CN105301020B - Radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns - Google Patents
Radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns Download PDFInfo
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Abstract
The present invention provides a kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns, including vehicle frame one, Mecanum wheels one, servomotor one, preceding tracking sensor one, tracking sensor one afterwards, x-ray source, permanent magnetic iron one and motion control box one, motion control box one is on vehicle frame one, preceding tracking sensor one is located at the front end of vehicle frame one, tracking sensor one is located at the rear end of vehicle frame one afterwards, the middle part of vehicle frame one is provided with x-ray source, the Mecanum that is respectively provided on two sides with of vehicle frame one takes turns one, servomotor one connects motion control box one, the two bottom sides of vehicle frame one are respectively equipped with permanent magnetic iron one.This kind of detection robot, omnirange movement can be carried out, i.e. in addition to it can realize advance and retreat, traversing, pivot turn, it can also realize and be rotated around any point, especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank, flexibility of the robot to weld seam detection in equipment curved surface can be greatly improved.
Description
Technical field
The present invention relates to a kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns.
Background technology
China is pressure-bearing special equipment manufacture big country, and pressure-bearing special equipment manufacture quantity ranks first in the world.Pressure-bearing special type is set
For the basic equipment for being industry, the industry-by-industry such as petrochemical industry, electric power, Aero-Space, and national defence, people's livelihood every field are required to respectively
Plant pressure-bearing special equipment.The international competitiveness of China's pressure-bearing special equipment, manufacturing capacity and product quality are improved, with strategy meaning
Justice.
Non-Destructive Testing is the key means that pressure-bearing special equipment workmanship is checked on, and is the bottleneck for restricting production capacity again.
At present in the manufacture of country's pressure-bearing special equipment, the 70% of weld seam Non-Destructive Testing uses film radiography method.This method detects the duration
Long, efficiency is low, and image archive and duplication are difficult, and consumption bulk petroleum, silver-colored resource, also produces darkroom waste liquor contamination environment, because
This need to improve and improves.
Digital flat panel radiography is the Non-Destructive Testing new technology of last decade development, fast with detection speed, efficiency high, spirit
Sensitivity is high, the advantages of image preserves, replicates and called convenience, energy-conserving and environment-protective.But due to the number of digital flat panel radiography techniques
Word flat panel detector is equally attached to container inner wall without image of Buddha film, so the technology can not be using single wall arrangement medium straight
Footpath is applied in being detected to major diameter container welding, can only detect that below diameter 1m pipeline is gentle using double-walled arrangement at present
The weld seam of bottle.
In recent years, special equipment quantity constantly grows at top speed.This is just to ensureing high-quality special equipment, high efficiency, Gao Shui
Flat inspection proposes new challenge.At present, the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank, vertical storage tank from
There is blank in dynamicization digital radial characterization processes equipment, and existing detection robot on equipment curved surface weld seam detection it is flexible
Property relative deficiency, it is impossible to meet demand.
A kind of detection robot as disclosed in Patent No. ZL200510018933.4, for large-size spherical tank, vertical storage tank
Due to that can not be positioned on detected object body, it is impossible to realize detection.
A kind of X-ray detection robot for weld seam of storage tank as disclosed in Application No. 201410005169.6, is merely able to realize
Laterally and longitudinally move, it is impossible to which any direction is moved or rotated, and flexibility is not enough, and need extra part to aid in realize
The movement and positioning of robot.
Pressure-bearing special equipment is related to public safety, to quality requirement height, it is necessary to which advanced Dynamic Non-Destruction Measurement escorts,
Pressure-bearing special equipment manufacturing capacity and quality level should be improved, while improving China's Dynamic Non-Destruction Measurement level.
The content of the invention
It is an object of the invention to provide a kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns
Solve the automation digital radial characterization processes dress of the in-service pressurized equipments such as large-size spherical tank, vertical storage tank present in prior art
It is standby to there is blank, and existing detection robot is to the flexibility relative deficiency of weld seam detection on equipment curved surface, it is impossible to meet need
The problems such as asking.
The present invention technical solution be：
A kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns, including vehicle frame, Mecanum
Wheel, servomotor, preceding tracking sensor, rear tracking sensor, x-ray source, permanent magnetic iron and motion control box, motion control box
On vehicle frame, preceding tracking sensor is located at the front end of vehicle frame, and rear tracking sensor is located in the middle part of the rear end of vehicle frame, vehicle frame and set
There is an x-ray source, vehicle frame is respectively provided on two sides with Mecanum wheel, and Mecanum wheel is connected with servomotor, servomotor connection
Motion control box, the two bottom sides of vehicle frame are respectively equipped with permanent magnetic iron.
Further, x-ray source uses continous way x-ray source.
Further, the quantity of Mecanum wheel is four, and Mecanum wheel is respectively equipped with four ends of vehicle frame.
Further, the radiographic source end robot is arranged on the side of detected object.Radiographic source end robot, numeral are flat
Partitioned detector end robot is separately positioned on the both sides of detected object, is gateway position at the manhole such as detected object such as spherical tank
WiFi repeaters are installed.
Further, vehicle frame is the square structure being vertically arranged by some vertical muscle and some horizontal bars.
Further, the most bottom surface provided with gap, i.e. permanent magnetic iron is received higher than Mike between permanent magnetic iron and detected object
The distance of the most bottom surface of nurse wheel, permanent magnetic iron and detected object is more than the distance of Mecanum wheel and detected object.
Further, vehicle frame is provided with suspension isolation mounting, including flexible unit, horizontal mechanism, and one end of flexible unit is set
In the top platform of magnet fixed seat, the other end of flexible unit is flexibly connected vehicle frame fixed seat, and the bottom of magnet fixed seat connects
Permanent magnetic iron is connected to, vehicle frame fixed seat connects the boss of bearing block by horizontal mechanism, and bearing block leads to respectively with magnet fixed seat
Bolt connection servomotor is crossed, motor fixing plate is provided between magnet fixed seat and servomotor, servomotor is connected by wheel shaft
Mecanum wheel.
Further, horizontal mechanism uses more than one H types connecting rod, the parallel installation of more than one H types connecting rod and position
In constituting parallel four-bar linkage on same vertical plane, the two ends of H type connecting rods pass through the convex of bearing pin connecting vehicle frame fixed seat respectively
The boss of platform, bearing block.
Further, flexible unit is bolted between the top platform of magnet fixed seat and pressing plate, flexible unit
It is made up of the superposition of some flat springs, flat spring is included located at middle long leaf spring, and the length of flat spring is passed from long leaf spring to two ends
Subtract, long leaf spring gap coordinates in the dead slot of fixed seat.
The beneficial effects of the invention are as follows：
First, radiographic source end robot of this kind based on the Mecanum digital flat panel ray detections taken turns, using comprehensive
Mecanum wheel constructions, all directionally movable robot based on four Mecanum wheel, on spherical tank surface, and is carried by magnetic suck
Digital radial detecting system is detected to weld seam, can realize the omnirange movement on the detected object such as spherical tank surface, machine
Device people can neatly detect the weld seam of various trends.
2nd, radiographic source end robot of this kind based on the Mecanum digital flat panel ray detections taken turns, can be multivariant
Automatic tracking welding is stitched, and can realize high sensitivity high reliability, high efficiency, low cost, energy-conserving and environment-protective can replace film camera, real
The detection technique upgrading of existing special type bearing device manufacture.
3rd, this kind of detection robot, can carry out omnirange movement, i.e., in addition to it can realize advance and retreat, traversing, pivot turn,
It can also realize and be rotated around any point, it is especially special in the large-scale in-service pressure-bearing such as station boiler, spherical tank, vertical storage tank
Plant in equipment, flexibility of the robot to weld seam detection on equipment curved surface can be greatly improved.
4th, the detection robot can realize application of the digital flat panel X-ray Testing Technology in 4m diameter above bearing devices,
The detection of various forms weld seam is completed using single wall arrangement, and realizes detection automation, detection efficiency can improve five times, inspection
/ 10th of film camera can be shortened to by surveying the duration, and testing cost can be reduced to 1/3rd of film camera, it is possible to make
The manufacturing schedule and cost of pressure-bearing special equipment are decreased.
5th, at present the annual value of production of the ray detection of domestic bearing device manufacture more than 1,000,000,000 yuan, film and chemical consumption into
This about 400,000,000 yuan, film is without the use of using digital flat panel X-ray Testing Technology, a large amount of expenses are not only saved, and save a large amount of
Polyester fiber（Chip base material）And noble silver（Photosensitive material）, and a large amount of chemicals（Darkroom disposal is used）, saving energy
There is great social benefit in terms of source and environmental protection.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the structural representation of radiographic source end robot in embodiment；
Fig. 3 is the structural representation of digital flat-panel detector end robot in embodiment；
Fig. 4 is the annexation schematic diagram of suspension isolation mounting and vehicle frame in embodiment；
Fig. 5 is the structural representation of suspension isolation mounting in embodiment；
Fig. 6 is the direction view of bowing of suspension isolation mounting in embodiment；
Fig. 7 is the rear direction view of suspension isolation mounting in embodiment；
Fig. 8 is the dextrad view of suspension isolation mounting in embodiment；
Fig. 9 is that the communication connection of embodiment radiographic source end robot, digital flat-panel detector end robot and host computer is shown
It is intended to；
Figure 10 is that radiographic source end robot in embodiment, digital flat-panel detector end robot realize the flow of synchronized tracking
Illustrate schematic diagram；
Figure 11 is the explanation schematic diagram of examining report generation module in embodiment；
Wherein：1- radiographic sources end robot, 2- digital flat-panel detectors end robot, 3- host computers, 4- spherical tanks, 5- suspensions
Isolation mounting；
Tracking sensor after tracking sensor before 11-, 12- permanent magnetic irons, 13- Mecanum wheels, 14- vehicle frames, 15-,
16- servomotors, 17- x-ray sources, 18- motion control box；
Tracking sensor two before 21-, 22- permanent magnetic irons two, 23- Mecanum take turns tracking after two, 24- vehicle frames two, 25- and passed
Sensor two, 26- servomotors two, 27- digital flat panels, 28- motion control box two；
51- flexible units, 52- motor fixing plates, 53- bearing blocks, 54- wheel shafts, 55-H type connecting rods, 56- vehicle frame fixed seats,
57- magnet fixed seats, 58 pressing plates.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of digital flat panel ray detection system taken turns based on Mecanum, such as Fig. 1, including host computer 3, radiographic source terminal
Device people 1, digital flat-panel detector end robot 2, radiographic source end robot 1 are used with digital flat-panel detector end robot 2
Comprehensive Mecanum wheel constructions, radiographic source end robot 1 is provided with motion control box 18, and motion control box 18 passes through wireless telecommunications
Module one is connected with host computer 3, digital flat-panel detector end robot 2, and motion control box 18 is connected by CAN communication module one
Servomotor 16, digital flat-panel detector end robot 2 is provided with motion control box 2 28, and motion control box 2 28 passes through channel radio
News module two is connected with host computer 3, radiographic source end robot 1, and motion control box 2 28 connects servo by CAN communication module two
Motor 2 26.
Radiographic source end robot 1 include vehicle frame 14, Mecanum wheel 13, servomotor 16, preceding tracking sensor 11, after follow
Mark sensor 15, x-ray source 17, permanent magnetic iron 12 and motion control box 18, such as Fig. 2, preceding tracking sensor 11 are located at vehicle frame 14
Front end, rear tracking sensor 15 is located at the rear end of vehicle frame 14, and the middle part of vehicle frame 14 is provided with motion control box 18 and x-ray source
17, vehicle frame 14 is respectively provided on two sides with Mecanum wheel 13, and Mecanum wheel 13 is connected with the rotating shaft of servomotor 16, vehicle frame 14
Two bottom sides be respectively equipped with permanent magnetic iron 12.
Digital flat-panel detector end robot 2 includes vehicle frame 2 24, Mecanum wheels 2 23, servomotor 2 26, preceding tracking
Sensor 2 21, rear tracking sensor 2 25, digital flat panel 27, permanent magnetic iron 2 22 and motion control box 28, such as Fig. 3, it is preceding to follow
Mark sensor 2 21 is located at the front end of vehicle frame 2 24, and rear tracking sensor 2 25 is located at the rear end of vehicle frame 2 24, vehicle frame 2 24
Middle part is provided with motion control box 2 28 and digital flat panel 27, and digital flat panel 27 is located at the bottom of vehicle frame 2 24, the two of vehicle frame 2 24
Side is respectively equipped with Mecanum and takes turns the rotating shaft that 2 23, Mecanum wheels 2 23 are connected with servomotor 2 26, the bottom of vehicle frame 2 24
It is respectively provided on two sides with permanent magnetic iron 2 22.
X-ray source 17, compared to pulsed x-ray source, can obtain apparent more high using continous way x-ray source 17
The imaging of level, can make detection imaging reach JB/T 4730.2-2005：AB grades, go in pressure-bearing special equipment weld seam
Portion's defects detection.For example：For the steel workpiece of 25mm thickness, image quality indicator is used：IQI EN 462-W6 FE, AB grade technologies etc.
Level is required：O.11 filament is high-visible, and AB grades of requirements of industrial grade are met using continous way x-ray source 17.Pulsed X-ray
Source technology grade is relatively low, it is impossible to reach JB/T 4730.2-2005：AB grades, it can not generally meet the weldering of pressure-bearing special equipment
The need for stitching Inner Defect Testing, it is mainly used in the automatic scanning of metal dangerous material in airport, the safety check of high ferro station.
Embodiment is used including single wall transillumination, radiographic source shown in Fig. 1, and outside, two carry robot cars to digital flat panel
By magnetic-adsorption on the surface of spherical tank 4, Liang Ge robots are divided into radiographic source end robot 1 and digital flat-panel detector end robot
2, radiographic source end robot 1 is walked or distal end remote control by itself weld seam tracking, digital flat-panel detector end robot 2
Track radiographic source end robot 1, it is ensured that digital flat-panel detector end robot 2 and the synchronous walking of radiographic source end robot 1.
Such as Figure 10, the autonomous of radiographic source end robot 1, and record encoder information, obtain what each wheel was turned over
The number of turns, then by the information by being wirelessly sent to digital flat-panel detector end robot 2, digital flat-panel detector end robot
2 encoder informations sent according to radiographic source end robot 1 control the rotation of each wheel of digital flat-panel detector end robot 1,
And the elimination for the accumulated error that the motion of digital flat-panel detector end robot 2 is produced can be using two schemes：
Scheme one, exposes obtained picture it can be seen that having one on square digital flat panel 27 from each digital flat panel 27
Circular exposure area, circular exposure area is the position of radiographic source, i.e., obtain digital flat-panel detector terminal by picture
Device people 2 relative to radiographic source end robot 1 position offset distance, and next time walk during to flat panel detector end
The motion of robot 2 is corrected, thus realize digital flat-panel detector end robot 2 it is synchronous with radiographic source end robot 1 with
Track.
Scheme two, the equipment resistance wire of radiographic source end robot 1, radiographic source end robot 1 is by resistance wire or infrared penetrates
Line to thermal source just to tank body region heat, when heating to a certain extent when, heated region can be formed just to hot source point
Four symmetrical heat are then distributed with temperature highest, the feature gradually reduced to ambient temperature, digital flat-panel detector end robot 2
Dependent sensor, four heat-sensitive sensors just can produce piezoelectric signal to the temperature difference of point, if in the case of without centering, four
Individual heat-sensitive sensor is just to a temperature difference, and the piezoelectric signal of generation can have pressure difference, and digital flat panel detection is controlled according to pressure difference
Qi Duan robots are moved towards thermal self-restraint stress, so as to realize synchronized tracking.
Each robot motion's structure, which is used, more than comprehensive Mecanum wheel constructions, i.e. the three of robot position adopts
It is Mecanum wheel with Mecanum wheels, preferably four positions.All directionally movable robot based on four Mecanum wheels leads to
Magnetic suck is crossed on the surface of spherical tank 4, and carries digital radial detecting system weld seam is detected, all directionally movable robot can be with
Neatly detect the weld seam of various trends.Wherein, robot absorption passes through four pieces of permanent-magnet magnetics of installation on vehicle frame on the surface of spherical tank 4
Iron and it is arranged symmetrically to realize.
The most bottom surface of permanent magnetic iron 12 is higher than the most bottom surface of Mecanum wheel 13, and the most bottom surface of permanent magnetic iron 2 22 is higher than
The most bottom surface of Mecanum wheels 2 23, while enabling the permanent magnetic iron 12, permanent magnetic iron 2 22 provide absorption affinity and spherical tank tank skin
A determining deviation is kept, it is to avoid resistance Mrs influence walking when adsorbing completely, to ensure Mecanum wheel 13, Mecanum wheels 2 23
Smooth walking.Permanent magnetic iron 12, permanent magnetic iron 2 22 can also use reversible structure, by adjust permanent magnetic iron 12,
The absorption angle of permanent magnetic iron 2 22, realizes the regulation of different absorption affinities.
Preceding tracking sensor 11, rear tracking sensor 15 connect motion control box 18 respectively, and motion control box 18 passes through nothing
Line WIFI module is connected with host computer 3.Preceding tracking sensor 2 21, rear tracking sensor 2 25 connect motion control box two respectively
28, motion control box 2 28 is connected by wireless WIFI module with host computer 3.The weld seam tracking of radiographic source end robot 1 passes through machine
Then device people two cameras of head and the tail obtain position of the robot relative to weld seam to weld seam memory captured in real-time after image procossing,
Then adjustment speed in time is carried out according to position deviation.
Continous way x-ray source 17 is fixed on the center of vehicle frame 14 in radiographic source end robot 1, and radioactive source is downward, digital flat panel
Digital flat panel is fixed on the bottom center of vehicle frame 2 24 in detector end robot 2, and digital flat panel is connecing for digital imagery flat board
By downwards, when radiographic source end robot 1, digital flat-panel detector end robot 2 are run, respectively inside and outside spherical tank 4,
The radioactive source radiation X-ray of radiographic source end robot 1, the digital imagery of digital flat panel 27 of digital flat-panel detector end robot 2, from
And realize the automation Non-Destructive Testing to weld seam.
The far-end remote control control of radiographic source end robot 1 with robot by installing wireless communication module one, in spherical tank 4
It is that entrance installs wireless WiFi relayings at manhole, then passes through WiFi connections distal end host computer 3 and radiographic source terminal device
People 1, and radiographic source end robot 1 transmits regarding for captured in real-time with digital flat-panel detector end robot 2 by wireless WiFi
Frequency information.Host computer 3 can be with the motion and work of remote control radiographic source end robot 1, digital flat-panel detector end robot 2
Pattern.
Radiographic source end robot 1, digital flat-panel detector end robot 2 are respectively equipped with level meter, and level meter is connected respectively
Motion control box, motion control box two, radiographic source end robot 1, digital flat-panel detector terminal device are calibrated by level meter
The attitude of people 2, makes radiographic source end robot 1, the keeping parallelism of digital flat-panel detector end robot 2.
The vehicle frame 14 of radiographic source end robot 1, the vehicle frame 2 15 of digital flat-panel detector end robot 2 are respectively equipped with structure
Identical suspension isolation mounting 5.Such as Fig. 4, illustrated by taking radiographic source end robot 1 as an example.
Such as Fig. 5, suspension isolation mounting 5 includes flexible unit 51, horizontal mechanism, and one end of flexible unit 51 is solid located at magnet
The top platform of reservation 57, the other end of flexible unit 51 is flexibly connected vehicle frame fixed seat 56, and the bottom of magnet fixed seat 57 connects
Permanent magnetic iron 12 is connected to, vehicle frame fixed seat 56 connects the boss of bearing block 53 by horizontal mechanism, and bearing block 53 is fixed with magnet
Seat 57 is bolted servomotor 16 respectively, and motor fixing plate 52 is provided between magnet fixed seat 57 and servomotor 16, is watched
Take motor 16 and Mecanum wheel 13 is connected by wheel shaft 54.
Horizontal mechanism uses more than one H types connecting rod 55, such as Fig. 8, the parallel installation of more than one H types connecting rod 55 and position
In on same vertical plane, the two ends of H types connecting rod 55 respectively by the boss of bearing pin connecting vehicle frame fixed seat 56, bearing block 53 it is convex
Platform.
Flexible unit 51 is bolted between the top platform of magnet fixed seat 57 and pressing plate 58, such as Fig. 6, flexible single
Member 51 is made up of the superposition of some flat springs, and flat spring is included located at middle long leaf spring, and the length of flat spring is from long leaf spring to two
End is successively decreased, and long leaf spring gap coordinates in the dead slot of fixed seat, such as Fig. 7, and long leaf spring can slidably reciprocate in groove.
Flexible unit 51 is made up of leaf spring, the five flat spring superpositions of two panels short-movie spring in a piece of long leaf spring, two panels, long leaf spring
Both sides be symmetrically distributed with a piece of middle leaf spring and a piece of short-movie spring.
Permanent magnetic iron 12 is centrally located on the place vertical plane of wheel shaft 54, the walking of permanent magnetic iron 12 and Mecanum wheel 13
Surface be arranged in parallel.
As shown in figure 4, the Mecanum wheeled vehicles in radiographic source end robot 1, digital flat-panel detector end robot 2 are filled
During with suspension isolation mounting 5, the top surface of vehicle frame fixed seat 56 and vehicle frame 14 or vehicle frame 2 24 are connected in one piece, four suspensions every
Vibrating device 5 is taken turns 2 23 Kinematics Laws and is symmetrically installed according to Mecanum wheel 1313, Mecanum.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, permanent magnetic iron 12 and Mecanum wheeled vehicle own wts
Make a concerted effort provide normal pressure, when some Mecanum wheel 13 runs into obstacle, the Mecanum wheel 13 is lifted, permanent magnetic iron 12
Lifted simultaneously with the Mecanum wheel 13, and keep magnet lower surface parallel with absorption surface, other Mecanum wheels 13 are still tight
Absorption surface is pasted, permanent magnetic iron 12 surmounts obstacles with Mecanum wheel 13 simultaneously after, is adsorbed again on permeability magnetic material surface.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, gravity suffered by Mecanum wheeled vehicles points to absorption table
There is provided damping effect for flat spring stress deformation between the top platform of face, long leaf spring and long leaf spring and magnet fixed seat 57；
In gravity dorsad absorption surface suffered by Mecanum wheeled vehicles, flat spring between long leaf spring and long leaf spring and pressing plate 58 by
Force deformation is there is provided damping effect, to realize damping that Mecanum wheeled vehicles are creeped on adsorbing plane at any angle.
The suspension isolation mounting 5 disclosure satisfy that the absorption stability and kinetic stability of Mecanum wheels, it is ensured that Mecanum
Take turns the contact with permeability magnetic material surface and pressure, it is ensured that the distance and the depth of parallelism of permanent magnetic iron absorption surface, make adsorption effect with
It is stable, at the same shock insulation unit can realize above and below both direction shock insulation, can meet and the robot of the suspension system is installed exist
The isolating affection of the absorption surface of all angles.
Two H types connecting rods 55 and the boss of vehicle frame fixed seat 56, the boss composition parallelogram connection-rod machine of bearing block 53
Structure, it is ensured that Mecanum takes turns and the grade of permanent magnetic iron 12 is in translation, it is ensured that the contact surface that permanent magnetic iron 12 and Mecanum takes turns
It is parallel, and then ensure that permanent magnetic iron 12 is stable to magnetic conduction absorption surface absorption affinity.
Flexible unit 51 has five flat springs symmetrical, folds the existing good flexibility of spring, there is stronger bearing capacity again,
Larger deformation can be both produced when Mecanum wheels surmount obstacles, will not be failed again because deforming excessive, symmetrical is folded
Spring, which can make the robot equipped with the suspension system be creeped in plane at any angle, can have damping effect.
Permanent magnetic iron 12 is arranged on independent suspension position, even if can make the suspension crawling process taken turns equipped with Mecanum
In remain into patch absorption surface when running into obstacle obstacle detouring, it is ensured that the kinetic characteristic equipped with the Mecanum robots taken turns, and permanent magnetism
Magnet 12 is taken turns close to Mecanum, and the physical dimension of suspension can ensure the distance of magnet and absorption surface, it is ensured that magnet is to absorption
The absorption affinity on surface is stable, and when running into obstacle, magnet can simultaneously rise and fall with Mecanum wheels, prevent because of magnet and absorption
Surface distance is smaller and bumps against with obstacle.
Fig. 9 be whole control system operating diagram, radiographic source end robot 1, digital flat-panel detector end robot 2,
Host computer 3 is mutually communicated and transmission information by WiFi, and radiographic source end robot 1, digital flat-panel detector end robot 2 are distinguished
Provided with wireless communication module, preceding tracking sensor, rear tracking sensor, CAN communication module, the motion control box of controlled motor,
The modules such as servomotor, realize function described above.
Control system is included in radiographic source end robot 1, digital flat-panel detector end robot 2, host computer 3 i.e. operation
The heart, three units are connected by wireless communication module one, wireless communication module two, and radiographic source end robot 1 is visited with digital flat panel
The control system component units of Ce Qiduan robots 2 are much the same, and the preceding tracking sensor 11 of radiographic source end robot 1 is followed with after
Mark sensor 15 is digital camera, by carrying out picture processing to the picture photographed, for automatic tracking, radiographic source terminal device
Communicated between people 1 and motor, level meter by CAN, radiographic source end robot 1 is according to remote control or automatic tracking order meter
Each motor speed is calculated, control command is sent to by each motor by CAN, the encoder information of each motor and level meter
Information passes the motion control box 18 of radiographic source end robot 1, the motion control box of radiographic source end robot 1 back by CAN
18 pairs of information analyses passed back are calculated, and then send information to digital flat-panel detector end robot by wireless communication module
2, the information that digital flat-panel detector end robot 2 is transmitted according to radiographic source end robot 1 is adjusted to displacement order memory
Whole, the motion command finally calculated is sent to motor by CAN.
The Mecanum wheel weld seam detections robot of embodiment uses Mecanum wheel all-directionals mobile platform and AGV systems
System, has filled up the digital radial Aulomatizeted Detect technique dress of the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank 4, vertical storage tank
Standby blank.The detection robot of embodiment is in addition to it can realize advance and retreat, traversing, pivot turn, moreover it is possible to realize around any one
Point is rotated, can be significantly especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank
Improve flexibility of the robot to weld seam detection on equipment curved surface.
Digital flat panel ray detection machine people's imaging system that this kind is taken turns based on Mecanum, is also generated including examining report
Module, examining report generation module：By the processing to ray detection image, the Flaw discrimination identification of feature based is carried out, and
Defect quantitative and grading are carried out, it is automatic raw with reference to computer database technology according to relevant criterions such as JB/T 4730.2-2005
Into examining report, such as Figure 11.
Embodiment is applied to the detection of the large-scale various weld seams of bearing device equipment such as spherical tank, storage tank, including longitudinal joint, circumferential weld,
Embedded nozzle weld, end socket piece etc.；Robot motion and the free degree meet weld seam detection technological requirement, robot motion's essence
Degree meets accuracy of detection requirement；Soldering joint automatic tracking technology meets onsite application requirement；The digital radiography skill that system is used
Art meets examination criteria requirement with technique.Embodiment is eventually into a set of practical robot digital flat panel for being capable of automatic tracking welding seam
Ray detection system, the weld seam automatic detection available for the large-scale pressure-bearing special equipment with diameter greater than 4m.
Claims (6)
1. a kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns, it is characterised in that：Including car
Frame, Mecanum wheel, servomotor, preceding tracking sensor, rear tracking sensor, x-ray source, permanent magnetic iron and motion control
Box, motion control box is on vehicle frame, and preceding tracking sensor is located at the front end of vehicle frame, and rear tracking sensor is located at after vehicle frame
End, the middle part of vehicle frame is provided with x-ray source, and x-ray source uses continous way x-ray source；Using comprehensive Mecanum wheel constructions, car
Frame is respectively provided on two sides with Mecanum wheel, and Mecanum wheel is connected with servomotor, servomotor connection motion control box, car
The two bottom sides of frame are respectively equipped with permanent magnetic iron；
Vehicle frame is provided with suspension isolation mounting, including flexible unit, horizontal mechanism, and one end of flexible unit is located at magnet fixed seat
Top platform, the other end of flexible unit is flexibly connected vehicle frame fixed seat, and the bottom of magnet fixed seat is connected with permanent magnetic iron, car
Frame fixed seat connects the boss of bearing block by horizontal mechanism, and bearing block is bolted servo electricity respectively with magnet fixed seat
Machine, is provided with motor fixing plate between magnet fixed seat and servomotor, servomotor connects Mecanum wheel by wheel shaft；It is flexible single
Member is bolted between the top platform of magnet fixed seat and pressing plate, and flexible unit is made up of the superposition of some flat springs, piece
Spring is included located at middle long leaf spring, and the length of flat spring is successively decreased from long leaf spring to two ends, and long leaf spring gap coordinates in fixation
In the dead slot of seat.
2. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature
It is：The quantity of Mecanum wheel is four, and Mecanum wheel is respectively equipped with four ends of vehicle frame.
3. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature
It is：The source robot is arranged on the side of detected material.
4. the radiographic source terminal device based on the Mecanum digital flat panel ray detections taken turns as described in claim any one of 1-3
People, it is characterised in that：Vehicle frame is the square structure being vertically arranged by some vertical muscle and some horizontal bars.
5. the radiographic source terminal device based on the Mecanum digital flat panel ray detections taken turns as described in claim any one of 1-3
People, it is characterised in that：Gap is provided between permanent magnetic iron and detected object.
6. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature
It is：Horizontal mechanism uses more than one H types connecting rod, and more than one H types connecting rod is parallel to be installed and positioned at same vertical plane
On, the two ends of H type connecting rods pass through the boss of bearing pin connecting vehicle frame fixed seat, the boss of bearing block respectively.
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| CN105973986B (en) * | 2016-07-04 | 2018-09-25 | 四川大学 | Robot and detection method for the comprehensive detection of big volume Flat bottom container bottom plate defect |
| CN106515346A (en) * | 2016-12-26 | 2017-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | Suspension fork structure of transfer car |
| CN108127688A (en) * | 2017-01-24 | 2018-06-08 | 中国北方车辆研究所 | A kind of robot protective frame |
| CN107472783A (en) * | 2017-06-23 | 2017-12-15 | 南京冠帝仓储设备有限公司 | A kind of shuttle |
| CN108454342A (en) * | 2018-04-24 | 2018-08-28 | 湖北文理学院 | A kind of carrying robot |
| CN112525928B (en) * | 2020-10-19 | 2023-10-31 | 东方电气集团东方锅炉股份有限公司 | Welding seam ray detection film hidden bag fixing device |
| CN112458895A (en) * | 2020-11-17 | 2021-03-09 | 武汉市工程科学技术研究院 | Stay cable detection robot based on electromagnetism and Mecanum wheel |
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| CN103998925A (en) * | 2011-12-07 | 2014-08-20 | 波音公司 | Adaptive magnetic coupling system |
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| CN201034947Y (en) * | 2007-05-23 | 2008-03-12 | 孙忠诚 | Spiral welding line X ray real time digital image-forming detecting and autotracking unit |
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| CN205192982U (en) * | 2015-11-11 | 2016-04-27 | 江苏省特种设备安全监督检验研究院 | Gamma ray source end robot of digital flat panel ray detection based on mecanum wheel |
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