CN105352982A - Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method - Google Patents
Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method Download PDFInfo
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- CN105352982A CN105352982A CN201510816999.1A CN201510816999A CN105352982A CN 105352982 A CN105352982 A CN 105352982A CN 201510816999 A CN201510816999 A CN 201510816999A CN 105352982 A CN105352982 A CN 105352982A
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Abstract
The invention discloses a carrier rocket storage tank bottom welded seam X-ray digital imaging detection system comprising a tooling, a dislodgement machine, a first robot, a second robot and a total control unit; a storage tank is fixed by the tooling; the dislodgement machine makes the tooling and the storage tank perform overturning and rotary motion; the first robot and the second robot are respectively arranged at the front side and the reverse side of a welded seam of the storage tank bottom, the first robot is clamped with an X-ray machine, the second robot is clamped with a digital detector, and the total control unit is in communication connection with the dislodgement machine, the first robot, the second robot, the X-ray machine and the digital detector. The invention also discloses a welded seam X-ray digital imaging detection method. The device and the method achieve carrier rocket storage tank bottom welded seam X-ray digital imaging detection, improve the detection efficiency, reduce cost of X-ray detection films, flushing drug liquids, developing machines, darkrooms and the like, and reduce pollution of the films and the flushing drug liquids on the environment and harm of the films and the flushing drug liquids on personnel body health.
Description
Technical field
The present invention relates to welding quality Non-Destructive Testing, X-ray Testing Technology field, particularly, relate to a kind of carrier rocket store-vessel bottom weld seam X ray digital imaging detection system and detection method.
Background technology
Carrier rocket fuel tank is welded by the bottom of casing, case usually, and store-vessel bottom is ellipsoid bottom structure, is formed by the weld parts such as annulus (six pieces of melon lobes), top cover, frame of section bar and flange.For ensureing welding quality, carrier rocket tank weld seam needs to carry out 100%X radiography detection.
Current carrier rocket tank X-ray radiography detects and adopts traditional film type radiography detection technique, there is sense cycle long, film prepares, scotography, fixing, washing, dry needs carries out under dark room conditions, developer solution used, stop bath has pollution to environment, film, developer solution, stop bath is single use, cost is high, detection medium is egative film, need special sheet room of commenting to carry out commenting sheet under viewbox, sheet result is commented to be papery report, data are difficult to share, inquiry, check, filing difficulty is larger, special room is needed to carry out egative film preservation.
X ray digital imagery detection technique adopts digital detector to replace film and imaging plate, directly becomes digital picture by digital detector through image procossing.The advantage of X ray digital imagery detection technique can be carried out ray detection in real time and comment sheet, and do not need imaging plate and laser scanner, do not need to carry out darkroom disposal, be convenient to comment sheet, inquiry, preservation, filing and data sharing, cost is low, free from environmental pollution; Shortcoming is that X ray digital imagery testing process adopts digital detector imaging, digital detector cannot bending, cannot fit with pipeline weld seam, curved surface seam surface, digital detector is used to detect anamorphose amount constantly for minor diameter pipeline weld seam large, both sides tube wall image disturbs mutually, bring the geometry of image to amplify, scattered ray makes integral image indistinctness increase, and reduces the sensitivity of detection simultaneously.
The patent No. is that the patent of invention of ZL201010206202.3 describes pipeline circumferential weld digital radial detection system.The patent No. is 201210079569.2 describe a kind of steel pipe seam X ray Real-time Imaging device, is applicable to girth joint and straight weld.Above-mentioned patent can only be applicable to the X ray Real-time Imaging of pipeline straight weld, girth joint, and the X ray digital imagery that cannot be applicable to longitudinal joint at the bottom of ellipsoid, circumferential weld and flange rim detects.
Summary of the invention
For defect of the prior art, the object of this invention is to provide carrier rocket store-vessel bottom weld seam X ray digital imaging detection system and detection method.
According to an aspect of the present invention, a kind of carrier rocket store-vessel bottom weld seam X ray digital imaging detection system is provided, the store-vessel bottom of described carrier rocket is the ellipsoid that welding is formed, it is characterized in that, described detection system comprises frock, positioner, first robot, second robot and Master Control Unit, described frock fixes described tank, described positioner makes described frock and tank realize upset and rotary motion, described first robot and the second robot are separately positioned on the weld seam tow sides of described store-vessel bottom, described first robot clamps X-ray production apparatus, described second robot clamps digital detector, described Master Control Unit and described positioner, first robot, second robot, X-ray production apparatus is connected with digital detector communication, described Master Control Unit controls described positioner and moves described tank, control described first robot and described X-ray production apparatus aligning weld seam is carried out roentgen radiation x, control described second robot and described digital detector is aimed at described weld seam, corresponding with described X-ray production apparatus, described digital detector gathers the radioscopic image of described weld seam.
Preferably, described Master Control Unit is wirelessly connected with described positioner, the first robot, the second robot, X-ray production apparatus and digital detector communication.
Preferably, described Master Control Unit also comprises weld image acquisition module, weld beam shape module, defect intelligent identification module.
Preferably, described first robot, positioner and the second robot are arranged on exposure room, and described Master Control Unit is arranged on image evaluation room, and described exposure room and image evaluation room are isolated by stereotype.
According to another aspect of the present invention, a kind of detection method of carrier rocket store-vessel bottom weld inspection system is provided, it is characterized in that, comprise the steps:
(1) mounting tool on described positioner, frock is installed described tank;
(2) described Master Control Unit controls described positioner and described tank is moved to predeterminated position;
(3) described Master Control Unit controls relation control and the speed of described first robot, positioner and the second robot, guarantees that X ray head is substantially constant to the Distance geometry angle of described store-vessel bottom weld seam to described store-vessel bottom weld seam, described digital detector described in whole testing process;
(4) described Master Control Unit is arranged and adjustment X ray radiographic process parameter, digital imagery characterization processes parameter;
(5) X-ray production apparatus that described Master Control Unit controls in described first robot carries out X-ray irradiation to described weld seam to be measured, and the digital detector controlled in described second robot gathers radioscopic image;
(6) described Master Control Unit collection and preservation image.
Preferably, further comprising the steps of:
(7) described Master Control Unit processes image and analyzes;
(8) described Master Control Unit carries out Intelligent Recognition to defect.
Compared with prior art, the present invention has following beneficial effect:
By Liang Ge robot and 2 axle positioner cooperation control, the X ray digital imagery coordinating digital detector, X-ray production apparatus, Master Control Unit to realize carrier rocket tank ellipsoid back welding seam detects, improve detection efficiency, reducing X ray detects with costs such as film, processing solution, developing machine, darkrooms, reduce the harm that film, processing solution environmental pollution and personnel are healthy, reach the digitizing of carrier rocket store-vessel bottom weld seam, greenization ray detection, for intellectualized detection lays the foundation.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of detection system of the present invention.
In figure: 1 is Master Control Unit, 2 is frock, and 3 is positioner, and 4 is the first robot, and 5 is the second robot, and 6 is fixing tank, and 7 is X-ray production apparatus, and 8 is digital detector.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
See accompanying drawing 1, at the bottom of carrier rocket tank 6 casees, weld inspection system mainly comprises: Master Control Unit 1, frock 2, positioner 3, first robot 4, second robot 5, frock 2 fixes tank 6, it is mobile that positioner 3 makes frock 2 and tank 6 realize, first robot 4 and the second robot 5 are separately positioned on the weld seam tow sides at the bottom of the case of tank 6, first robot 4 clamps X-ray production apparatus 7, second robot 5 clamps digital detector 8, Master Control Unit 1 and positioner 3, first robot 4, second robot 5, X-ray production apparatus 7 is connected with digital detector 8 communication, Master Control Unit 1 controls positioner 3 and moves tank 6, control the first robot 4 X-ray production apparatus 7 is aimed at weld seam to carry out roentgen radiation x, control the second robot 5 and digital detector 8 is aimed at weld seam, corresponding with X-ray production apparatus 7, digital detector 8 gathers the radioscopic image of weld seam.Master Control Unit 1 is wirelessly connected with robot 5 of positioner 3, first robot 4, second, X-ray production apparatus 7 and digital detector 8 communication.Master Control Unit 1 also comprises weld image acquisition module, weld beam shape module, defect intelligent identification module, for gathering, processing radioscopic image, and carries out Intelligent Recognition to defect.
The concrete steps of carrier rocket tank 6 casees back welding seam X ray digital imaging detection methods are as follows:
(1) mounting tool 2 on positioner 3, frock 2 is installed tank 6;
(2) Master Control Unit 1 controls positioner 3 and tank 6 is moved to predeterminated position;
(3) Master Control Unit 1 controls relation control and the speed of described first robot 4, positioner 3 and the second robot 5, guarantees that X ray head 7 is substantially constant to the Distance geometry angle of described store-vessel bottom 6 weld seam to described store-vessel bottom 6 weld seam, described digital detector 7 described in whole testing process;
(4) Master Control Unit 1 arranges and adjusts X ray radiographic process parameter, digital imagery characterization processes parameter;
(5) X-ray production apparatus 7 that Master Control Unit 1 controls in the first robot 4 carries out X-ray irradiation to weld seam to be measured, and the digital detector controlled in the second robot 5 gathers radioscopic image;
(6) Master Control Unit 1 gathers and preserves image;
(7) Master Control Unit 1 pair of image processes and analyzes;
(8) Master Control Unit 1 pair of defect carries out Intelligent Recognition.
The specific embodiment of the present invention is as follows:
First robot 4 and the second robot 5 are the robot of 6 degree of freedom, and positioner 3 is 2 axle positioners, is installed together with frock 2.Master Control Unit 1 for controlling relative position, the relative velocity of the first robot 4, second machine and positioner 3, guarantee X-ray production apparatus 7 to the weld seam at the bottom of case of tank 6 and the weld seam at the bottom of case of tank 6 relatively stable to the Distance geometry angle of digital detector 8; Master Control Unit 1 is for arranging and adjustment X ray digital imagery detected parameters; Master Control Unit 1, for gathering X-ray Images of Welding Seam, carries out the image processing operations such as weld image filtering, image enhaucament, defect recognition, carries out the image data management operations such as image data storage, inquiry, data sharing.Master Control Unit 1 is arranged on tank 6 casees back welding seam image evaluation rooms.
First robot 4, for clamping X-ray production apparatus 7 head, makes the window of X-ray production apparatus 7 aim at Weld pipe mill at the bottom of tank 6 casees all the time, keeps the distance of Weld pipe mill at the bottom of the window of X-ray production apparatus 7 and tank 6 casees basically identical.
Positioner 3 and the first robot 4 and the second robot 5 realize cooperation control, to ensure that the weld seam at the bottom of tank 6 casees is consistent with the relative velocity of X-ray production apparatus 7 head, digital detector 8 and relative position in X ray testing process.
Part fixing tool 2 will be fixed on positioner 3 at the bottom of tank 6 casees, ensure to be fixed on positioner 3 in X ray testing process at the bottom of tank 6 casees.
Digital detector 8 is for receiving and gather the X-ray digital image of weld seam.Digital detector 8 is fixed on the last joint of 6 second robots 5.Digital detector 8 can adopt face array or line array type.
Second robot 5, for clamping digital detector 8, makes digital detector 8 aim at Weld pipe mill at the bottom of tank 6 casees all the time, keeps the distance of Weld pipe mill at the bottom of digital detector 8 center and tank 6 casees basically identical.
First robot 4, positioner 3 and the second robot 5 are arranged on exposure room, and exposure room and image evaluation room are isolated by stereotype.
The head of X-ray production apparatus 7, digital detector 8 are arranged in the first robot 4 and the second robot 5 respectively, carry out digital detector 8 and correct.Be fixed at the bottom of carrier rocket tank 6 casees on positioner 3 by part fixing tool 2.Master Control Unit 1 is planned the movement locus of the first robot 4, positioner 3 and the second robot 8, X ray transmitting illumination parameter and digital image acquisition parameter are set.According to the radioscopic image information of longitudinal joint, circumferential weld and flange rim at the bottom of the path parameter set, transmitting illumination parameter and digital image acquisition parameter Real-time Collection tank 6 casees.Can watch in real time and processing welding lines radioscopic image on Master Control Unit 1 in gatherer process, identify weld defects, carry out image and weld defects information sharing.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. a carrier rocket store-vessel bottom weld seam X ray digital imaging detection system, the store-vessel bottom of described carrier rocket is the ellipsoid that welding is formed, it is characterized in that, described X ray digital imaging detection system comprises frock, positioner, first robot, second robot and Master Control Unit, described frock fixes described tank, described positioner makes described frock and tank realize upset and rotary motion, described first robot and the second robot are separately positioned on the weld seam tow sides of described store-vessel bottom, described first robot clamps X-ray production apparatus, described second robot clamps digital detector, described Master Control Unit and described positioner, first robot, second robot, X-ray production apparatus is connected with digital detector communication, described Master Control Unit controls described positioner and drives described tank to move, control described first robot and described X-ray production apparatus aligning weld seam is carried out X ray detection, control described second robot and described digital detector is aimed at described weld seam, corresponding with described X-ray production apparatus, described digital detector gathers the radioscopic image of described weld seam.
2. carrier rocket store-vessel bottom weld seam X ray digital imaging detection system according to claim 1, it is characterized in that, described Master Control Unit is wirelessly connected with described positioner, the first robot, the second robot, X-ray production apparatus and digital detector communication.
3. carrier rocket store-vessel bottom weld seam X ray digital imaging detection system according to claim 1, it is characterized in that, described Master Control Unit also comprises weld image acquisition module, weld beam shape module, defect intelligent identification module.
4. carrier rocket store-vessel bottom weld seam X ray digital imaging detection system according to any one of claim 1 to 3, it is characterized in that, described first robot, positioner and the second robot are arranged on exposure room, described Master Control Unit is arranged on image evaluation room, and described exposure room and image evaluation room are isolated by stereotype.
5., based on a detection method for carrier rocket store-vessel bottom weld seam X ray digital imaging detection system as claimed in claim 1, it is characterized in that, comprise the steps:
(1) mounting tool on described positioner, frock is installed described tank;
(2) described Master Control Unit controls described positioner and described tank is moved to predeterminated position;
(3) described Master Control Unit controls relation control and the speed of described first robot, positioner and the second robot, guarantees that X ray head is substantially constant to the Distance geometry angle of described store-vessel bottom weld seam to described store-vessel bottom weld seam, described digital detector described in whole testing process;
(4) described Master Control Unit is arranged and adjustment X ray radiographic process parameter, digital imagery characterization processes parameter;
(5) X-ray production apparatus that described Master Control Unit controls in described first robot carries out x-ray bombardment to described weld seam to be measured, and the digital detector controlled in described second robot gathers radioscopic image;
(6) described Master Control Unit collection and preservation image.
6. detection method according to claim 5, is characterized in that, further comprising the steps of:
(7) described Master Control Unit processes image and analyzes;
(8) described Master Control Unit carries out Intelligent Recognition to defect.
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| CN201510816999.1A CN105352982A (en) | 2015-11-23 | 2015-11-23 | Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method |
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| CN201510816999.1A CN105352982A (en) | 2015-11-23 | 2015-11-23 | Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method |
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| CN107727674A (en) * | 2017-12-04 | 2018-02-23 | 上海航天精密机械研究所 | Intelligent Detection based on digital radial and technology of Internet of things |
| CN107966461A (en) * | 2017-11-20 | 2018-04-27 | 首都航天机械公司 | One kind, which is enjoyed a double blessing, turns round detection head pose compensation mechanism |
| CN108020567A (en) * | 2017-11-20 | 2018-05-11 | 首都航天机械公司 | A kind of tank circumferential weld X-ray automated detection system |
| CN108061755A (en) * | 2017-12-05 | 2018-05-22 | 上海航天精密机械研究所 | Rocket tank stirring friction welding seam phased array supersonic automatic checkout system |
| CN108152306A (en) * | 2018-03-07 | 2018-06-12 | 武汉理工大学 | A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts |
| CN110736758A (en) * | 2019-10-18 | 2020-01-31 | 西安航天动力机械有限公司 | method for determining head weld transillumination arrangement parameters |
| CN111189861A (en) * | 2020-03-05 | 2020-05-22 | 中国特种设备检测研究院 | Automatic detection method and device for tube and tube plate radiographic digital imaging based on robot |
| CN111982936A (en) * | 2020-08-25 | 2020-11-24 | 绍兴市特种设备检测院 | X-ray automatic detection device for heat exchanger tube-tube plate welding seam |
| CN113866189A (en) * | 2021-08-24 | 2021-12-31 | 上海航天精密机械研究所 | Ray digital imaging detection device based on multi-manipulator cooperation and detection method thereof |
| CN114113157A (en) * | 2021-10-27 | 2022-03-01 | 沪东中华造船(集团)有限公司 | Digital radiographic inspection imaging device and inspection method for hull weld joint |
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| CN108061755A (en) * | 2017-12-05 | 2018-05-22 | 上海航天精密机械研究所 | Rocket tank stirring friction welding seam phased array supersonic automatic checkout system |
| CN108061755B (en) * | 2017-12-05 | 2019-09-17 | 上海航天精密机械研究所 | Rocket tank stirring friction welding seam phased array supersonic automatic checkout system |
| CN108152306A (en) * | 2018-03-07 | 2018-06-12 | 武汉理工大学 | A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts |
| CN110736758A (en) * | 2019-10-18 | 2020-01-31 | 西安航天动力机械有限公司 | method for determining head weld transillumination arrangement parameters |
| CN110736758B (en) * | 2019-10-18 | 2022-04-19 | 西安航天动力机械有限公司 | Method for determining head welding seam transillumination arrangement parameters |
| CN111189861A (en) * | 2020-03-05 | 2020-05-22 | 中国特种设备检测研究院 | Automatic detection method and device for tube and tube plate radiographic digital imaging based on robot |
| CN111982936A (en) * | 2020-08-25 | 2020-11-24 | 绍兴市特种设备检测院 | X-ray automatic detection device for heat exchanger tube-tube plate welding seam |
| CN111982936B (en) * | 2020-08-25 | 2023-10-10 | 绍兴市特种设备检测院 | X-ray automatic detection device for heat exchanger tube-tube plate welding seam |
| CN113866189A (en) * | 2021-08-24 | 2021-12-31 | 上海航天精密机械研究所 | Ray digital imaging detection device based on multi-manipulator cooperation and detection method thereof |
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Application publication date: 20160224 |