CN103472076A - Automatic paster robot for weld radiographic inspection - Google Patents
Automatic paster robot for weld radiographic inspection Download PDFInfo
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- CN103472076A CN103472076A CN2013103855685A CN201310385568A CN103472076A CN 103472076 A CN103472076 A CN 103472076A CN 2013103855685 A CN2013103855685 A CN 2013103855685A CN 201310385568 A CN201310385568 A CN 201310385568A CN 103472076 A CN103472076 A CN 103472076A
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Abstract
The invention discloses an automatic paster robot for weld radiographic inspection, which comprises a rack, a rack travelling mechanism carrying the rack to move, a real-time detection system located at the upper part of the rack, and a lead box used for storing a film. The automatic paster robot has the advantages that the labor intensity of paster inspection is reduced; the working efficiency is improved effectively; the operation is remote; personal injuries of radiation to operating personnel are reduced; and the automatic paster robot is low in manufacturing cost, easy to process and manufacture, simple and convenient to control, and high in accuracy, is applied to practical production, and can improve economic benefits of the radiographic inspection greatly.
Description
Technical field
The present invention relates to automation field, relate in particular to a kind of machine of the automatic chip mounting for weld seam radiographic inspection people.
Background technology
Radiographic inspection is one of lossless detection method commonly used in the equipment Manufacture Process such as pressure vessel, shipbuilding, boiler, has following characteristics: 1. testing result can be with the direct record of egative film; 2. can obtain the projected image of defect, the defect qualitative, quantitative is accurate; 3. volume type defect detection rate is the highest and the recall rate area-type defect is subject to various factors; 4. the workpiece of suitable check thinner thickness and be not suitable for the check thicker workpiece; 5. suitable detection butt-weld, detect the fillet weld effect poor, is not suitable for detecting sheet material, Cou material, forging.
In radiographic inspection, in special seam inspection in Pressure Vessel Manufacture Process, mainly adopt the method for manual detection, have inefficiency, affect the follow-up work progress, labour intensity greatly and human body is had to a shortcoming such as injury.Existing radiographic inspection main operational steps except flaw detection requires to determine, finishing surface of the work, workpiece line, resemble selecting and putting, the preliminary works such as selection of the putting of mark, focusing and exposure parameter, mainly comprise that paster, start detect, get sheet darkroom disposal, establishing criteria and comment that sheet, defective locations and shape are determined etc. of matter meter; In the paster process, operating personnel need to be measured with chalk, ruler, setting-out, the film of the number of finishing is adsorbed on to the position that surface of the work is suitable, after operating personnel withdraw on-the-spot arrival operation room, open one section weld seam of ray emission machine testing, after detection, operating personnel need take off film, are put into the darkroom processing of being developed a film; In the ray detection process, while requiring to carry out radiographic inspection according to the principle of ray detection and national standard, in order to reflect up hill and dale the situation that exists of workpiece joints inherent vice, should be according to the geometric configuration reasonable Arrangement transillumination method of welding joint form and workpiece, according to the mutual alignment relation between radiographic source, workpiece and film, weld seam transillumination method is divided into longitudinal joint transillumination, circumferential weld pass through inside in method, circumferential weld thoroughly five kinds of method, both arms list shadow method and both arms slur methods.
Adopting manual method to carry out radiographic inspection detects and has inefficiency, affect follow-up work progress and labour intensity greatly and to shortcomings such as operating personnel's actual bodily harm are larger; Such as: inefficiency, traditional method of operating requires the staff must carry out manual measurement fusion length, calculating film quantity, paster, move thick and heavy X ray radiation machine to correct position and correct height.When internal tank butt welded seam paster, owing to once can only irradiating a film, have to piercing in container and got the operation of sheet, paster again and again of operating personnel, the quite loaded down with trivial details and inefficiency of process; Affect the postorder job schedule, the manufacture process of pressure vessel is first welded, by after detecting, just can be repaired, welded attachment, pressure test and the work such as paint, when ray detection, must stop other work and be detected special radiographic inspection is indoor, the poor efficiency of radiographic inspection has a strong impact on the manufacturing speed of pressure vessel; Labour intensity is large, and the pressure vessel UT (Ultrasonic Testing) generally at least needs two operating personnel, and operating personnel carry out the operations such as setting-out, paster, carrying ray emission machine, and another one is detected.When needs are detected a flaw in pressure vessel inside, also need operating personnel to enter internal tank and carry out the operations, particularly paster such as setting-out, paster, placement ray emission machine, get sheet work, labour intensity is very large; Human body is had to injury, require, when having guaranteed the radiographic inspection task, to make the dose equivalent that operating personnel accept be no more than limit value, and should reduce as much as possible operating personnel and other staff's absorbed dose.The major measure of protection has shielding protection, distance protection and protection of time.The on-the-spot photograph served problem because of protection meeting construction organization band, and especially gamma-rays, stipulate to affect work efficiency and cost on the strict control of emitting isotope.
Summary of the invention
For addressing the above problem, of the present inventionly provide a kind of auxiliary robot for the weld seam radiographic inspection-automatic chip mounting machine people, replace numerous and diverse artificial paster, get sheet work, assisted the flaw detection task, be conducive to increase work efficiency and reduce labour intensity.
Its technical solution is:
A kind of weld seam radiographic inspection automatic chip mounting machine people is characterized in that: comprise frame, carry described machine frame movement the frame travel mechanism, be positioned at the real-time detecting system of described upper rack and deposit the plumbous box of film.
Preferred described frame travel mechanism comprises that six take turns walking dolly; Described frame comprises the rotating mechanism rotatablely moved as horizontal direction and is positioned at 4 axle linkage manipulator mechanisms of described rotating mechanism top; Described rotating mechanism is arranged on described six and takes turns the walking dolly middle part, comprises worm-and-wheel gear, joint base and drive motor, and described drive motor drives described worm and gear and rotates, and drives described joint base to realize the integral level rotation of described manipulator mechanism; Described mechanical arm is comprised of three connecting rods and a hand actuator, and described hand actuator is provided with electromagnet; Described real-time detecting system is with camera; Described plumbous box is for depositing the film that the flaw detection process is used.
Preferred described six take turns walking dolly comprises four wheels that are positioned at the dolly two ends and two universal wheels that are positioned at the dolly bottom; Described four wheels are arranged on the dolly two ends, wherein each any one wheel of front and back end is driving wheel, with drive sprocket axle and drive motor, drive motor is connected with drive sprocket axle by shaft coupling, two rolling bearings are arranged between drive sprocket axle and driving wheel, thereby drive motor drives drive sprocket axle, rotate the drive vehicle wheel rotation; Two other wheel is set to engaged wheel, and with follower shaft, described engaged wheel moves with driving wheel.
The present invention can have following useful technique effect:
1, can reduce labour intensity.The present invention by paster, get the heavy work contents such as sheet and completed by himself, greatly reduced testing staff's labour intensity.
2, can increase work efficiency.Carry out radiographic inspection while detecting, the testing staff only need to be in the operation field operation, does not need to enter radiographic inspection indoor, does not need artificial to carry out paster, gets the operation such as sheet, has greatly improved detection efficiency; Be accompanied by the raising of detection efficiency, can accelerate the efficiency of whole processing, reduce the phenomenon of delaying work caused because detection efficiency is low.
3, can reduce the personal injury of radiation to operating personnel.The present invention can make operating personnel need not enter crack detection room just can complete Detection task, has greatly reduced the number of times that operating personnel enter crack detection room, can greatly improve operating personnel's life security coefficient.
4, cost of the present invention is low, is easy to processing and manufacturing, controls simple and convenient, and degree of accuracy is high, is applied to actual production, can greatly improve the economic benefit of radiographic inspection.
The accompanying drawing explanation
The structural representation of the preferred embodiment that accompanying drawing 1 is weld seam radiographic inspection automatic chip mounting machine people of the present invention.
Reference numeral is as follows:
1-frame travel mechanism; The 11-universal wheel; The 12-engaged wheel; The 13-driving wheel; The plumbous box of 2-; Case before the plumbous box of 21-; The plumbous box rear cabinet of 22-; The 31-drive motor; The 32-worm-and-wheel gear; 33-joint base; The 34-connecting rod; The 35-connecting rod; The 36-connecting rod; 37-hand actuator; The 40-film.
Embodiment
Referring to accompanying drawing 1, it has described the preferred embodiment according to weld seam radiographic inspection automatic chip mounting machine people of the present invention.Robot comprises frame, carry the frame travel mechanism of machine frame movement, be positioned at the real-time detecting system of upper rack and deposit the plumbous box of film.
The frame travel mechanism comprises that six take turns walking dolly, and six take turns walking dolly comprises four wheels that are positioned at the dolly two ends and two universal wheels that are positioned at the dolly bottom; Four wheels are symmetricly set on the dolly two ends, wherein each any one wheel of front and back end is driving wheel, each driving wheel is respectively with drive sprocket axle and wheel drive motor, the wheel drive motor is connected with drive sprocket axle by shaft coupling, two rolling bearings are arranged between drive sprocket axle and driving wheel, thereby drive motor drives drive sprocket axle, rotate the rotation of drive driving wheel; Two other wheel is set to engaged wheel, with follower shaft, engaged wheel moves with driving wheel, two universal wheels are arranged on respectively the rear and front end of walking dolly base plate by the nut group, can regulate the upper-lower position of universal wheel by the rotating nut group, guarantee universal wheel and weld seam wall of a container continuous contact to be detected in the container welding rotary course, the dolly that remains on the internal tank walking is in horizontal level, is unlikely to tilt out of trim.The action that the forward and reverse by drive motor of two driving wheels realize moving forward and backward, preferably two driving wheels are arranged in a crossed manner, two driving wheels lay respectively at the not homonymy of walking dolly, as the driving wheel of front end in left side, the driving wheel of rear end just is arranged on right side, in the present embodiment, the wheel in left forward side is driving wheel, the wheel at left rear side is engaged wheel, so just by the rotating speed of controlling two driving wheel drive motor, realize the turning action of walking dolly, simplify the parts of walking dolly.
Frame comprises the rotating mechanism that rotatablely moves as horizontal direction and is positioned at the rotating mechanism top carries that real-time detecting system is made paster, got sheet, 4 axle linkage manipulator mechanisms of film releasing work; Rotating mechanism is arranged on six and takes turns on the web joint at walking dolly middle part, comprise worm-and-wheel gear, joint base and drive motor, drive motor drives worm and gear and rotates, the driving joint base is realized the integral level rotation of manipulator mechanism, the transmission accuracy of worm-and-wheel gear is high, moment is large, can better control the rotation precision of manipulator mechanism.
Mechanical arm is comprised of three connecting rods and a hand actuator, three connecting rods connect in turn, one end connects the joint base, the other end connects the hand actuator, every connecting rod connects a connecting rod stepper motor by shaft coupling respectively, drivening rod is rotated, realize three dimensions Space Rotating and the location of mechanical arm, the hand actuator connects the hand actuating motor by shaft coupling, realize the rotation of hand actuator, can realize 4 axle interlocks of mechanical arm by the parts of four motors and its control.The hand actuator is provided with electromagnet, is placed with phase magnet on film, by the pole polarity that converts electromagnet, realizes absorption and puts down film.When work, the hand actuator takes out film from plumbous box in case, be attached to commissure behind location, after flaw detection, then the film of commissure is taken off, and is put into the other end and holds in the plumbous box rear cabinet after having detected a flaw.
For the protection operating personnel healthy and safe; weld seam radiographic inspection automatic chip mounting machine people can also comprise remote control device; remote control device comprises real-time detecting system, display screen and remote manipulator; the examinations system comprises camera; camera passes to image on the display screen of the outer operator's console of crack detection room; operating personnel observe the image of camera transmission at the screen front end; carry out by remote manipulator the automatic operation that Remote can be realized whole robot, avoid radiation to impact health.
The above; it is only preferably embodiment of patent of the present invention; but the protection domain of patent of the present invention is not limited to this; anyly be familiar with in technical scope that those skilled in the art disclose in patent of the present invention; the variation that can expect easily or replacement, within all should being encompassed in the protection domain of patent of the present invention.
Claims (3)
1. a weld seam radiographic inspection automatic chip mounting machine people is characterized in that: comprise frame, carry described machine frame movement the frame travel mechanism, be positioned at the real-time detecting system of described upper rack and deposit the plumbous box of film.
2. weld seam radiographic inspection automatic chip mounting machine people as claimed in claim 1, it is characterized in that: described frame travel mechanism comprises that six take turns walking dolly; Described frame comprises the rotating mechanism rotatablely moved as horizontal direction and is positioned at 4 axle linkage manipulator mechanisms of described rotating mechanism top; Described rotating mechanism is arranged on described six and takes turns the walking dolly middle part, comprises worm-and-wheel gear, joint base and drive motor, and described drive motor drives described worm and gear and rotates, and drives described joint base to realize the integral level rotation of described manipulator mechanism; Described mechanical arm is comprised of three connecting rods and a hand actuator, and described hand actuator is provided with electromagnet; Described real-time detecting system is with camera; Described plumbous box is for depositing the film that the flaw detection process is used.
3. weld seam radiographic inspection automatic chip mounting machine people as claimed in claim 2 is characterized in that: described six take turns walking dolly comprises four wheels that are positioned at the dolly two ends and two universal wheels that are positioned at the dolly bottom; Described four wheels are arranged on the dolly two ends, wherein each any one wheel of front and back end is driving wheel, with drive sprocket axle and drive motor, drive motor is connected with drive sprocket axle by shaft coupling, two rolling bearings are arranged between drive sprocket axle and driving wheel, thereby drive motor drives drive sprocket axle, rotate the drive vehicle wheel rotation; Two other wheel is set to engaged wheel, and with follower shaft, described engaged wheel moves with driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310385568.5A CN103472076B (en) | 2013-08-30 | 2013-08-30 | A kind of Automatic paster robot for weld radiographic inspection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310385568.5A CN103472076B (en) | 2013-08-30 | 2013-08-30 | A kind of Automatic paster robot for weld radiographic inspection |
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| CN103472076A true CN103472076A (en) | 2013-12-25 |
| CN103472076B CN103472076B (en) | 2016-03-02 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416436A (en) * | 2015-12-11 | 2016-03-23 | 山东科技大学 | Comprehensive automatic weld seam flaw detection instrument driving device and application thereof |
| CN105445297A (en) * | 2015-11-24 | 2016-03-30 | 沈阳黎明航空发动机(集团)有限责任公司 | Radiographic testing device for small-diameter pipe joint girth welds and testing method |
| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
| CN107966461A (en) * | 2017-11-20 | 2018-04-27 | 首都航天机械公司 | One kind, which is enjoyed a double blessing, turns round detection head pose compensation mechanism |
| CN108438093A (en) * | 2018-06-15 | 2018-08-24 | 丹东华日理学电气有限公司 | A kind of X-ray pipeline detection magnetic vehicle |
| CN108680588A (en) * | 2018-05-14 | 2018-10-19 | 合肥聚能电物理高技术开发有限公司 | CFETR vacuum chamber beforehand research part longitudinal seam automatic flaw detection positioning devices |
| CN109250646A (en) * | 2018-10-25 | 2019-01-22 | 滨州学院 | A kind of radiographic inspection machine people |
| CN109366493A (en) * | 2018-10-25 | 2019-02-22 | 滨州学院 | A kind of patch robot |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
| CN109545405A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of tile film-taking in means for nuclear power CV container butt weld ray detection |
| CN110006930A (en) * | 2019-05-09 | 2019-07-12 | 上海电机学院 | It is a kind of for the automatic anti-exposure record changer based on seam inspection |
| WO2020010966A1 (en) * | 2018-07-11 | 2020-01-16 | 同方威视技术股份有限公司 | Radiation detection system |
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| CN201628692U (en) * | 2010-03-30 | 2010-11-10 | 镇海石化建安工程有限公司 | Chip mounter used for detecting welding seam radiograph of pressure vessel |
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| CN2101895U (en) * | 1991-08-17 | 1992-04-15 | 宝应县液压件厂 | Holder for x-ray film |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445297B (en) * | 2015-11-24 | 2019-03-15 | 沈阳黎明航空发动机(集团)有限责任公司 | A kind of minor diameter pipe fitting circular weld ray detecting apparatus and detection method |
| CN105445297A (en) * | 2015-11-24 | 2016-03-30 | 沈阳黎明航空发动机(集团)有限责任公司 | Radiographic testing device for small-diameter pipe joint girth welds and testing method |
| CN105416436A (en) * | 2015-12-11 | 2016-03-23 | 山东科技大学 | Comprehensive automatic weld seam flaw detection instrument driving device and application thereof |
| CN107966461A (en) * | 2017-11-20 | 2018-04-27 | 首都航天机械公司 | One kind, which is enjoyed a double blessing, turns round detection head pose compensation mechanism |
| CN107966461B (en) * | 2017-11-20 | 2021-02-09 | 首都航天机械公司 | Automatic compensation mechanism for pose of double-full-rotation detection machine head |
| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
| CN107965633B (en) * | 2017-11-21 | 2019-06-25 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
| CN108680588A (en) * | 2018-05-14 | 2018-10-19 | 合肥聚能电物理高技术开发有限公司 | CFETR vacuum chamber beforehand research part longitudinal seam automatic flaw detection positioning devices |
| CN108438093A (en) * | 2018-06-15 | 2018-08-24 | 丹东华日理学电气有限公司 | A kind of X-ray pipeline detection magnetic vehicle |
| WO2020010966A1 (en) * | 2018-07-11 | 2020-01-16 | 同方威视技术股份有限公司 | Radiation detection system |
| CN109366493A (en) * | 2018-10-25 | 2019-02-22 | 滨州学院 | A kind of patch robot |
| CN109250646B (en) * | 2018-10-25 | 2020-05-15 | 滨州学院 | Radiographic inspection robot |
| CN109250646A (en) * | 2018-10-25 | 2019-01-22 | 滨州学院 | A kind of radiographic inspection machine people |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
| CN109545405A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of tile film-taking in means for nuclear power CV container butt weld ray detection |
| CN110006930A (en) * | 2019-05-09 | 2019-07-12 | 上海电机学院 | It is a kind of for the automatic anti-exposure record changer based on seam inspection |
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