1-6, an exemplary system 20 for inspecting an object 80, such as a tire bead apex, is shown. System 20 includes, as its main components, a support structure 30, a first camera 60 for inspecting a first surface of object 80, and a second camera 70 for inspecting a second surface of object 80. Object 80 may be mounted on support structure 30 for simultaneous inspection by first camera 60 and second camera 70, as will be described in more detail below.

[0018] In one embodiment, the support structure 30 includes a table 31 with a plurality of legs 32 that elevate the table 31 to a predetermined height above the floor. The table 31 may have a first surface 33 and a second surface 34, with a first camera 60 positioned to face the first surface 33 of the table 31 and a second camera 70 positioned to face the second surface 34 of the table 31. In this manner, the first and second cameras 60, 70 view an object 80 from opposite perspectives of the support structure 30, as will be described in more detail below.

[0019] The support structure 30 has at least one inspection station at which an object 80 rests for inspection by the first and second cameras 60, 70. In the embodiment of Figures 1-6, a first inspection station 40 is provided at a first location on the table 31 and a second inspection station 140 is provided at a second location on the table 31, the second station being spaced apart from the first station as best seen in Figures 1 and 2. It will be appreciated that although two inspection stations 40, 140 are illustrated in the embodiment of Figures 1-6, the objectives of this embodiment can be achieved even if the support structure 30 has only one inspection station, or even if the support structure 30 has three or more inspection stations.

[0020] 1-6, where first and second inspection stations 40, 140 are provided spaced apart from one another along table 31, first and second cameras 60, 70 are configured to inspect a first object 80 at first inspection station 40 and then move to second inspection station 140 for inspection of a second object 180. As explained further below, guide rails 90 may be provided to enable longitudinally oriented sliding movement of first and second cameras 60, 70 from first inspection station 40 to second inspection station 140.

[0021] In one embodiment, the first and second inspection stations 40, 140 may be comprised of generally identical components that include the same reference numbers (i.e., the latter components are designated by adding 100 to the former components). For example, the actuation system 42 of the first inspection station 40 may be identical to the actuation system 142 of the second inspection station 140, the three grippers 47a-47c of the first inspection station 40 may be identical to the three grippers 147a-147c of the second inspection station 140, and so on. Similarly, the first object 80 and the second object 180 may be comprised of generally identical components that include the same reference numbers (i.e., the latter components are designated by adding 100 to the former components). For the sake of brevity, a description of the features of the first inspection station 40 and the first object 80 will be provided, but a description of the corresponding features of the second inspection station 140 and the second object 180 will not be provided.

[0022] As best seen in FIGS. 1 and 2 , the first station 40 includes an actuation system 42 that facilitates rotation of the first object 80 in a first direction, e.g., a clockwise direction. In one embodiment, the actuation system 42 includes three gears 42a-42c, with gear 42b generally disposed between gears 42a and 42c, as shown in FIGS. 1 and 2 . At least one of gears 42a-42c may be coupled to a drive device, e.g., a motor. In one embodiment, the motor is disposed below table 31, although it will be understood that the motor may be positioned elsewhere. In one embodiment, the motor may drive first gear 42a, thereby causing rotation of second and third gears 42b and 42c. Alternatively, the motor may drive second gear 42b, thereby causing rotation of first and third gears 42a and 42c. In either case, the first and third gears 42a, 42c rotate in a first direction, for example, clockwise, and the second gear 42b rotates in an opposite second direction.

[0023] In this embodiment, first and second rollers 43, 44 associated with first and third gears 42a, 42c, respectively, are configured to selectively engage a first object 80, as shown in FIGS. 1 and 2. Each of the first and second rollers 43, 44 may be driven in the same circumferential direction upon rotation of their associated gears 42a, 42c, as described above. When the first and second rollers 43, 44 engage the first object 80, the first object 80 rotates in the same direction, e.g., clockwise. However, it will be appreciated that the gears 42a-42c of the actuation system 42 may be configured to cause counterclockwise rotation of the first and second rollers 43, 44, which in turn causes counterclockwise rotation of the first object 80. It will further be appreciated that more than two rollers, or as few as one, may be in engagement with the first object 80.

[0024] In the embodiment of FIGS. 1-6, the support structure 30 includes at least one opening 35, which allows the first and second cameras 60, 70 to view the object 80 from opposing viewpoints of the support structure 30. In one example, the opening 35 is a notch in the table 31, which extends entirely between the first surface 33 and the second surface 34 of the table 31. The opening 35 may be located closer to the first side 38a of the support structure 30 than the opposing second side 38b, as shown in FIGS. 1 and 2. In some embodiments, the opening 35 may be cut into the first side 38a, while in other embodiments, the opening 35 may be spaced apart from the first side 38a.

[0025] In one embodiment, actuation system 42 extends within a portion of opening 35 in support structure 30. For example, as best seen in Figures 1 and 2, gears 42a-42c and first and second rollers 43, 44 are generally aligned within opening 35. First and second rollers 43, 44 pass through opening 35 and engage first object 80 at a location located near first surface 33 of support structure 30, as shown in Figures 1 and 2.

[0026] In embodiments where the first object 80 is a tire bead apex, the first object 80 may have a generally cylindrical shape with a first surface 82 facing toward the first camera 60 and a second surface 83 facing toward the second camera 70 (best shown in FIG. 3 ). When the first object 80 is a tire bead apex, the object further has a circumferential inner region 85 and a circumferential outer region 86, as shown in FIGS. 1 and 2 . In use, the first and second rollers 43, 44 engage the circumferential inner region 85 of the first object 80. As will be explained in more detail below, circumferential rotation of the first object 80 relative to the first and second cameras 60, 70 occurs. The first and second rollers 43, 44 can rotate the first object at least 360° relative to the locations of the first and second cameras 60, 70, so that the first camera 60 inspects the entire 360° length of the first surface 82 of the first object 80, and the second camera 70 inspects the entire 360° length of the second surface 83 of the first object 80.

[0027] The first inspection station 40 may further include at least one gripper 47 configured to engage an inner region 85 of the first object 80 during rotation of the actuation system 42. In the embodiment of Figures 1-6, three grippers 47a-47c are provided at circumferentially spaced locations relative to the first and second rollers 43, 44 of the actuation system 42, as best seen in Figures 1 and 2.

[0028] Each of the grippers 47a-47c at the first inspection station 40 has a radially retracted state, best shown by the dashed lines in Figure 5, and each has a radially extended state, best shown by the solid lines in Figure 5 and shown in Figures 1 and 2. In the radially retracted state, each of the grippers 47a-47c is provided in an inward position such that a first object 80 can be positioned with its inner region 85 preferably surrounding both the gripper 47a-47c and the first and second rollers 43, 44 without engaging the gripper 47a-47c. As a result, grippers 47a-47c can be actuated to transition from a radially retracted state to a radially extended state in which grippers 47a-47c frictionally engage inner region 85 of first object 80, as indicated by the solid lines in Figure 5 and shown in Figures 1 and 2. At this point, grippers 47a-47c act as an outer boundary to help guide first object 80 in its circumferential path around first inspection station 40 as actuation system 42 imparts rotational movement of first object 80 via first and second rollers 43, 44.

[0029] Movement of grippers 47a-47c from the radially retracted state to the radially extended state may be guided by slots 48a-48c provided in support structure 30. In this embodiment, each of grippers 47a-47c is positioned within a corresponding slot 48a-48c, as shown in Figures 1 and 2. Slots 48a-48c may extend from a common radially inward position in different outward directions toward the periphery of support structure 30, as shown in Figures 1 and 2. In this manner, each slot 48a-48c guides its corresponding gripper 47a-47c from the radially retracted state to the radially extended state.

[0030] In one embodiment, grippers 47a-47c operate substantially similar to a center expansion chuck that grips a bead ring as disclosed by U.S. Patent Application Publication No. 2014 / 0265400 to Gorham (hereinafter "the '400 patent publication"), the disclosure of which is incorporated herein by reference in its entirety. As shown in Figures 1 and 2, and in a manner substantially similar to that described in the '400 patent publication, multiple chuck arms move radially outward to grip an inner surface of an annular object, such as a bead ring, thereby coupling first object 80 to actuation system 42 and stabilizing the position of first object 80 relative to table 31.

[0031] It will be appreciated that although three grippers 47a-47c are illustrated in this embodiment, more or fewer grippers may be used, provided that at least one gripper provides a suitable guide path for the circumferential movement of the first object 80 relative to the first and second cameras 60, 70 while the first object 80 is rotated by the actuation system 42. Furthermore, the exact circumferential separation of the grippers relative to one another may be varied to achieve various objectives.

[0032] As described above, the first camera 60 is positioned on the first surface 33 of the support structure 30 to inspect a 360° length of the first surface 82 of the first object 80, and the second camera 70 is positioned on the second surface 34 of the support structure to inspect the entire 360° length of the second surface 83 of the first object 80. In one embodiment, an elongated support beam 92 may be provided between the first camera 60 and the second camera 70. The first camera 60 may be secured to a first region 92a of the elongated support beam 92 by a bracket 93, and the second camera 70 may be secured to an opposite second region 92b of the elongated support beam 92 by a bracket 94, as best seen in FIG. 3 . In this manner, the first camera 60 and the second camera 70 may be oriented at a fixed distance from each other suitable for observing opposite surfaces of the first object 80.

[0033] According to one aspect, system 20 is operable to efficiently inspect multiple objects at different inspection stations on support structure 30. As mentioned above, first inspection station 40 may be provided at a first location on table 31, and second inspection station 140 may be provided at a second, spaced apart location on table 31, as best seen in Figures 1 and 2. In this embodiment, a first object 80 may be inspected by first and second cameras 60, 70 at first inspection station 40, while a second object 180 may be positioned at second inspection station 140, as will be described in more detail below.

[0034] Once the first and second inspection stations 40, 140 are provided, the cameras 60, 70 are guided from a first position 49 adjacent the first inspection station 40 to a second position 149 adjacent the second inspection station 140, as shown in FIG. 5 (notably, the first camera position 49 is shown in solid lines in FIG. 5 , and the second camera position 149 is shown in dashed lines). In one embodiment, the elongated support beam 92 to which the first and second cameras 60, 70 are fixed may be moved along a corresponding guide rail 90 associated with the support structure 30 by one or more bearings 95, as shown in FIG. 3 . The guide rail 90 has a first region positioned adjacent the first inspection station 40 and a second region positioned adjacent the second inspection station 140. Thus, the elongated support beam 92 may be guided along the track 90 to transport the cameras 60, 70 from a first position 49 adjacent the first inspection station 40 to a second position 149 adjacent the second inspection station 140. Movement of the elongated support beam 92 along the track 90 may be accomplished by motors that align the different axial positions of the cameras 60, 70 at different stages of the procedure, as described below.

[0035] In an exemplary method of use, after a first object 80 has been partially or entirely manufactured at an upstream location, the first object 80 may be guided toward the support structure 30, for example, by a nearby conveyor system. The robotic device 98 may be adapted to place the first object 80 at a predetermined location on the support structure 30, as shown in FIG. 6 , corresponding to the location of the first inspection station 40, as shown in each of FIGS. 1 and 2 and shown in solid lines in FIG. 5 , where the first object 80 has already been placed in FIG. 6 . After placing the first object 80 on the first surface 31 of the first inspection station 40, the robotic device 98 may move out of the way from the first inspection station 40, for example, the robotic device 98 may move toward a location for receiving a second object 180.

[0036] Notably, the first object 80 may be placed at the first inspection station 40 with each of the grippers 47a-47c in the radially retracted position such that the first object 80 is positioned with its inner region 85 surrounding both the grippers 47a-47c and the first and second rollers 43, 44. The grippers 47a-47c may then be actuated to move them from the radially retracted state to the radially extended state in which the grippers 47a-47c frictionally engage the inner region 85 of the first object 80, as shown in solid lines in FIG. 5 and further shown in FIGS. 1 and 2.

[0037] At this point, the robotic device 98 is out of the way of the first inspection system 40 and moves the first and second cameras 60, 70 to a position adjacent the first inspection station 40 in a manner that allows the first camera 60 to image the first surface 82 of the first object 80 and the second camera 70 to simultaneously image the second surface 83 of the first object 80. The first and second cameras 60, 70 may be moved to this position as the elongated support beam 92 to which the first and second cameras 60, 70 are fixed is moved along the guide rail 90 by one or more bearings 95 toward a first region of the guide rail 90 that is positioned adjacent the first inspection station 40. Notably, the second camera 70 is aligned with the opening 35 in the support structure 30, thereby facilitating observation of the second surface 83 by the second camera 70.

[0038] The next step may be to activate the actuation system 42 to cause rotational movement of the first object 80 by the first and second rollers 43, 44. During this process, the grippers 47a-47c act as outer boundaries that help guide the first object 80 in its circumferential path around the first inspection station 40.

[0039] In a currently preferred embodiment, the first and second rollers 43, 44 are capable of rotating the first object 80 through at least 360° relative to the locations of the first and second cameras 60, 70, such that the first camera 60 inspects the entire 360° length of the first surface 82 of the first object 80 and the second camera 70 inspects the entire 360° length of the second surface 83 of the first object 80.

[0040] The first and second cameras 60, 70 can capture an array of data regarding the first object 80 during this inspection process. By way of example and not limitation, the first object 80 may be a tire bead apex, and the first and second cameras 60, 70 can capture data regarding bare beads, poor bead integrity, loose bead wires, foreign objects, tucks, apex curl, apex height, seam overlap, seam angle, open seam, seam bulge, heavy stitch, and open seam. This data can be analyzed by software in communication with the cameras, which then makes a decision as to whether to pass or fail the first object 80. In one embodiment, a line-scan camera can map the surface of the tire bead apex, and the images are then analyzed in both two-dimensional and three-dimensional formats for such defects.

[0041] While the first and second cameras 60, 70 are imaging the first object, the robotic device 98 may pick up and place a second object 180 at the second inspection station 140, as generally depicted in FIG. 6. The grippers 147a-147c of the second inspection station 140 may be actuated to move the grippers from a radially retracted state to a radially extended state in which the grippers 147a-147c frictionally engage an inner region 185 of the second object 180 so that the second object 180 can be viewed by the first and second cameras 60, 70.

[0042] During placement of the second object 180, the inspection process of the first object 80 should be partially or fully completed. The software makes a decision as to whether to pass or reject the first item 80, and the robotic device 98 can then move the first object 80 to a downstream location as either a rejected or passed item according to the disposition determined by the software analysis results.

[0043] In a next step, the first and second cameras 60, 70 are moved to a position adjacent the second inspection station 140 in a manner that allows the first camera 60 to image the first surface 182 of the second object 180 and the second camera 70 to simultaneously image the second surface 183 of the second object 180. The first and second cameras 60, 70 can be moved to this position as the elongated support beam 92 is moved along the guide rail 90 toward a second region of the guide rail 90 that is located adjacent the second inspection station 140.

[0044] In this case, the steps for rotating, imaging, and analyzing the second object 180 are generally identical to those described above in connection with the first object 80. Notably, while the second object 180 is being imaged, a third object can be placed at the first inspection station 40. This sequence of alternating between the first inspection station 40 and the second inspection station 140 can be repeated for any number of objects to be imaged.

[0045] Advantageously, the system 20 of the present embodiment allows for a full 360° view of an object from a first surface and simultaneously a full 360° view of the object from a second surface directly opposite the first surface. In this manner, inspection of the object is not limited by the observation window of a single camera, which typically only allows inspection of the seam area. In such past designs, the camera's observation window may not include the seam area because the tire bead apex is not properly positioned on the conveyor belt, which may result in a false determination of the seam health. The present embodiment overcomes the shortcomings of prior art designs by providing a wide observation window that includes the entire circumference of both sides of the object.

[0046] As another advantage, inspection of the objects 80, 180 is not constrained by the cycle time of any machine and can be performed on a separate, stand-alone system 20. This is in contrast to prior art imaging equipment that was positioned midway on the conveyor to image the objects during their forward motion.

[0047] As a further advantage, when first and second inspection stations 40, 140 are provided, inspections can be performed in parallel so that separate locations can alternately accommodate loading, unloading, and inspecting objects. This harmonized overlap provides efficiency such that multiple objects can be inspected in a short period of time.

[0048] While the object has been described as a tire bead apex in the alternative embodiment, it will be understood that a variety of objects can be inspected by system 20 without departing from the spirit of the present embodiment. Furthermore, while support structure 30 is illustrated in the form of a horizontal table, it will be understood that support structure 30 can alternatively take on forms other than a horizontal table, provided that the support structure is capable of holding and rotating an object as described above. It will also be understood that inspection can be performed with the object positioned on either a horizontal or vertical surface. Furthermore, system 20 can be incorporated into an existing manufacturing system, such as a tire bead apex manufacturing system, or can be provided to allow for off-line inspection at any location external to the system.

[0049] While various embodiments of the present invention have been described, the present invention should not be limited except to the extent set forth in the appended claims and their equivalents. Moreover, the advantages described herein are not necessarily the only advantages of the present invention, and it is not necessarily expected that every embodiment of the present invention will achieve all of the advantages described.

Claims

1. 1. A system for inspecting an object, the system comprising: a first camera for inspecting a first surface of the object; a second camera for inspecting a second surface of the object; a support structure on which the object rests during simultaneous inspection by the first and second cameras; at least one roller arranged to selectively engage the object when the object is placed on the support structure, the at least one roller adapted to rotate circumferentially relative to the support structure; rotation of the at least one roller causes a corresponding circumferential rotation of the object relative to the first and second cameras; the support structure comprises a table, the first and second cameras inspecting the object on opposite sides of the table; the table has at least one opening, and the first and second cameras inspect the object on opposite sides of the opening; The at least one roller is positioned within the opening.

2. 2. The system of claim 1, wherein the at least one roller rotates the first and second cameras at least 360 degrees relative to the object's location, such that the first and second cameras each inspect a different 360 degree surface of the object.

3. 10. The system of claim 1, further comprising at least one gripper having a retracted state and an extended state, the at least one gripper configured to engage an interior surface of the object while being rotated by the at least one roller.

4. The system of claim 3 , wherein at least three grippers are configured to engage the interior surface of the object at circumferentially spaced locations from one another during rotation by the at least one roller.

5. 2. The system of claim 1, wherein the table has a first inspection station and a second inspection station spaced apart from one another along the table, and the first and second cameras are adapted to inspect a first object at the first inspection station and then move to the second inspection station for inspection of a second object.

6. The system of claim 5 , further comprising a guide rail, the first and second cameras moving along the guide rail when moving between the first and second inspection stations.

7. 2. The system of claim 1, further comprising a robotic device adapted to position the object at a predetermined location on the support structure for inspection by the first and second cameras, and further adapted to remove the object from the support structure after inspection is complete.

8. 8. The system of claim 7, wherein the robotic device is adapted to place a second object at a second inspection station on the support structure while a first object is being inspected by the first and second cameras at a first inspection station, and the robotic device is adapted to then place a third object at the first inspection station while the second object is being inspected at the second inspection station.

9. The system of claim 1 , wherein the object is a bead apex of a tire.

10. 1. A system for inspecting an object, the system comprising: a first camera for inspecting a first surface of the object; a support structure on which the object rests during inspection by the first camera; at least one roller arranged to selectively engage the object when the object is placed on the support structure, the at least one roller adapted to rotate circumferentially relative to the support structure; rotation of the at least one roller causes a corresponding circumferential rotation of the object relative to the first camera; the at least one roller rotates the object through at least 360° relative to the location of the first camera, such that the first camera inspects a 360° surface of the object; the system further includes at least one gripper having a retracted state and an extended state, the at least one gripper configured to engage an interior surface of the object while being rotated by the at least one roller; at least three grippers configured to engage the inner surface of the object at circumferentially spaced locations during rotation by the at least one roller; The system further includes a second camera, wherein the first and second cameras each simultaneously inspect a different 360° surface of the object.

11. The system of claim 10 , wherein the support structure comprises a table, and the first and second cameras view the object on opposite sides of the table.

12. 12. The system of claim 11, wherein the table has a first inspection station and a second inspection station spaced apart from one another along the table, and the first and second cameras are adapted to inspect a first object at the first inspection station and then move to the second inspection station for inspection of a second object.

13. 11. The system of claim 10, further comprising a robotic device adapted to position the object at a predetermined location on the support structure for inspection by the first and second cameras, and further adapted to remove the object from the support structure after inspection is complete.

14. 14. The system of claim 13, wherein the robotic device is configured to place a second object at a second inspection station on the support structure while a first object is being inspected by the first and second cameras at a first inspection station, and the robotic device is configured to then place a third object at the first inspection station while the second object is being inspected at the second inspection station.

15. 1. A method of inspecting an object, the method comprising: placing the object on a support structure located at a first inspection station for simultaneous inspection by the first and second cameras; rotating the object circumferentially relative to the support structure and the first and second cameras; inspecting a first surface of the object using the first camera during a circumferential rotation of the object; inspecting a second surface of the object using the second camera during a circumferential rotation of the object; placing a second object on the support structure at a second inspection station while the first object is inspected by the first camera and the second camera at the first inspection station; and after completing the inspection of the first object, moving the first camera and the second camera along a guide rail to the second inspection station to inspect the second object.

Images