CN105302141A - Mecanum-wheel-based omnidirectional mobile ray source end robot synchronization tracking method - Google Patents
Mecanum-wheel-based omnidirectional mobile ray source end robot synchronization tracking method Download PDFInfo
- Publication number
- CN105302141A CN105302141A CN201510764114.8A CN201510764114A CN105302141A CN 105302141 A CN105302141 A CN 105302141A CN 201510764114 A CN201510764114 A CN 201510764114A CN 105302141 A CN105302141 A CN 105302141A
- Authority
- CN
- China
- Prior art keywords
- end robot
- digital flat
- vehicle frame
- radiographic source
- panel detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 60
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 84
- 229910052742 iron Inorganic materials 0.000 claims description 42
- 230000001186 cumulative effect Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 6
- 210000000746 body region Anatomy 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 description 17
- 239000000725 suspension Substances 0.000 description 16
- 238000001514 detection method Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 13
- 238000002955 isolation Methods 0.000 description 11
- 238000003860 storage Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000696 magnetic material Substances 0.000 description 4
- 238000009659 non-destructive testing Methods 0.000 description 4
- 230000035699 permeability Effects 0.000 description 4
- 238000002601 radiography Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a Mecanum-wheel-based omnidirectional mobile ray source end robot synchronization tracking method. A ray source end robot autonomously walks and records encoder information so that the number of rotating circles of each wheel is obtained, and the information is wirelessly transmitted to a digital flat-panel detector end robot; and the digital flat-panel detector end robot controls rotation of each wheel of the digital flat-panel detector end robot according to the encoder information transmitted by the ray source end robot and eliminates accumulative error generated by movement of the digital flat-panel detector end robot. Synchronous walking of the ray source end robot and the digital flat-panel detector end robot can be realized, and synchronization of the ray source end robot and the digital flat-panel detector end robot is enabled to be more accurate by eliminating accumulative error generated by movement of the digital flat-panel detector end robot.
Description
Technical field
The present invention relates to a kind of omnirange based on Mecanum wheel and move radiographic source end robot method for synchronized.
Background technology
China is that pressure-bearing special equipment manufactures big country, and pressure-bearing special equipment manufactures quantity and ranks first in the world.Pressure-bearing special equipment is the basic equipment of industry, the industry-by-industries such as petrochemical industry, electric power, Aero-Space, and national defence, people's livelihood every field all need various pressure-bearing special equipment.Improve the international competitiveness of China's pressure-bearing special equipment, manufacturing capacity and product quality, have strategic importance.
Non-Destructive Testing is the key means that pressure-bearing special equipment workmanship is checked on, and is again the bottleneck of restriction productive capacity.During current domestic pressure-bearing special equipment manufactures, 70% of weld seam Non-Destructive Testing adopts film radiography method.The method detects long in time limit, and efficiency is low, image archive and copy difficulty, and consumes bulk petroleum, silver-colored resource, also produces darkroom waste liquor contamination environment, is therefore badly in need of improving.
Digital flat panel radiography is the Non-Destructive Testing new technology of development in nearly ten years, and have detection speed fast, efficiency is high, highly sensitive, Image Saving, copies and call conveniently, the advantages such as energy-conserving and environment-protective.But because the digital flat-panel detector of digital flat panel radiography techniques cannot be attached to container inner wall as film, so this technology cannot adopt the application in intermediate diameters detects to major diameter container welding of single wall arrangement, double-walled arrangement can only be adopted at present to detect the pipeline of below diameter 1m and the weld seam of gas cylinder.
In recent years, special equipment quantity constantly grows at top speed.This just proposes new challenge to guarantee special equipment high-quality, high-level efficiency, high-caliber inspection.At present, the robotization digital radial characterization processes equipment of the in-service pressure-bearing special equipments such as domestic and international large-size spherical tank, vertical storage tank exists blank, and existing measuring robots is to the dirigibility relative deficiency of weld seam detection on equipment curved surface, can not satisfy the demands.
As the patent No. a kind of measuring robots disclosed in ZL200510018933.4, for large-size spherical tank, vertical storage tank owing to cannot be positioned on detected object body, cannot realize detecting.
As application number a kind of X-ray detection robot for weld seam of storage tank disclosed in 201410005169.6, be merely able to realize laterally and vertically move, can not move or rotate by any direction, dirigibility is not enough, and needs extra parts to assist with the movement realizing robot and location.
Pressure-bearing special equipment relates to public safety, high to quality requirements, needs advanced Dynamic Non-Destruction Measurement to escort, should improve pressure-bearing special equipment manufacturing capacity and quality level, improve China's Dynamic Non-Destruction Measurement level simultaneously.
Summary of the invention
The object of this invention is to provide a kind of omnirange based on Mecanum wheel and move the synchronizing moving relatively accurately that radiographic source end robot method for synchronized solves ray emission robot and Imaging machine people, to ensure the problems such as imaging effectively.
Technical solution of the present invention is:
Omnirange based on Mecanum wheel moves a radiographic source end robot method for synchronized,
Radiographic source end robot autonomous, and record coding device information, obtain the rotation number of turns of each wheel, then by this information by being wirelessly sent to digital flat-panel detector end robot;
The rotation of each wheel of encoder information control figure flat panel detector end robot that digital flat-panel detector end robot sends according to radiographic source terminal device people, and the cumulative errors eliminating digital flat-panel detector end robot motion generation.
Further, eliminate the cumulative errors that digital flat-panel detector end robot motion produces, be specially:
The picture obtained is exposed from each digital flat panel, obtain the exposure area on digital flat panel, exposure area and radiogenic position, namely the position offset distance of digital flat-panel detector end robot relative to radiographic source end robot is obtained by picture, and in upper process of once walking, the motion of digital flat-panel detector end robot is corrected, realize the synchronous of digital flat-panel detector end robot and radiographic source end robot.
Further, eliminate the cumulative errors that digital flat-panel detector end robot motion produces, be specially:
Radiographic source end robotic equipment resistance wire, radiographic source end robot is heated by resistance wire or the infrared-ray tank body region just right to thermal source, when being heated to a certain degree, can be formed just the highest to hot source point temperature by heating region, to the feature that ambient temperature reduces gradually;
Digital flat-panel detector end robot is then distributed with four symmetrical heat sensitive sensors, four heat sensitive sensors just can produce piezoelectric signal to the temperature contrast of point, if when centering, four heat sensitive sensors are just to a temperature difference, can pressure reduction be there is in the piezoelectric signal produced, move towards thermal self-restraint stress according to pressure reduction control figure flat panel detector end robot, realize the synchronous of digital flat-panel detector end robot and radiographic source end robot.
Further, radiographic source end robot comprises vehicle frame one, Mecanum wheel one, servomotor one, front tracking sensor one, rear tracking sensor one, x-ray source, permanent magnetic iron one and motion control box one, motion control box one is located on vehicle frame one, the front end of vehicle frame one is located at by front tracking sensor one, the rear end of vehicle frame one is located at by rear tracking sensor one, the middle part of vehicle frame one is provided with x-ray source, the both sides of vehicle frame one are respectively equipped with Mecanum wheel one, Mecanum wheel one is connected with servomotor one, servomotor one connects motion control box one, the two bottom sides of vehicle frame one is respectively equipped with permanent magnetic iron one.
Further, digital flat-panel detector end robot comprises vehicle frame two, Mecanum wheel two, servomotor two, front tracking sensor two, rear tracking sensor two, digital flat panel, permanent magnetic iron two and motion control box two, motion control box two is located on vehicle frame two, the front end of vehicle frame two is located at by front tracking sensor two, the rear end of vehicle frame two is located at by rear tracking sensor two, the middle part of vehicle frame two is provided with digital flat panel, digital flat panel is located at the bottom of vehicle frame two, the both sides of vehicle frame two are respectively equipped with Mecanum wheel two, Mecanum wheel two is connected with servomotor two, servomotor two connects motion control box two, the two bottom sides of vehicle frame two is respectively equipped with permanent magnetic iron two.
Further, the quantity that Mecanum wheel one and Mecanum take turnss two is four, and Mecanum wheel one is respectively equipped with four ends of vehicle frame one, and Mecanum takes turns four ends that two are located at vehicle frame two respectively.
Further, radiographic source end robot, digital flat-panel detector end robot are separately positioned on the both sides of detected object.
Further, the entrance of detected object is provided with WiFi repeater.
Further, vehicle frame one, vehicle frame two are all for by some vertical muscle square structure of arranging vertical with some horizontal bars.
Further, be respectively equipped with gap between permanent magnetic iron one and detected object, between permanent magnetic iron two and detected object, namely the most bottom surface of permanent magnetic iron one is higher than the most bottom surface of Mecanum wheel one, and the most bottom surface of permanent magnetic iron two is higher than the most bottom surface of Mecanum wheel two; Permanent magnetic iron one and the distance of detected object are greater than the distance that Mecanum takes turns one and detected object, and permanent magnetic iron two and the distance of detected object are greater than the distance that Mecanum takes turns two and detected object.
The invention has the beneficial effects as follows: this kind moves radiographic source end robot method for synchronized based on the omnirange that Mecanum takes turns, the synchronous walking of radiographic source end robot and digital flat-panel detector end robot can be realized, and by eliminating the cumulative errors that digital flat-panel detector end robot motion produces, make the synchronous more accurate of radiographic source end robot and digital flat-panel detector end robot, thus when radiographic source end robot and digital flat-panel detector end robot carry out all-around mobile and detect on spherical tank, realize effective imaging of the digital flat panel in digital flat-panel detector end robot, ensure carrying out smoothly of detection, ensure that robot is to the dirigibility of the internal weld seams detections such as spherical tank and accuracy.
Accompanying drawing explanation
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 one 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 the communication connection diagram of embodiment radiographic source end robot, digital flat-panel detector end robot and host computer;
The process description schematic diagram that Figure 10 is radiographic source end robot in embodiment, digital flat-panel detector end robot realizes synchronized tracking;
Figure 11 is the explanation schematic diagram of examining report generation module in embodiment;
Wherein: 1-radiographic source end robot, 2-digital flat-panel detector end robot, 3-host computer, 4-spherical tank, 5-suspension isolation mounting;
Tracking sensor one, 16-servomotor one, 17-X radiographic source after tracking sensor one, 12-permanent magnetic iron one, 13-Mecanum wheel one, 14-vehicle frame one, 15-before 11-, 18-motion control box one;
Tracking sensor two, 26-servomotor two, 27-digital flat panel after tracking sensor two, 22-permanent magnetic iron two, 23-Mecanum wheel two, 24-vehicle frame two, 25-before 21-, 28-motion control box two;
51-flexible unit, 52-motor fixing plate, 53-bearing seat, 54-wheel shaft, 55-H type connecting rod, 56-vehicle frame holder, 57-magnet holder, 58 pressing plates.
Embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with accompanying drawing.
Embodiment
A kind of digital flat panel ray detection system based on Mecanum wheel, as Fig. 1, comprise host computer 3, radiographic source end robot 1, digital flat-panel detector end robot 2, radiographic source end robot 1 and digital flat-panel detector end robot 2 all adopt comprehensive Mecanum wheel construction, radiographic source end robot 1 is provided with motion control box 1, motion control box 1 is by wireless communication module one and host computer 3, digital flat-panel detector end robot 2 connects, motion control box 1 connects servomotor 1 by CAN communication module one, digital flat-panel detector end robot 2 is provided with motion control box 2 28, motion control box 2 28 is by wireless communication module two and host computer 3, radiographic source end robot 1 connects, motion control box 2 28 connects servomotor 2 26 by CAN communication module two.
Radiographic source end robot 1 comprises vehicle frame 1, Mecanum wheel 1, servomotor 1, front tracking sensor 1, rear tracking sensor 1, x-ray source 17, permanent magnetic iron 1 and motion control box 1, as Fig. 2, the front end of vehicle frame 1 is located at by front tracking sensor 1, the rear end of vehicle frame 1 is located at by rear tracking sensor 1, the middle part of vehicle frame 1 is provided with motion control box 1 and x-ray source 17, the both sides of vehicle frame 1 are respectively equipped with Mecanum wheel 1, Mecanum wheel 1 is connected with the rotating shaft of servomotor 1, the two bottom sides of vehicle frame 1 is respectively equipped with permanent magnetic iron 1.
Digital flat-panel detector end robot 2 comprises vehicle frame 2 24, Mecanum wheel 2 23, servomotor 2 26, front tracking sensor 2 21, rear tracking sensor 2 25, digital flat panel 27, permanent magnetic iron 2 22 motion control box 1, as Fig. 3, the front end of vehicle frame 2 24 is located at by front tracking sensor 2 21, the rear end of vehicle frame 2 24 is located at by rear tracking sensor 2 25, the middle part of vehicle frame 2 24 is provided with motion control box 2 28 and digital flat panel 27, digital flat panel 27 is located at the bottom of vehicle frame 2 24, the both sides of vehicle frame 2 24 are respectively equipped with Mecanum wheel 2 23, Mecanum wheel 2 23 is connected with the rotating shaft of servomotor 2 26, the two bottom sides of vehicle frame 2 24 is respectively equipped with permanent magnetic iron 2 22.
X-ray source 17 adopts continous way x-ray source 17, compared to pulsed x-ray source, can obtain more clear more high-grade imaging, can make to be detected as picture and reach JB/T4730.2-2005:AB level, go for pressure-bearing special equipment weld seam Inner Defect Testing.Such as: for the steel workpiece of 25mm thickness, use image quality indicator: IQIEN462-W6FE, AB level industrial grade requires: o.11 filament is high-visible, use continous way x-ray source 17 to meet the requirement of industrial grade AB level.Pulsed x-ray source industrial grade is lower, cannot reach JB/T4730.2-2005:AB level, generally cannot meet the needs of pressure-bearing special equipment weld seam Inner Defect Testing, is mainly used in the automatic scanning of metal hazards product in airport, the safety check of high ferro station.
Embodiment adopts the transillumination of single wall shown in Fig. 1, radiographic source is interior, digital flat panel outside, two carrying robot cars are surperficial at spherical tank 4 by magnetic-adsorption, Liang Ge robot is 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 pilot by self weld seam tracking, and digital flat-panel detector end robot 2 follows the tracks of radiographic source end robot 1, ensures digital flat-panel detector end robot 2 and radiographic source end robot 1 synchronous walking.
As Figure 10, radiographic source end robot 1 autonomous, and record coding device information, obtain the number of turns that each wheel turns over, then by this information by being wirelessly sent to digital flat-panel detector end robot 2, the rotation of each wheel of encoder information control figure flat panel detector end robot 1 that digital flat-panel detector end robot 2 sends according to radiographic source end robot 1, and the elimination of the cumulative errors that the motion of digital flat-panel detector end robot 2 produces can adopt two schemes:
Scheme one, expose from each digital flat panel 27 picture obtained and can see that square digital flat panel 27 has a circular exposure area, circular exposure area and radiogenic position, namely the position offset distance of digital flat-panel detector end robot 2 relative to radiographic source end robot 1 is obtained by picture, and in upper process of once walking, the motion of flat panel detector end robot 2 is corrected, thus realize digital flat-panel detector end robot 2 and radiographic source end robot 1 synchronized tracking.
Scheme two, resistance wire is equipped by radiographic source end robot 1, radiographic source end robot 1 is heated by resistance wire or the infrared-ray tank body region just right to thermal source, when being heated to a certain degree, can be formed just the highest to hot source point temperature by heating region, to the feature that ambient temperature reduces gradually, 2, digital flat-panel detector end robot is distributed with four symmetrical heat sensitive sensors, four heat sensitive sensors just can produce piezoelectric signal to the temperature contrast of point, if when centering, four heat sensitive sensors are just to a temperature difference, can pressure reduction be there is in the piezoelectric signal produced, move towards thermal self-restraint stress according to pressure reduction control figure flat panel detector end robot, thus realize synchronized tracking.
Each robot motion's structure adopts comprehensive Mecanum wheel construction, i.e. more than three positions of robot all adopt Mecanum wheel and Mecanum wheel, is preferably four positions.Based on all directionally movable robot of four Mecanum wheel by magnetic suck on spherical tank 4 surface, and carry digital radial detection system butt welded seam and detect, all directionally movable robot can detect the weld seam of various trend neatly.Wherein, robot is adsorbed on spherical tank 4 surface and realizes by installing four pieces of permanent magnetic irons and being arranged symmetrically with on vehicle frame.
The most bottom surface of permanent magnetic iron 1 is higher than the most bottom surface of Mecanum wheel 1, the most bottom surface of permanent magnetic iron 2 22 is higher than the most bottom surface of Mecanum wheel 2 23, make permanent magnetic iron 1, permanent magnetic iron 2 22 can provide absorption affinity while with spherical tank tank skin keep a determining deviation, when avoiding adsorbing completely, resistance Mrs affects walking, to ensure the smooth walking of Mecanum wheel 1, Mecanum wheel 2 23.Permanent magnetic iron 1, permanent magnetic iron 2 22 can also adopt reversible structure, by regulating the absorption angle of permanent magnetic iron 1, permanent magnetic iron 2 22, realize the adjustment of different absorption affinity.
Front tracking sensor 1, rear tracking sensor 1 connect motion control box 1 respectively, and motion control box 1 is connected with host computer 3 by wireless WIFI module.Front tracking sensor 2 21, rear tracking sensor 2 25 connect motion control box 2 28 respectively, and motion control box 2 28 is connected with host computer 3 by wireless WIFI module.Radiographic source end robot 1 weld seam tracking, by robot head and the tail two camera butt welded seam memory captured in real-time, then obtains the position of robot relative to weld seam, then adjusts the speed of a motor vehicle in time according to position deviation after image procossing.
In radiographic source end robot 1, continous way x-ray source 17 is fixed on vehicle frame 1 central authorities, radioactive source is downward, in digital flat-panel detector end robot 2, digital flat panel is fixed on the bottom center of vehicle frame 2 24, the receiving surface of digital flat panel and digital imagery flat board is downward, when radiographic source end robot 1, digital flat-panel detector end robot 2 run, lay respectively at both sides inside and outside spherical tank 4, radiographic source end robot 1 radioactive source irradiate X-rays, digital flat panel 27 digital imagery of digital flat-panel detector end robot 2, thus realize the robotization Non-Destructive Testing of butt welded seam.
Radiographic source end robot 1 far-end remote control controls by installing wireless communication module one with it in robot, at spherical tank 4 manhole place and entrance, wireless WiFi relaying is installed, then connect far-end host computer 3 and radiographic source end robot 1 by WiFi, and radiographic source end robot 1 and digital flat-panel detector end robot 2 transmit the video information of captured in real-time by wireless WiFi.Host computer 3 can remote pilot radiographic source end robot 1, the motion of digital flat-panel detector end robot 2 and mode of operation.
Radiographic source end robot 1, digital flat-panel detector end robot 2 are respectively equipped with level meter, level meter connects motion control box one, motion control box two respectively, calibrated the attitude of radiographic source end robot 1, digital flat-panel detector end robot 2 by level meter, make radiographic source end robot 1, digital flat-panel detector end robot 2 keeping parallelism.
The vehicle frame 1 of radiographic source end robot 1, the vehicle frame 2 15 of digital flat-panel detector end robot 2 are respectively equipped with the identical suspension isolation mounting 5 of structure.As Fig. 4, be described for radiographic source end robot 1.
As Fig. 5, suspension isolation mounting 5 comprises flexible unit 51, horizontal mechanism, the top platform of magnet holder 57 is located in one end of flexible unit 51, the other end of flexible unit 51 is flexibly connected vehicle frame holder 56, the bottom of magnet holder 57 is connected with permanent magnetic iron 1, vehicle frame holder 56 is by the boss of horizontal mechanism coupling shaft bearing 53, bearing seat 53 is connected servomotor 1 with magnet holder 57 respectively by bolt, motor fixing plate 52 is provided with between magnet holder 57 and servomotor 1, servomotor 1 connects Mecanum wheel 1 by wheel shaft 54.
Horizontal mechanism adopts more than one H type connecting rod 55, as Fig. 8, and the parallel installation of more than one H type connecting rod 55 and be positioned on same vertical plane, the boss of two ends respectively by pinned connection vehicle frame holder 56 of H type connecting rod 55, the boss of bearing seat 53.
Flexible unit 51 is bolted between the top platform of magnet holder 57 and pressing plate 58, as Fig. 6, flexible unit 51 is superposed by some flat springs and forms, flat spring comprises is located at middle lengthy motion picture spring, the length of flat spring is successively decreased to two ends by lengthy motion picture spring, lengthy motion picture spring clearance fit is in the dead slot of holder, and as Fig. 7, lengthy motion picture spring can slidably reciprocate in groove.
Flexible unit 51 is superposed formed by sheet spring, two panels short-movie spring five flat spring in a slice lengthy motion picture spring, two panels, and the symmetria bilateralis of lengthy motion picture spring is distributed with sheet spring and a slice short-movie spring in a slice.
Permanent magnetic iron 1 be centrally located on the vertical plane of wheel shaft 54 place, the walkway surface that permanent magnetic iron 1 and Mecanum take turns 1 be arranged in parallel.
As shown in Figure 4, when the Mecanum wheeled vehicle assembling suspension isolation mounting 5 of radiographic source end robot 1, digital flat-panel detector end robot 2, the end face of vehicle frame holder 56 and vehicle frame 1 or vehicle frame 2 24 are connected in one piece, and four suspension isolation mountings 5 are installed according to Mecanum wheel 1, Mecanum wheel 2 23 Kinematics Laws symmetry.
Mecanum wheeled vehicle at permeability magnetic material surface creep time, the making a concerted effort of permanent magnetic iron 1 and Mecanum wheeled vehicle own wt provide normal pressure, when some Mecanum wheels 1 run into obstacle, this Mecanum takes turns 1 and lifts, permanent magnetic iron 1 and this Mecanum take turns 1 and lift simultaneously, and holding magnet lower surface is parallel with absorption surface, other Mecanum take turns 1 and are still close to absorption surface, permanent magnetic iron 1 and Mecanum take turns 1 surmount obstacles simultaneously after, be again adsorbed on permeability magnetic material surface.
Mecanum wheeled vehicle at permeability magnetic material surface creep time, suffered by Mecanum wheeled vehicle, gravity tester is to absorption surface, and the flat spring stress deformation between the top platform of lengthy motion picture spring and lengthy motion picture spring and magnet holder 57, provides damping effect; Gravity suffered by Mecanum wheeled vehicle dorsad absorption surface time, lengthy motion picture spring and the flat spring stress deformation between lengthy motion picture spring and pressing plate 58, provide damping effect, realizes the damping that Mecanum wheeled vehicle is creeped on adsorbing plane at any angle.
This suspension isolation mounting 5 can meet absorption stability and the kinetic stability of Mecanum wheel, ensure contact and the pressure on Mecanum wheel and permeability magnetic material surface, ensure the Distance geometry depth of parallelism of permanent magnetic iron absorption surface, adsorption effect is followed stable, shock insulation unit can realize the shock insulation of upper and lower both direction simultaneously, can meet the isolating affection of robot at the absorption surface of all angles of this suspension system of installation.
Two H type connecting rods 55 form parallelogram linkage with the boss of vehicle frame holder 56, the boss of bearing seat 53, ensure that Mecanum wheel and permanent magnetic iron 1 etc. are in translation, can ensure that permanent magnetic iron 1 is parallel with the surface of contact that Mecanum takes turns, and then ensure that permanent magnetic iron one 12 pairs of magnetic conduction absorption surface absorption affinities are stablized.
Flexible unit 51 has five flat springs symmetrical, the folded existing good flexibility of spring, there is again stronger load-bearing capacity, both larger distortion can be produced when Mecanum wheel surmounts obstacles, can not lose efficacy because being out of shape excessive again, the robot that symmetrical folded spring can enable to be equipped with this suspension system has damping effect in the provisional capital of swashing of plane at any angle.
Permanent magnetic iron 1 is arranged on independent suspension position, still can enter to paste absorption surface even if can make to be equipped with when running into obstacle obstacle detouring in the suspension crawling process of Mecanum wheel, ensure the kinetic characteristic of the robot that Mecanum wheel is housed, and permanent magnetic iron 1 is taken turns near Mecanum, the physical dimension of suspension can ensure the distance of magnet and absorption surface, ensure that magnet is stablized the absorption affinity of absorption surface, and magnet can rise and fall with Mecanum wheel when running into obstacle simultaneously, prevent because magnet and absorption surface are apart from less and bump against with obstacle.
Fig. 9 is whole control system operating diagram, radiographic source end robot 1, digital flat-panel detector end robot 2, host computer 3 pass through the mutual communication of WiFi and transmission of information, radiographic source end robot 1, digital flat-panel detector end robot 2 are respectively equipped with the module such as motion control box, servomotor of wireless communication module, front tracking sensor, rear tracking sensor, CAN communication module, control motor, realize the above function.
Control system comprises radiographic source end robot 1, digital flat-panel detector end robot 2, host computer 3 i.e. operation center, three unit are by wireless communication module one, wireless communication module two is connected, radiographic source end robot 1 is much the same with the control system component units of digital flat-panel detector end robot 2, front tracking sensor 11 and the rear tracking sensor 15 of radiographic source end robot 1 are digital camera, by carrying out picture processing to the picture photographed, for automatic tracking, radiographic source end robot 1 and motor, by CAN communication between level meter, radiographic source end robot 1 calculates each motor speed according to remote control or automatic tracking order, by CAN, control command is sent to each motor, the encoder information of each motor and the information of level meter pass the motion control box 1 of radiographic source end robot 1 back by CAN, the motion control box 1 of radiographic source end robot 1 calculates the information analysis passed back, then information is sent to digital flat-panel detector end robot 2 by wireless communication module, the information that digital flat-panel detector end robot 2 transmits according to radiographic source end robot 1, displacement order memory is adjusted, the motion command finally calculated is sent to motor by CAN.
The Mecanum of embodiment takes turns weld seam detection robot and adopts Mecanum wheel all-directional mobile platform and AGV system, has filled up the blank of the digital radial Aulomatizeted Detect technological equipment of the in-service pressure-bearing special equipments such as domestic and international large-size spherical tank 4, vertical storage tank.The measuring robots of embodiment is except realizing retreating, except traversing, pivot turn, can also realize being rotated around any point, especially, in the large-scale in-service pressure-bearing special equipments such as station boiler, spherical tank, vertical storage tank, the dirigibility of robot to weld seam detection on equipment curved surface can greatly be improved.
The digital flat panel ray detection machine people imaging system that this kind is taken turns based on Mecanum, also comprise examining report generation module, examining report generation module: by the process to ray detected image, carry out the Flaw discrimination identification of feature based, and carry out defect quantitative and grading, according to relevant criterion such as JB/T4730.2-2005, in conjunction with computer database technology, automatic generation examining report, as Figure 11.
Embodiment is applicable to the detection of the various weld seam of the large-scale bearing device such as spherical tank, storage tank equipment, comprises longitudinal joint, circumferential weld, embedded nozzle weld, end socket piece etc.; Robot motion and degree of freedom meet weld seam detection technological requirement, and robot motion's precision meets accuracy of detection requirement; Soldering joint automatic tracking technology meets onsite application requirement; The digital radiography techniques that system adopts and technique meet examination criteria requirement.What embodiment became eventually a set of practicality can the robot digital flat panel ray detection system of automatic tracking welding seam, can be used for the weld seam that diameter is greater than the large-scale pressure-bearing special equipment of 4m and automatically detects.
Claims (10)
1. the omnirange based on Mecanum wheel moves a radiographic source end robot method for synchronized, it is characterized in that:
Radiographic source end robot autonomous, and record coding device information, obtain the rotation number of turns of each wheel, then by this information by being wirelessly sent to digital flat-panel detector end robot;
The rotation of each wheel of encoder information control figure flat panel detector end robot that digital flat-panel detector end robot sends according to radiographic source terminal device people, and the cumulative errors eliminating digital flat-panel detector end robot motion generation.
2. move radiographic source end robot method for synchronized based on the omnirange of Mecanum wheel as claimed in claim 1, it is characterized in that, eliminate the cumulative errors that digital flat-panel detector end robot motion produces, be specially:
The picture obtained is exposed from each digital flat panel, obtain the exposure area on digital flat panel, exposure area and radiogenic position, namely the position offset distance of digital flat-panel detector end robot relative to radiographic source end robot is obtained by picture, and in upper process of once walking, the motion of digital flat-panel detector end robot is corrected, realize the synchronous of digital flat-panel detector end robot and radiographic source end robot.
3. move radiographic source end robot method for synchronized based on the omnirange of Mecanum wheel as claimed in claim 1, it is characterized in that, eliminate the cumulative errors that digital flat-panel detector end robot motion produces, be specially:
Radiographic source end robotic equipment resistance wire, radiographic source end robot is heated by resistance wire or the infrared-ray tank body region just right to thermal source, can be formed just the highest to hot source point temperature, to the feature that ambient temperature reduces gradually by heating region;
Digital flat-panel detector end robot is then distributed with four symmetrical heat sensitive sensors, four heat sensitive sensors just can produce piezoelectric signal to the temperature contrast of point, if when centering, four heat sensitive sensors are just to a temperature difference, can pressure reduction be there is in the piezoelectric signal produced, move towards thermal self-restraint stress according to pressure reduction control figure flat panel detector end robot, realize the synchronous of digital flat-panel detector end robot and radiographic source end robot.
4. the omnirange based on Mecanum wheel as described in any one of claim 1-3 moves radiographic source end robot method for synchronized, it is characterized in that: radiographic source end robot comprises vehicle frame one, Mecanum wheel one, servomotor one, front tracking sensor one, rear tracking sensor one, x-ray source, permanent magnetic iron one and motion control box one, motion control box one is located on vehicle frame one, the front end of vehicle frame one is located at by front tracking sensor one, the rear end of vehicle frame one is located at by rear tracking sensor one, the middle part of vehicle frame one is provided with x-ray source, the both sides of vehicle frame one are respectively equipped with Mecanum wheel one, Mecanum wheel one is connected with servomotor one, servomotor one connects motion control box one, the two bottom sides of vehicle frame one is respectively equipped with permanent magnetic iron one.
5. move radiographic source end robot method for synchronized based on the omnirange of Mecanum wheel as claimed in claim 4, it is characterized in that: digital flat-panel detector end robot comprises vehicle frame two, Mecanum wheel two, servomotor two, front tracking sensor two, rear tracking sensor two, digital flat panel, permanent magnetic iron two and motion control box two, motion control box two is located on vehicle frame two, the front end of vehicle frame two is located at by front tracking sensor two, the rear end of vehicle frame two is located at by rear tracking sensor two, the middle part of vehicle frame two is provided with digital flat panel, digital flat panel is located at the bottom of vehicle frame two, the both sides of vehicle frame two are respectively equipped with Mecanum wheel two, Mecanum wheel two is connected with servomotor two, servomotor two connects motion control box two, the two bottom sides of vehicle frame two is respectively equipped with permanent magnetic iron two.
6. move radiographic source end robot method for synchronized based on the omnirange of Mecanum wheel as claimed in claim 5, it is characterized in that: the quantity that Mecanum wheel one and Mecanum take turns two is four, Mecanum wheel one is respectively equipped with four ends of vehicle frame one, and Mecanum wheel two is located at four ends of vehicle frame two respectively.
7., as claimed in claim 6 based on the digital flat panel radiographic source end robot of Mecanum wheel, it is characterized in that: radiographic source end robot, digital flat-panel detector end robot are separately positioned on the both sides of detected object.
8., as claimed in claim 7 based on the digital flat panel radiographic source end robot of Mecanum wheel, it is characterized in that: the entrance of detected object is provided with WiFi repeater.
9. as claimed in claim 8 based on the digital flat panel radiographic source end robot of Mecanum wheel, it is characterized in that: vehicle frame one, vehicle frame two are all for by some vertical muscle square structure of arranging vertical with some horizontal bars.
10., as claimed in claim 9 based on the digital flat panel radiographic source end robot of Mecanum wheel, it is characterized in that: between permanent magnetic iron one and detected object, between permanent magnetic iron two and detected object, be respectively equipped with gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764114.8A CN105302141B (en) | 2015-11-11 | 2015-11-11 | Omnidirection movement radiographic source end robot method for synchronized based on Mecanum wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764114.8A CN105302141B (en) | 2015-11-11 | 2015-11-11 | Omnidirection movement radiographic source end robot method for synchronized based on Mecanum wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105302141A true CN105302141A (en) | 2016-02-03 |
| CN105302141B CN105302141B (en) | 2018-08-17 |
Family
ID=55199522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510764114.8A Active CN105302141B (en) | 2015-11-11 | 2015-11-11 | Omnidirection movement radiographic source end robot method for synchronized based on Mecanum wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105302141B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985142A (en) * | 2017-04-28 | 2017-07-28 | 东南大学 | A kind of double vision for omni-directional mobile robots feels tracking device and method |
| GB2549331A (en) * | 2016-04-15 | 2017-10-18 | Univ Antwerpen | Mobile imaging of an object using penetrating radiation |
| CN107753051A (en) * | 2017-10-31 | 2018-03-06 | 上海联影医疗科技有限公司 | Medical imaging device |
| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| GB2580018A (en) * | 2018-11-10 | 2020-07-15 | Advanced Mech Systems Ltd | Non-destructive testing tool for dual axis position encoding of an inspection probe |
| CN114414598A (en) * | 2022-03-09 | 2022-04-29 | 河南省科学院同位素研究所有限责任公司 | Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space |
| CN114636715A (en) * | 2022-03-09 | 2022-06-17 | 河南省科学院同位素研究所有限责任公司 | High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of shed on shed and shed under shed |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030221878A1 (en) * | 2002-05-09 | 2003-12-04 | Park Andrew D. | Omni-directional munitions handling vehicle |
| CN103760178A (en) * | 2014-01-06 | 2014-04-30 | 北京恒正精机科技有限责任公司 | X-ray detection robot for weld seam of storage tank |
| CN203758935U (en) * | 2014-03-27 | 2014-08-06 | 桂林市南方检测有限责任公司 | X-ray automatic detection equipment for large-sized vertical steel storage tank |
-
2015
- 2015-11-11 CN CN201510764114.8A patent/CN105302141B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030221878A1 (en) * | 2002-05-09 | 2003-12-04 | Park Andrew D. | Omni-directional munitions handling vehicle |
| CN103760178A (en) * | 2014-01-06 | 2014-04-30 | 北京恒正精机科技有限责任公司 | X-ray detection robot for weld seam of storage tank |
| CN203758935U (en) * | 2014-03-27 | 2014-08-06 | 桂林市南方检测有限责任公司 | X-ray automatic detection equipment for large-sized vertical steel storage tank |
Non-Patent Citations (3)
| Title |
|---|
| HONGJUN CHEN,ETC: "Application of Visual Servoing to an X-ray Based Welding Inspection Robot", 《2005 INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION》 * |
| MAHMOUD TAVAKOLI，ETC: "OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures", 《ROBOTICS AND AUTONOMOUS SYSTEMS》 * |
| 杨文军: "Mecanum轮移动机器人循迹控制及其调度研究", 《万方数据》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2549331A (en) * | 2016-04-15 | 2017-10-18 | Univ Antwerpen | Mobile imaging of an object using penetrating radiation |
| EP3443331B1 (en) * | 2016-04-15 | 2020-07-22 | Universiteit Antwerpen | Mobile imaging of an object using penetrating radiation |
| US10859511B2 (en) | 2016-04-15 | 2020-12-08 | Universiteit Antwerpen | Mobile imaging of an object using penetrating radiation |
| CN106985142A (en) * | 2017-04-28 | 2017-07-28 | 东南大学 | A kind of double vision for omni-directional mobile robots feels tracking device and method |
| CN107753051A (en) * | 2017-10-31 | 2018-03-06 | 上海联影医疗科技有限公司 | Medical imaging device |
| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| GB2580018A (en) * | 2018-11-10 | 2020-07-15 | Advanced Mech Systems Ltd | Non-destructive testing tool for dual axis position encoding of an inspection probe |
| CN114414598A (en) * | 2022-03-09 | 2022-04-29 | 河南省科学院同位素研究所有限责任公司 | Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space |
| CN114636715A (en) * | 2022-03-09 | 2022-06-17 | 河南省科学院同位素研究所有限责任公司 | High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of shed on shed and shed under shed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105302141B (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105302141A (en) | Mecanum-wheel-based omnidirectional mobile ray source end robot synchronization tracking method | |
| CN105301020A (en) | Digital flat panel ray detection ray source end robot based on Mecanum wheels | |
| CN105291745B (en) | The suspension isolation mounting of permanent magnetic adsorption-type Mecanum wheeled vehicles | |
| CN105301021A (en) | Digital flat panel ray detection imaging system based on Mecanum wheels | |
| CN107965633B (en) | Automatic testing system inside nuclear electric moment deformation cross section pipe | |
| CN101695814B (en) | Method and device for precisely positioning large part of airplane in place | |
| CN106018443A (en) | Industrial CT detection device and method based on 3D sphere detection platform | |
| CN105301022A (en) | Omni-direction mobile digital flat panel ray detection robot based on Mecanum wheels | |
| CN205192980U (en) | Numeral ray detection digital flat -panel detector end robot based on mecanum wheel | |
| CN205192982U (en) | Gamma ray source end robot of digital flat panel ray detection based on mecanum wheel | |
| CN105424732A (en) | Digital radiographic testing digital flat-panel detector end robot based on Mecanum wheels | |
| CN205185774U (en) | Permanent magnetism adsorbs suspension isolation mounting of formula mecanum wheel vehicle | |
| CN205192981U (en) | Omnirange removes digital flat panel ray inspection robot based on mecanum wheel | |
| CN205192983U (en) | Digital flat panel ray detection imaging system based on mecanum wheel | |
| CN110133008A (en) | Seam inspection system for tank body | |
| CN108006365B (en) | Automatic cloth sheet devices inside nuclear electric moment deformation cross section pipe | |
| JP6817776B2 (en) | Buoyancy adjustment system and buoyancy adjustment method | |
| CN102590246A (en) | Camera-shooting scanning positioning device of X-ray digital flat panel imaging detecting system | |
| CN107421626A (en) | Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser | |
| CN109360670A (en) | A kind of adaptive centering nuclear fuel assembly multifunctional detecting device | |
| CN106546209B (en) | Device and method for measuring shooting angle of X-ray machine | |
| CN210221859U (en) | Weld flaw detection system for tank body | |
| Zheng et al. | Two opposite sides synchronous tracking X-ray based robotic system for welding inspection | |
| CN209168755U (en) | A kind of adaptive centering nuclear fuel assembly multifunctional detecting device | |
| CN107150339A (en) | Synchronous apparatus and method are tracked in metallic plate bilateral laser for flaw detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 2, Sipai building, Xinjiekou Street, Xuanwu District, Nanjing City, Jiangsu Province Co-patentee after: Jiangsu Special Equipment Vessel Supervisory Institute Patentee after: Southeast University Address before: 210036, Longjiang building, 107 grass street, Nanjing, Jiangsu Co-patentee before: Southeast University Patentee before: Jiangsu Special Equipment Vessel Supervisory Institute |