CN105758877A - X-ray real-time imaging detecting system and detecting method for detecting defects of H-shaped weld component - Google Patents
X-ray real-time imaging detecting system and detecting method for detecting defects of H-shaped weld component Download PDFInfo
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- CN105758877A CN105758877A CN201610244976.2A CN201610244976A CN105758877A CN 105758877 A CN105758877 A CN 105758877A CN 201610244976 A CN201610244976 A CN 201610244976A CN 105758877 A CN105758877 A CN 105758877A
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- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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Abstract
The invention discloses an X-ray real-time imaging detecting system for detecting defects of an H-shaped weld component.The X-ray real-time imaging detecting system comprises a picture monitoring device, an X-ray real-time imaging control device, an industrial robot, an end actuator, a portable X-ray generator, a clamping platform, a control module, a lifting device, a driving device, a transmission gear and the H-shaped weld component.One end of the lifting device is fixed onto a horizontal platform of the clamping platform, a flat detector is arranged at the other end of the lifting device, an output end of the flat detector is connected with the X-ray real-time imaging control device, the driving device is connected with a fixture by the transmission gear, and the control module is connected with the driving device, the lifting device and the X-ray real-time imaging control device.The X-ray real-time imaging detecting system has the advantages that the X-ray generator is fixed by the aid of the industrial robot, is controlled by the aid of the industrial robot and can be repositioned by the aid of the industrial robot, transmission angles of the X-ray generator can be adjusted by the aid of the industrial robot, the H-shaped weld component can rotate by the aid of the control module, the driving device and the transmission gear and can be matched with position and angle change of the X-ray generator, accordingly, various weld seam portions of the H-shaped weld component can be detected, and the detection efficiency and the detection precision can be improved.
Description
Technical field
The present invention relates to a kind of image-forming detecting system, especially a kind of X ray real time imaging detection system detecting I shape weldment defect and detection method thereof.
Background technology
Current X ray real time imaging detection system is mainly made up of X-ray production apparatus, flat panel detector, computer, detection frock and preventer.Its principle is: X ray is received by flat panel detector after penetrating component to be measured, sightless X-ray signal is converted to visible images by flat panel detector, again through image pick-up card, visible images is converted to digital picture, and be input in the computer at scene, collection and the display of high-quality X-ray image is realized on computers by control software design and image processing software.But, in digital flat-panel type X-ray real time imaging detection system degree Non-Destructive Testing, mostly maintain static due to X-ray production apparatus or only have two degree of freedom, thus can only be widely used in the detection of simple component of industrial products.
When complicated I-shaped weldment is carried out image checking, in order to meet the detection of butt-welding fitting all positions weld seam, in order to the internal flaw of detection and analysis weld seam, it is necessary to design multivariant x-ray detection device.
It is therefore desirable to propose a kind of new X ray real time imaging detection system.
Summary of the invention
It is an object of the invention to provide the X ray real time imaging detection system of a kind of detection I shape weldment defect that can improve detection efficiency and accuracy of detection.
For reaching above-mentioned purpose, the present invention can adopt the following technical scheme that
nullA kind of X ray real time imaging detection system detecting I shape weldment defect，The X ray real time imaging detection system of described detection I shape weldment defect includes: the picture supervising device being arranged on outside protective lead room、It is arranged on the X ray realtime imaging in protective lead room and controls device、The photographic head being connected with picture supervising device、It is connected to the industrial robot of robot control panel、It is arranged on the end effector on described industrial robot、It is arranged on the Portable X-ray machine of end effector、Clamping platform、Control module、Lowering or hoisting gear、Driving device、Actuating device、It is installed on the fixture in described clamping platform and the I shape weldment being fixed in fixture，Described Portable X-ray machine is arranged on end effector and controls device with X ray realtime imaging and is connected，One end of lowering or hoisting gear is fixed on the levelling bench of clamping platform the other end and is placed with flat panel detector，The outfan of described flat panel detector also controls device with X ray realtime imaging and is connected，Described driving device is connected by actuating device with fixture，Described control module respectively with driving device、Lowering or hoisting gear and X ray realtime imaging control device and are connected.
Compared with prior art, the present invention is fixed by industrial robot and controls X-ray production apparatus and carries out the adjustment of position and transmission angle, by controlling module and driving, actuating device, workpiece is rotated the position coordinating X-ray production apparatus and angular transformation, the better detection that faster must realize each weld seam position of I shape weldment, improves detection efficiency and accuracy of detection.
A kind of detection method of the X ray real time imaging detection system detecting I shape weldment defect, the detection method of the X ray real time imaging detection system of described detection I shape weldment defect comprises the following steps:
Step 1) in protective lead room, by tightening the expansion link of valve regulated clamp end, I shape weldment is fixed, Portable X-ray machine is arranged on the end effector of industrial robot meanwhile；
Step 2) by picture supervising device manipulation robot's control panel, control industrial robot and move, Portable X-ray machine is moved to detection position；
Step 3) control device control startup Portable X-ray machine by X ray realtime imaging, received by flat panel detector after the weld seam of X-ray production apparatus transmitting X-ray transparent I shape weldment, control the X-ray Images of Welding Seam after being shown as picture in real time on device in X ray realtime imaging；
Step 4) observe image, regulate the height of lowering or hoisting gear by controlling module, and regulated the transmission angle of X-ray production apparatus by robot control panel control industrial robot；
Step 5) when having detected the weld seam of I shape weldment side, X ray realtime imaging controls device and controls, by control panel, the commissure that Portable X-ray machine moves to I shape weldment opposite side by industrial robot and detect, repetition step 3) and step 4)；
Step 6) when, after two side weld image checking of flat panel detector, controlling driving device rotation by controlling module, driving device drives actuating device that fixture is rotated；
Step 7) repeat step 2) to step 5) weld seam of other two positions, place is detected, complete the X ray Real-time Imaging to the whole weld seam of I shape weldment.
Compared with prior art, the present invention is fixed by industrial robot and controls X-ray production apparatus and carries out the adjustment of position and transmission angle, by controlling module and driving, actuating device, workpiece is rotated the position coordinating X-ray production apparatus and angular transformation, the better detection that faster must realize each weld seam position of I shape weldment, improves detection efficiency and accuracy of detection.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the part-structure schematic diagram of the present invention.
Detailed description of the invention
Technical scheme is further described below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the present invention detects the X ray real time imaging detection system of I shape weldment defect and includes being arranged on the picture supervising device 11 of outside protective lead room 10, it is arranged on the X ray realtime imaging in protective lead room 10 and controls device 12, it is connected to the photographic head 26 of picture supervising device 11, it is connected to the industrial robot 14 of robot control panel 13, it is arranged on the end effector 15 on the flange of described industrial robot 14 end, it is arranged on the Portable X-ray machine 16 of end effector 15, clamping platform 17, control module 18, lowering or hoisting gear 19, driving device 20, actuating device 21, it is installed on the fixture 22 in described clamping platform 17 and the I shape weldment 23 being fixed in fixture 22.In order to see internal structure clearly, only represent two face walls in protective lead room 10 in the example shown.One end of described lowering or hoisting gear 19 is fixed on the levelling bench of clamping platform 17 other end and is placed with flat panel detector 24, and the outfan of described flat panel detector 24 also controls device 12 with X ray realtime imaging and is connected.
Described Portable X-ray machine 16 is arranged on end effector 15 and controls device 12 with X ray realtime imaging and is connected.When robot control panel 13 is carried out the motor performance to industrial robot 14 by the monitor in real time picture controlling device 12 according to X ray realtime imaging, the end effector 15 being arranged on described industrial robot 14 moves along with the motion of industrial robot 14, and is arranged on Portable X-ray machine 16 on end effector 15 and moves to specifically detecting position (namely near place's weld seam of flat panel detector 24) along with the motion of end effector 15.When the software controlled according to X ray realtime imaging on device 12 controls to start Portable X-ray machine 16, after being received by the flat panel detector 24 of lower end after the X-ray transparent weld seam that Portable X-ray machine 16 is launched, control the X-ray Images of Welding Seam after being shown as picture in real time on device 12 in X ray realtime imaging.
By observing imaging picture, the control software design that X ray realtime imaging controls device 12 suitably regulates the height of lowering or hoisting gear 19 by controlling module 18, and control industrial robot 14 regulate the transmission angle of Portable X-ray machine 16 by robot control panel 13, so that the quality of realtime imaging picture reaches optimum state.When having detected the weld seam of side, control, by robot control panel 13, the commissure that Portable X-ray machine 16 moves to opposite side by industrial robot 14 and carry out imaging.
The end of described fixture 22 has the expansion link that can stretch.The X ray real time imaging detection system of described detection I shape weldment defect also have adjustable telescopic rod telescopic location and to I shape weldment 23 clamping tightness be adjusted tighten valve 25.Described driving device 20 is connected by actuating device 21 with fixture 22, and described control module 18 controls device 12 with driving device 20, lowering or hoisting gear 19 and X ray realtime imaging respectively and is connected.When beneath after 24 liang of side weld image checking of flat panel detector, X ray realtime imaging control device 12 controls driving device 20 by control module 18 and rotates, and by actuating device 21, fixture 22 is rotated, it is achieved 180 ° of rotations to I shape weldment 23.Further according to said method, other two place's weld seams are carried out image checking, be finally completed the X ray Real-time Imaging to the whole weld seam of I shape weldment 23.
The method that the application now utilizes the X ray real time imaging detection system detection I shape weldment of detection I shape weldment defect illustrates.The detection method of the X ray real time imaging detection system of described detection I shape weldment defect comprises the following steps:
Step 1) in protective lead room 10, by tightening the expansion link of valve 25 alignment jig 22 end, I shape weldment 23 is fixed, Portable X-ray machine 16 is arranged on the end effector 15 of industrial robot 14 meanwhile；
Step 2) by picture supervising device 11 manipulation robot's control panel 13, control industrial robot 14 and move, Portable X-ray machine 16 is moved to detection position；
Step 3) control device 12 control startup Portable X-ray machine 16 by X ray realtime imaging, Portable X-ray machine 16 is received by flat panel detector 24 after launching the weld seam of X-ray transparent I shape weldment 23, X ray realtime imaging control device 12 is shown as in real time as after X-ray Images of Welding Seam；
Step 4) observe image, regulate the height of lowering or hoisting gear 19 by controlling module 18, and control industrial robot 14 by robot control panel 13 and regulate the transmission angle of portable ray machine 16；
Step 5) when having detected the weld seam of I shape weldment 23 side, X ray realtime imaging controls device 12 and controls, by robot control panel 13, the commissure that Portable X-ray machine 16 moves to I shape weldment 23 opposite side by industrial robot 14 and detect, and repeats step 3) and step 4)；
Step 6) when, after two side weld image checking of flat panel detector 24, X ray realtime imaging control device 12 controls driving device 20 by control module 18 and rotates, and driving device 20 drives actuating device 21 that fixture 22 is rotated；
Step 7) repeat step 2) to step 5) weld seam of other two positions, place is detected, complete the X ray Real-time Imaging to the whole weld seam of I shape weldment 23.
The image checking of the X ray real time imaging detection system of described detection I shape weldment defect is operated in protective lead room 10 and carries out；The picture of the X ray real time imaging detection system of described detection I shape weldment defect is monitored, image shows in real time and controls operation carries out outside protective lead room 10.
The concrete methods of realizing of the present invention and approach are a lot, and the above is only the preferred embodiment of the present invention.It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.The all available prior art of each ingredient not clear and definite in the present embodiment is realized.
Claims (6)
- null1. the X ray real time imaging detection system detecting I shape weldment defect，It is characterized in that，The X ray real time imaging detection system of described detection I shape weldment defect includes: the picture supervising device being arranged on outside protective lead room、It is arranged on the X ray realtime imaging in protective lead room and controls device、The photographic head being connected with picture supervising device、It is connected to the industrial robot of robot control panel、It is arranged on the end effector on described industrial robot、It is arranged on the Portable X-ray machine of end effector、Clamping platform、Control module、Lowering or hoisting gear、Driving device、Actuating device、It is installed on the fixture in described clamping platform and the I shape weldment being fixed in fixture，Described Portable X-ray machine is arranged on end effector and controls device with X ray realtime imaging and is connected，One end of lowering or hoisting gear is fixed on the levelling bench of clamping platform，The other end of lowering or hoisting gear is placed with flat panel detector，The outfan of described flat panel detector also controls device with X ray realtime imaging and is connected，Described driving device is connected by actuating device with fixture，Described control module respectively with driving device、Lowering or hoisting gear and X ray realtime imaging control device and are connected.
- 2. the X ray real time imaging detection system detecting I shape weldment defect as claimed in claim 1, is characterized in that, the end of industrial robot has flange, and described end effector is arranged on the flange of industrial robot.
- 3. the X ray real time imaging detection system detecting I shape weldment defect as claimed in claim 1, is characterized in that, the end of described fixture has the expansion link that can stretch.
- 4. the X ray real time imaging detection system detecting I shape weldment defect as claimed in claim 3, it is characterized in that, described X ray real time imaging detection system also have adjustable telescopic rod telescopic location and to I shape weldment clamping tightness be adjusted tighten valve.
- 5. detecting a detection method for the X ray real time imaging detection system of I shape weldment defect, it is characterized in that, the detection method of the X ray real time imaging detection system of described detection I shape weldment defect comprises the following steps:Step 1) in protective lead room, by tightening the expansion link of valve regulated clamp end, I shape weldment is fixed, Portable X-ray machine is arranged on the end effector of industrial robot meanwhile；Step 2) by picture supervising device manipulation robot's control panel, control industrial robot and move, Portable X-ray machine is moved to detection position；Step 3) control device control startup Portable X-ray machine by X ray realtime imaging, received by flat panel detector after the weld seam of Portable X-ray machine transmitting X-ray transparent I shape weldment, control the X-ray Images of Welding Seam after being shown as picture in real time on device in X ray realtime imaging；Step 4) observe image, regulate the height of lowering or hoisting gear by controlling module, and regulated the transmission angle of Portable X-ray machine by robot control panel control industrial robot；Step 5) when having detected the weld seam of I shape weldment side, X ray realtime imaging controls device and controls, by robot control panel, the commissure that Portable X-ray machine moves to I shape weldment opposite side by industrial robot and detect, repetition step 3) and step 4)；Step 6) when, after two side weld image checking of flat panel detector, X ray realtime imaging controls device and rotates by controlling module control driving device, and driving device drives actuating device that fixture is rotated；Step 7) repeat step 2) to step 5) weld seam of other two positions, place is detected, complete the X ray Real-time Imaging to the whole weld seam of I shape weldment.
- 6. the detection method of the X ray real time imaging detection system detecting I shape weldment defect as claimed in claim 5, is characterized in that, the image checking of the X ray real time imaging detection system of described detection I shape weldment defect is operated in protective lead room and carries out；The picture of the X ray real time imaging detection system of described detection I shape weldment defect is monitored, image shows in real time and controls operation carries out outside protective lead room.
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| CN106872495A (en) * | 2017-04-13 | 2017-06-20 | 云南电网有限责任公司电力科学研究院 | A kind of x-ray detection system |
| CN108152306A (en) * | 2018-03-07 | 2018-06-12 | 武汉理工大学 | A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts |
| CN109187603A (en) * | 2018-09-27 | 2019-01-11 | 新兴能源装备股份有限公司 | A kind of X-ray real time imagery equipment detecting large container weld seam |
| CN109580674A (en) * | 2019-01-22 | 2019-04-05 | 淇淩智能科技(上海)有限公司 | A kind of online solder joint of self-shileding, weld inspection system |
| CN113406121A (en) * | 2021-06-11 | 2021-09-17 | 重庆市特种设备检测研究院 | Automatic device and detection method for multi-angle X-ray detection of weld defects |
| CN114397316A (en) * | 2021-12-24 | 2022-04-26 | 江苏龙山管件有限公司 | Self-positioning pipe fitting elbow defect ray detection device |
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| CN114397316A (en) * | 2021-12-24 | 2022-04-26 | 江苏龙山管件有限公司 | Self-positioning pipe fitting elbow defect ray detection device |
| CN114397316B (en) * | 2021-12-24 | 2024-05-28 | 江苏龙山管件有限公司 | Self-positioning pipe fitting elbow defect ray detection device |
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