CN113406121B - Automatic device and method for multi-angle X-ray detection of weld defects - Google Patents
Automatic device and method for multi-angle X-ray detection of weld defects Download PDFInfo
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- CN113406121B CN113406121B CN202110656235.6A CN202110656235A CN113406121B CN 113406121 B CN113406121 B CN 113406121B CN 202110656235 A CN202110656235 A CN 202110656235A CN 113406121 B CN113406121 B CN 113406121B
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- 238000001514 detection method Methods 0.000 title claims abstract description 67
- 230000007547 defect Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims description 21
- 238000003384 imaging method Methods 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 7
- 241000252254 Catostomidae Species 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000005251 gamma ray Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—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
- 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 belongs to the technical field of automatic detection equipment, and particularly relates to an automatic device and a detection method for multi-angle X-ray detection of weld defects. The purpose is that: the method is used for solving the problems of low detection precision and low detection efficiency existing in the existing detection mode.
Description
Technical Field
The invention belongs to the technical field of automatic detection equipment, and particularly relates to an automatic device and a detection method for multi-angle X-ray detection of weld defects.
Background
The current widely used radiographic inspection method is to make the film sensitive after penetrating the welding seam by using penetrating radiation emitted by X-ray source and gamma-ray source, and the defect image in the welding seam is displayed on the radiographic film after treatment. The method is mainly used for finding defects such as air holes, slag inclusion, cracks, incomplete penetration and the like in the welding line.
For products assembled by welding, a weld is typically left on the product. Whether the connection at the weld is reliable or not is one of the important influencing factors of the product performance.
In the related art, a manual detection mode is mostly adopted for detecting the welding line, the accuracy of a detection result mainly depends on the detection skill of detection personnel, and under the condition, false detection often occurs in the detection mode, the quality of products cannot be guaranteed, the detection precision is low, and the detection efficiency is low.
Disclosure of Invention
The purpose of the invention is that: the automatic device and the method for multi-angle X-ray detection of the weld defects are used for solving the problems of low detection precision and low detection efficiency existing in the existing detection mode.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
The utility model provides an automation equipment that welding seam defect multi-angle X ray detected, includes control computer, modeling computer, X ray machine, anchor clamps, transfer appearance robot, moving platform and demountable installation imaging plate on the tank wall, transfer appearance robot loading on moving platform, X ray machine fixed mounting is on the anchor clamps, X ray machine includes the transmission mouth of X ray, install a plurality of peripheral range finders around the transmission mouth of X ray machine on the anchor clamps, still install the linear movement unit on the anchor clamps, install central range finders on the linear movement unit, central range finders are located the place ahead of transmission mouth, control computer and X ray machine, transfer appearance robot, moving platform, peripheral range finders, central range finders, linear movement unit signal connection, modeling computer and transfer appearance robot, imaging plate, peripheral range finders, central range finders signal connection.
Further defined, the peripheral rangefinder is not less than four. According to the structural design, the distance between the clamp and the tank wall is measured through at least four peripheral range finders, so that the measurement accuracy of pose self-detection is ensured.
Further defined, a fixed frame is mounted on the imaging plate, and a plurality of suckers are mounted on the edge of the fixed frame. The imaging plate is detachably arranged on the back of the tank wall through the sucker, so that the imaging plate is convenient to assemble and disassemble.
Further defined, a threaded rod is rotatably mounted on the suction cup, and the threaded rod is screwed on the fixed frame. By means of the structural design, the height of the sucking disc which protrudes out is adjustable, so that the imaging plate is clung to the tank wall or keeps a specified distance from the tank wall, and the application range is wider.
Further defined, the mobile platform includes a plurality of Mecanum wheels. The movable platform of the Mecanum wheel can realize translation in any direction and steering in any angle, does not need any turning radius, and has the outstanding advantages of convenient position adjustment, and particularly can realize adjustment of micro displacement in any direction during final positioning.
Further defined, the mobile platform is also mounted with a plurality of support mechanisms. By means of the structural design, after the mobile platform moves to the corresponding position, the supporting mechanism can be used for supporting the automatic device, and the problem that the accuracy of the final defect three-dimensional model is affected due to the fact that the gravity center changes when the gesture adjusting robot drives the clamp to move to different positions is avoided.
Further limited, the supporting mechanism comprises a mounting seat, a heel brace motor and supporting feet, wherein the heel brace motor is fixedly arranged on the mounting seat, a screw rod is arranged on an output shaft of the heel brace motor, the screw rod is in threaded connection with the supporting feet, and the heel brace motor is in signal connection with a control computer. By means of the structural design, lifting of the supporting mechanism is achieved through control of the heel brace motor by the control computer, the automation degree of the device is further improved, and the device is more convenient to use.
Further limited, the gesture adjusting robot is a 6-axis joint type mechanical arm, and the clamp is fixedly arranged at the free end of the 6-axis joint type mechanical arm.
The invention also discloses a multi-angle X-ray automatic detection method for the weld defects, which uses the automatic detection device and comprises the following steps:
1) An operator controls the mobile platform to move to the vicinity of the defect position of the tank wall through a control computer, and then the supporting mechanism is lifted up to fixedly support the mobile platform;
2) The linear moving unit is controlled by the control computer to drive the central distance meter to move to a position coaxial with the emitting port of the X-ray machine and start;
3) Taking the laser beam of the central distance meter as an indication, and controlling the gesture adjusting robot by an operator through a control computer to enable the laser beam of the central distance meter to point to the defect position on the tank wall;
4) Simultaneously starting a peripheral range finder and a central range finder, and detecting the distance between the position of the peripheral range finder and the tank wall;
5) The modeling computer obtains the relative pose between the pose-adjusting robot and the tank wall through settling the 5 distance values and the current pose of the pose-adjusting robot;
6) Taking the defect position as a sphere center, taking the radial detection distance as a radius, constructing a hemisphere, setting a series of position points of an X-ray machine during multi-angle detection on the hemisphere, and controlling a computer to complete the overall motion track planning of the mechanical arm;
7) The control computer controls the linear moving unit to drive the central distance meter to move to the initial position, so as to avoid the transmitting port of the X-ray machine;
8) Automatically controlling the gesture adjusting robot to drive the X-ray machine to sequentially move to each detection position point through the control computer according to a preset program, starting the X-ray machine at each detection position point, and carrying out ray detection until the detection of all the position points is completed;
9) The imaging plate and the gesture-adjusting robot respectively transmit the obtained images and the gesture data of the mechanical arm corresponding to the images to a modeling computer in real time or after operation, and the modeling computer completes the construction of the defect three-dimensional model on the basis of the data.
The invention adopting the technical scheme has the following advantages:
1. the moving platform drives the movement, the gesture adjusting robot performs position alignment, and then the gesture adjusting robot is controlled by a program in the control computer to drive the X-ray machine to perform multi-angle detection, so that the detection automation degree is high, the detection efficiency is improved, and the detection precision is improved;
2. The distance between the clamp and the tank wall is measured by the central distance measuring instrument and the plurality of peripheral distance measuring instruments, then the current pose information of the clamp is calculated according to the distance, and the detection precision is further improved by matching with the image information obtained on the imaging plate.
Drawings
The invention can be further illustrated by means of non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic diagram of an embodiment of an automated apparatus and a method for multi-angle X-ray detection of weld defects;
FIG. 2 is a schematic diagram of an embodiment of an automated apparatus and a method for multi-angle X-ray detection of weld defects according to the present invention;
FIG. 3 is a schematic diagram of an embodiment of an automated apparatus and a method for multi-angle X-ray detection of weld defects according to the present invention;
FIG. 4 is a schematic structural diagram of an imaging plate portion in an embodiment of an automated apparatus and method for multi-angle X-ray detection of weld defects according to the present invention;
The main reference numerals are as follows:
x-ray machine 1, tank wall 10, defect location 101,
A fixture 2, a peripheral range finder 21, a central range finder 22,
A gesture adjusting robot 3,
A movable platform 4, mecanum wheels 41, a supporting mechanism 42, a mounting seat 421, a foot support motor 422, supporting feet 423,
Imaging plate 5, fixed frame 51, sucking disc 52, threaded rod 53.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments, wherein like or similar parts are designated by the same reference numerals throughout the drawings or the description, and implementations not shown or described in the drawings are in a form well known to those of ordinary skill in the art. In addition, directional terms such as "upper", "lower", "top", "bottom", "left", "right", "front", "rear", etc. in the embodiments are merely directions with reference to the drawings, and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 4, the automatic device for multi-angle X-ray detection of weld defects comprises a control computer, a modeling computer, an X-ray machine 1, a clamp 2, a gesture adjusting robot 3, a moving platform 4 and an imaging plate 5 detachably arranged on a tank wall 10, wherein the gesture adjusting robot 3 is loaded on the moving platform 4, the X-ray machine 1 is fixedly arranged on the clamp 2, the X-ray machine 1 comprises an X-ray emitting opening 11, a plurality of peripheral distance meters 21 are arranged on the clamp 2 around the emitting opening 11 of the X-ray machine 1, a linear moving unit is further arranged on the clamp 2, a central distance meter 22 is arranged on the linear moving unit, the central distance meter 22 is positioned right in front of the emitting opening 11, the control computer is in signal connection with the X-ray machine 1, the gesture adjusting robot 3, the moving platform 4, the peripheral distance meters 21, the central distance meter 22 and the linear moving unit, and the modeling computer is in signal connection with the gesture adjusting robot 3, the imaging plate 5, the peripheral distance meters 21 and the central distance meter 22.
The peripheral rangefinder 21 is not less than four, preferably four. The distance between the clamp 2 and the tank wall is measured by four peripheral distance meters 21 to ensure the measurement accuracy of the pose self-detection.
The imaging plate 5 is provided with a fixed frame 51, and a plurality of suckers 52 are arranged at the edge of the fixed frame 51. The imaging plate 5 is detachably arranged on the back surface of the tank wall 10 through the sucking disc 52, so that the assembly and the disassembly are convenient.
The sucker 52 is rotatably provided with a threaded rod 53, and the threaded rod 53 is screwed on the fixed frame 51. The height of the sucking disc 52 can be adjusted, so that the imaging plate 5 is tightly attached to the tank wall 10 or keeps a specified distance from the tank wall 10, and the application range is wider.
The mobile platform 4 comprises a plurality of mecanum wheels 41. The use of a mobile platform with Mecanum wheels 41 allows translation in any direction and steering at any angle, without any turning radius, with the outstanding advantage of a convenient position adjustment, in particular in the final positioning, of a small displacement in any direction.
The mobile platform 4 also has a plurality of support mechanisms 42 mounted thereon. After the moving platform 4 moves to the corresponding position, the supporting mechanism 42 can be used for supporting the automation device, so that the problem that the accuracy of the final defect three-dimensional model is affected due to the fact that the gravity center changes when the posture adjusting robot 3 drives the clamp 2 to move to different positions is avoided.
The supporting mechanism 42 comprises a mounting seat 421, a heel brace motor 422 and supporting feet 423, the heel brace motor 422 is fixedly arranged on the mounting seat 421, a screw rod is arranged on an output shaft of the heel brace motor 422, the screw rod is in threaded connection with the supporting feet 423, and the heel brace motor 422 is in signal connection with the control computer. The lifting of the supporting mechanism 42 is realized by the control computer through controlling the heel brace motor 422, so that the automation degree of the device is further improved, and the device is more convenient to use.
The gesture adjusting robot 3 is a 6-axis joint type mechanical arm, and the clamp 2 is fixedly arranged at the free end of the 6-axis joint type mechanical arm.
The invention also discloses a multi-angle X-ray automatic detection method for the weld defects, which uses the automatic detection device and comprises the following steps:
1) An operator controls the mobile platform 4 to move to the vicinity of the defect position 101 of the tank wall 10 through a control computer, and then the supporting mechanism 42 is lifted up to fixedly support the mobile platform 4;
2) The control computer controls the linear moving unit to drive the central distance meter 22 to move to a position coaxial with the emitting port 11 of the X-ray machine 1 and start;
3) With the laser beam of the central distance meter 22 as an indication, an operator controls the gesture adjusting robot 3 through a control computer to enable the laser beam of the central distance meter 22 to point to the defect position 101 on the tank wall 10;
4) Simultaneously starting 4 peripheral distance meters 21 and a central distance meter 22, and detecting the distance between the position of the peripheral distance meters and the tank wall 10;
5) The modeling computer obtains the relative pose between the pose-adjusting robot 3 and the tank wall 10 through settling the 5 distance values and the current pose of the pose-adjusting robot 3;
6) Taking the defect position 101 as a sphere center, taking the radial detection distance as a radius, constructing a hemisphere, setting a series of position points of the X-ray machine 1 during multi-angle detection on the hemisphere, and controlling a computer to complete the overall motion track planning of the mechanical arm;
7) The control computer controls the linear moving unit to drive the central distance meter 22 to move to the initial position so as to avoid the emission port 11 of the X-ray machine 1;
8) Automatically controlling the gesture adjusting robot 3 to drive the X-ray machine 1 to sequentially move to each detection position point through a control computer according to a preset program, starting the X-ray machine 1 at each detection position point, and performing ray detection until detection of all the position points is completed;
9) The imaging plate 5 and the gesture adjusting robot 3 respectively transmit the obtained images and the gesture data of the mechanical arm corresponding to the images to a modeling computer in real time or after operation, and the modeling computer completes the construction of the defect three-dimensional model on the basis of the data.
The automatic device and the detection method for multi-angle X-ray detection of the weld defects provided by the invention are described in detail. The description of the specific embodiments is only intended to aid in understanding the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. An automatic device for multi-angle X-ray detection of weld defects is characterized in that: the device comprises a control computer, a modeling computer, an X-ray machine (1), a clamp (2), a gesture adjusting robot (3), a moving platform (4) and an imaging plate (5) detachably arranged on a tank wall (10), wherein the gesture adjusting robot (3) is loaded on the moving platform (4), the X-ray machine (1) is fixedly arranged on the clamp (2), the X-ray machine (1) comprises an X-ray emitting port (11), a plurality of peripheral distance measuring instruments (21) are arranged on the clamp (2) around the emitting port (11) of the X-ray machine (1), a linear moving unit is further arranged on the clamp (2), a central distance measuring instrument (22) is arranged on the linear moving unit, the central distance measuring instrument (22) is positioned right in front of the emitting port (11), the control computer is in signal connection with the X-ray machine (1), the gesture adjusting robot (3), the moving platform (4), the peripheral distance measuring instruments (21), the central distance measuring instruments (22) and the linear moving unit, and the modeling computer is in signal connection with the gesture adjusting robot (3), the gesture adjusting robot (21) and the central distance measuring instruments (22) through the central distance measuring instruments (22).
The peripheral distance measuring instrument (21) is not less than four;
the gesture adjusting robot (3) is a 6-axis joint type mechanical arm, and the clamp (2) is fixedly arranged at the free end of the 6-axis joint type mechanical arm.
2. An automated apparatus for multi-angle X-ray detection of weld defects as defined in claim 1, wherein: the imaging plate (5) is provided with a fixed frame (51), and a plurality of suckers (52) are arranged at the edge of the fixed frame (51).
3. An automated apparatus for multi-angle X-ray detection of weld defects as defined in claim 2, wherein: the sucker (52) is rotatably provided with a threaded rod (53), and the threaded rod (53) is in threaded connection with the fixed frame (51).
4. An automated apparatus for multi-angle X-ray detection of weld defects as defined in claim 1, wherein: the mobile platform (4) comprises a plurality of Mecanum wheels (41).
5. An automated apparatus for multi-angle X-ray detection of weld defects as defined in claim 4, wherein: a plurality of supporting mechanisms (42) are also arranged on the mobile platform (4).
6. An automated apparatus for multi-angle X-ray detection of weld defects as defined in claim 5, wherein: the supporting mechanism (42) comprises a mounting seat (421), a heel brace motor (422) and supporting legs (423), the heel brace motor (422) is fixedly mounted on the mounting seat (421), a screw rod is mounted on an output shaft of the heel brace motor (422), the screw rod is in threaded connection with the supporting legs (423), and the heel brace motor (422) is in signal connection with a control computer.
7. A multi-angle X-ray automatic detection method for weld defects is characterized in that: the automated detection method using the automated device according to any one of claims 4 to 6, comprising the steps of:
1) An operator firstly controls the mobile platform (4) to move to the vicinity of a defect position (101) of the tank wall (10) through a control computer, and then the supporting mechanism (42) is lifted, so that the mobile platform (4) is fixedly supported;
2) The linear moving unit is controlled by the control computer to drive the central distance meter (22) to move to a position coaxial with the emitting port (11) of the X-ray machine (1) and started;
3) Taking the laser beam of the central distance meter (22) as an indication, and controlling the gesture adjusting robot (3) by an operator through a control computer to enable the laser beam of the central distance meter (22) to point to a defect position (101) on the tank wall (10);
4) Simultaneously starting a peripheral range finder (21) and a central range finder (22), and detecting the distance between the position of the peripheral range finder and the tank wall (10);
5) The modeling computer obtains the relative pose between the pose-adjusting robot (3) and the tank wall (10) through settling the 5 distance values and the current pose of the pose-adjusting robot (3);
6) Taking the defect position (101) as a sphere center, taking the radial detection distance as a radius, constructing a hemisphere, setting a series of position points of an X-ray machine (1) during multi-angle detection on the hemisphere, and controlling a computer to complete the whole motion track planning of the mechanical arm;
7) The control computer controls the linear moving unit to drive the central distance meter (22) to move to the initial position, so as to avoid the transmitting port (11) of the X-ray machine (1);
8) Automatically controlling the gesture adjusting robot (3) to drive the X-ray machine (1) to sequentially move to each detection position point through a control computer according to a preset program, starting the X-ray machine (1) at each detection position point, and carrying out ray detection until detection of all the position points is completed;
9) The imaging plate (5) and the gesture adjusting robot (3) respectively transmit the obtained images and the gesture data of the mechanical arm corresponding to the images to a modeling computer in real time or after operation, and the modeling computer completes the construction of the defect three-dimensional model on the basis of the data.
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