CN109250646B - Radiographic inspection robot - Google Patents
Radiographic inspection robot Download PDFInfo
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- CN109250646B CN109250646B CN201811247871.8A CN201811247871A CN109250646B CN 109250646 B CN109250646 B CN 109250646B CN 201811247871 A CN201811247871 A CN 201811247871A CN 109250646 B CN109250646 B CN 109250646B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- Robotics (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention discloses a radiographic inspection robot which comprises a travelling mechanism, a lifting mechanism and a rotating mechanism which are sequentially arranged from bottom to top. The traveling mechanism is used for realizing the forward and backward movement or turning movement of the X-ray flaw detection robot, the lifting mechanism is used for realizing the lifting movement of the X-ray flaw detector, and the rotating mechanism is used for realizing the horizontal rotation and vertical rolling movement of the X-ray flaw detector. The invention completes the heavy labor content such as adjusting the position of the ray transmitter by the ray transmitter, and greatly reduces the labor intensity of detection personnel. When the invention carries out radiographic inspection, the inspection personnel only need to operate in the operating room, do not need to enter the radiographic inspection room, do not need to manually adjust the position of the radiographic emitter for inspection and other operations, and greatly improve the inspection efficiency; along with the improvement of the detection efficiency, the whole processing production efficiency can be accelerated, and the phenomenon of error work caused by low detection efficiency is reduced. In addition, the invention can reduce the personal injury of the operating personnel caused by radiation.
Description
Technical Field
The invention relates to a radiographic inspection robot.
Background
The ray inspection is one of the common nondestructive inspection methods in the manufacturing process of pressure vessels, shipbuilding, boilers and other equipment. Particularly, in the process of detecting the weld joint in the manufacturing process of the pressure container, the manual detection method is mainly adopted at present, and the defects of low working efficiency, influence on subsequent working progress, high labor intensity, damage to human bodies and the like exist.
The radiographic inspection has the following characteristics:
① the detection result can be recorded directly by negative film;
② projection images of the defects can be obtained, and the defects are accurate in qualitative and quantitative determination;
③ the volume type defect has the highest detectable rate and the area type defect has the detectable rate influenced by various factors;
④ is suitable for inspecting workpieces of relatively thin thickness and not for inspecting workpieces of relatively thick thickness;
⑤ is suitable for detecting butt weld, has poor effect of detecting fillet weld, and is not suitable for detecting plates, materials and forgings.
The conventional radiographic inspection mainly comprises the preparation work of flaw detection requirement determination, workpiece surface finishing, workpiece marking, selection and placement of an image quality meter, placement of a mark, focusing, exposure parameter selection and the like, and also comprises the steps of chip mounting, starting detection, chip taking darkroom treatment, chip evaluation according to the standard, defect position and shape determination and the like.
In the process of mounting, an operator needs to use chalk and a ruler to measure and draw lines, the film is adsorbed at a proper position on the surface of the workpiece, the operator withdraws from the site and arrives at an operation room, a ray transmitter is started to detect a section of welding line, and after the detection is finished, the operator needs to remove the film and number the film for subsequent darkroom treatment.
In the radiographic inspection process, when radiographic inspection is performed according to the radiographic inspection principle and the national standard requirements, in order to thoroughly reflect the existence of internal defects of a workpiece joint, transillumination methods are reasonably arranged according to the form of a welded joint and the geometric shape of the workpiece, and according to the mutual position relationship among a radiation source, the workpiece and a film, the welding seam transillumination methods are divided into five methods, namely a longitudinal seam transillumination method, a circular seam external transillumination method, a circular seam internal transillumination method, a double-arm single-image method and a double-arm double-image method.
The manual method for carrying out the radiographic inspection detection has the defects of low working efficiency, influence on subsequent working progress, high labor intensity, great harm to the bodies of operators and the like; such as:
1. the working efficiency is low
Conventional methods of operation require that the worker must manually measure the length of the weld, count the number of films, mount the film, move the heavy X-ray machine to the correct location and the correct height.
When the welding seam is pasted with a piece in the container, because only one piece of film can be irradiated at a time, an operator has to drill into the container again and again to take and paste the piece, and the process is quite complicated and low in efficiency.
The subsequent working schedule is influenced, the manufacturing process of the pressure container generally comprises the steps of welding, repairing, welding accessories, pressure testing, painting and the like can be carried out after detection, other work must be stopped and detection is carried out in a special radiographic inspection chamber during radiographic inspection, and the manufacturing speed of the pressure container is seriously influenced by the low efficiency of radiographic inspection.
2. High labor intensity
Ultrasonic inspection of pressure vessels generally requires at least two operators, one operator performing operations such as line drawing, sheet mounting, and handling of a radiation transmitter, and the other operator performing inspection. When flaw detection needs to be carried out in the pressure container, an operator needs to enter the container to carry out operations such as line drawing, surface mounting, ray emitter placement and the like, and the labor intensity is very high.
3. Is harmful to human body
It is required that the dose equivalent received by the operator does not exceed a limit value while ensuring the completion of the radiographic inspection task, and that the absorbed dose of the operator and others should be reduced as much as possible.
The main measures of protection are shielding protection, distance protection and time protection. In-situ photography poses problems to the construction organization due to protection, particularly gamma rays, and strict management regulations on radioisotopes affect the working efficiency and cost.
Disclosure of Invention
The invention aims to provide a radiographic inspection robot to solve the technical problems of manual radiographic inspection.
In order to achieve the purpose, the invention adopts the following technical scheme:
a radiographic inspection robot comprising:
the walking mechanism, the lifting mechanism and the rotating mechanism are sequentially arranged from bottom to top; wherein:
the lifting mechanism comprises an upper slide rail, a lower slide rail and a double-scissor unit positioned between the upper slide rail and the lower slide rail;
the top of the double-shear fork unit is provided with two upper sliding rods which are positioned in the upper sliding rails and matched with the upper sliding rails;
the bottom of the double-shear fork unit is provided with two lower sliding rods which are positioned in the lower sliding rails and matched with the lower sliding rails;
the lifting mechanism is provided with a first driving part which is used for driving the two lower sliding rods to simultaneously draw close to the middle or do opposite movement;
the rotating mechanism comprises a rotating mechanism bottom plate, a second driving part, a worm wheel, a shaft sleeve supporting seat and a roller seat plate; wherein, the rotating mechanism bottom plate is arranged on the upper slide rail;
the second driving part is arranged on the rotating mechanism bottom plate and connected with the worm;
the shaft sleeve supporting seat is arranged on the rotating mechanism bottom plate;
the upper end of the shaft sleeve is arranged on the lower surface of the roller seat plate and extends downwards to the upper surface of the shaft sleeve supporting seat;
a middle shaft extending upwards is arranged in the middle of the shaft sleeve supporting seat, and a bearing is arranged between the middle shaft and the shaft sleeve;
the worm gear sleeve is arranged on the shaft sleeve and is fixedly connected with the shaft sleeve through a key; the worm wheel and the worm are mutually meshed;
the roller seat plate is provided with a plurality of roller seats which are arranged in a row; two unpowered rollers which are arranged in parallel are arranged on each roller seat, and the axial direction of each roller is consistent with the arrangement direction of each roller seat;
an X-ray flaw detector is arranged above each roller, and the arrangement direction of the X-ray flaw detector is consistent with the axial direction of the rollers.
Preferably, the travelling mechanism comprises a travelling mechanism mounting plate and four travelling wheels positioned on the travelling mechanism mounting plate;
wherein two walking wheels are the action wheel and dispose driving motor respectively, and two other walking wheels are from the driving wheel.
Preferably, the lifting mechanism further comprises a crank and rocker mechanism, and the first driving part is connected with the lower sliding rod through the crank and rocker mechanism; the crank rocker mechanism comprises a rotating rod and a straight connecting rod which is vertically arranged at each end part of the rotating rod;
the other ends of the two straight connecting rods are connected through a connecting rod parallel to the rotating rod;
at least one arc connecting rod is arranged between the connecting rod and the lower sliding rod;
the connecting rod and the lower sliding rod are round rods, and round rod holes are respectively formed in the two end parts of the arc-shaped connecting rod;
one end of the arc-shaped connecting rod is sleeved on the connecting rod, and the other end of the arc-shaped connecting rod is sleeved on the lower sliding rod;
the first driving part is a driving motor and is connected with the end part of the rotating rod through a coupler.
Preferably, the lifting mechanism further comprises a lifting mechanism base, and the lifting mechanism base is arranged on the traveling mechanism;
the lower slide rail is arranged on the lifting mechanism base.
Preferably, the double-scissor unit is formed by hinging and connecting an upper scissor unit and a lower scissor unit; wherein:
a guide rod seat is arranged at the bottom of the upper slide rail, and a guide rod extending downwards is arranged on the guide rod seat;
and a guide hole seat is arranged on a pin shaft of the upper scissor unit, and a guide hole for the guide rod to pass through is arranged on the guide hole seat.
Preferably, the double-scissor unit is formed by hinging and connecting an upper scissor unit and a lower scissor unit;
the lifting mechanism is also provided with a lifting buffer mechanism;
the lifting buffer mechanism comprises two sets of lifting buffer units which are respectively positioned at different side parts of the lower scissor unit;
the lifting buffer unit comprises two spring buffer seats which are respectively arranged on the lifting mechanism base;
a compression spring is respectively arranged on each spring buffer seat;
each spring buffer seat is correspondingly provided with a pressure rod guide rod;
the lifting buffer unit also comprises a pressure lever which can simultaneously press down the two compression springs;
wherein, two ends of the pressure bar are respectively provided with a pressure bar guide hole matched with the pressure bar guide rod;
two end parts of a pin shaft of the lower scissors fork unit respectively extend outwards and are arranged in the middle of each pressure lever on the corresponding side.
Preferably, the middle part of the upper surface of the shaft sleeve supporting seat is provided with a circular boss which protrudes upwards and has the same diameter as the inner diameter of the shaft sleeve;
the lower end of the shaft sleeve is sleeved on the circular boss.
The invention has the following advantages:
1. the invention can reduce labor intensity. The invention completes the heavy labor content such as adjusting the position of the ray transmitter by the ray transmitter, and greatly reduces the labor intensity of detection personnel. 2. The invention can improve the working efficiency. When the radiographic inspection is carried out, inspection personnel only need to operate in the operating room, do not need to enter the radiographic inspection room, do not need to manually adjust the position of a radiographic transmitter for inspection and the like, and greatly improve the inspection efficiency; along with the improvement of the detection efficiency, the whole processing production efficiency can be accelerated, and the phenomenon of error work caused by low detection efficiency is reduced. 3. The invention can reduce the personal injury of the operator caused by radiation. The invention can enable the operator to complete the detection task without entering the flaw detection room, greatly reduces the frequency of the operator entering the flaw detection room, and can greatly improve the life safety factor of the operator. 4. The invention has low cost, easy processing and manufacturing, simple and convenient control and high accuracy, is applied to actual production and can greatly improve the economic benefit.
Drawings
FIG. 1 is a schematic structural diagram of a radiographic inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a traveling mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;
FIG. 4 is a front view of a lift mechanism in an embodiment of the present invention;
FIG. 5 is a side view of a lift mechanism in an embodiment of the present invention;
FIG. 6 is a schematic structural view of a crank handle rocker mechanism in an embodiment of the present invention;
FIG. 7 is a schematic view of the connection of the crank handle rocker mechanism to the lower slide in an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a lift buffering mechanism according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a rotating mechanism of the radiographic inspection robot in the embodiment of the present invention;
fig. 10 is a rear view of a rotating mechanism of the radiographic inspection robot in the embodiment of the invention;
fig. 11 is a side view of a rotating mechanism of the radiographic inspection robot in the embodiment of the present invention;
FIG. 12 is a schematic view of a roller base plate according to an embodiment of the present invention;
fig. 13 is a partial structural schematic view of a rotating mechanism of the radiographic inspection robot in the embodiment of the invention;
FIG. 14 is a sectional view taken along line A-A of FIG. 13;
wherein, 1-a lifting mechanism, 2-a rotating mechanism and 5-a traveling mechanism;
101-upper slide rail, 102-lower slide rail, 103-double scissor unit, 104-upper scissor unit pin, 105-lower scissor unit pin, 106-upper slide bar, 107-lower slide bar, 108-small wheel, 109-rotating bar;
110-straight connecting rod, 111-driving motor, 112-coupler, 113-connecting rod, 114-arc connecting rod, 115-lifting mechanism base, 116-driving motor mounting seat, 117-guide rod seat, 118-guide rod and 119-guide hole seat;
120-spring buffer seat, 121-compression spring, 122-compression bar guide bar, 123-compression bar and 124-connecting bar;
201-a rotating mechanism bottom plate, 202-a worm, 203-a worm wheel, 204-a shaft sleeve, 205-a shaft sleeve supporting seat, 206-a roller seat plate, 207-a driving motor, 208-a worm supporting seat, 209-a middle shaft and 210-a circular boss;
211-support ring, 212-roller seat, 213-roller, 214-X-ray flaw detector, 215-drive motor support;
501-a walking mechanism mounting plate, 502-a walking wheel and 503-a driving motor.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
referring to fig. 1, a radiographic inspection robot includes a traveling mechanism 5, a lifting mechanism 1, and a rotating mechanism 2. Wherein, the traveling mechanism 5, the lifting mechanism 1 and the rotating mechanism 2 are arranged in sequence from bottom to top.
The traveling mechanism 5 in the present embodiment is used to realize the forward, backward, and turning actions of the radiographic inspection robot.
As shown in fig. 2, the travel mechanism 5 includes a travel mechanism mounting plate 501 and four travel wheels, for example, a travel wheel 502. Wherein, two walking wheels are the action wheels and dispose driving motor 503 respectively, and two other walking wheels are from the driving wheel.
Specifically, for example, the traveling wheels on the left rear side and the traveling wheels on the right front side in fig. 2 may be designed as driving wheels, and one driving motor 503 may be disposed below the traveling mechanism mounting plate 501 for the two driving wheels.
The two driving motors 503 can drive the radiographic inspection robot to realize the above actions through independent or matched actions.
Since it is conventional in the art that the driving motor rotates the traveling wheels, the detailed description thereof is omitted in this embodiment.
The lifting mechanism 1 is attached to the traveling mechanism attachment plate 501, as shown in fig. 1.
The lifting mechanism 1 in this embodiment is used to realize the lifting or lowering movement of the X-ray flaw detector.
As shown in fig. 3 to 5, the lifting mechanism 1 includes an upper slide rail 101, a lower slide rail 102, and a double-scissor unit 103 located between the upper slide rail and the lower slide rail. Wherein:
the upper slide rails 101 are provided with two opposite slide rails, and the lower slide rails 102 are provided with two opposite slide rails.
The double scissor unit 103 may be implemented as a double scissor unit known in the art. The structure is as follows:
the double-scissor unit is formed by hinging and connecting an upper scissor unit and a lower scissor unit. Wherein:
the upper scissor unit and the lower scissor unit are both of X-shaped structures.
A pin shaft, such as an upper scissors unit pin shaft 104, is arranged at the middle crossing position of the upper scissors unit, and similarly, a pin shaft, such as a lower scissors unit pin shaft 105, is arranged at the middle crossing position of the lower scissors unit.
The above parts are all common technical characteristics of the existing double-scissors fork unit.
Wherein, the double-scissor unit in the embodiment also has the following technical characteristics:
the top of the double-scissor unit 103 is provided with two upper sliding rods 106 which are positioned in the upper sliding rail 101 and are matched with the upper sliding rail.
The bottom of the double scissor unit 103 is provided with two lower slide bars 107 located in the lower slide rail 102 and cooperating with the lower slide rail.
In order to facilitate the engagement of the lower slide bars 107 with the lower slide rails 102 and to prevent the lower slide bars from easily falling off the lower slide rails 102, a small wheel, such as a small wheel 108, is further mounted at each end of each lower slide bar 107.
Accordingly, the radial (perpendicular to the length of the lower track 102) cross-section of the lower track 102 is "T" shaped.
The small wheel 108 and the end of the lower slide bar 107 may be, for example, a nested connection.
Similarly, a small wheel (not shown) is also mounted at each end of the upper slide bar 106, and the function is the same. The radial section of the upper slide rail 101 is also in a T shape, and the upper slide rail 106 is conveniently matched with the radial section.
The sliding effect of the lower sliding rod 107 after the small wheel 108 is sleeved is better than that when the small wheel is not sleeved.
In addition, the lifting mechanism further comprises a first driving part for driving the double-scissor unit 103 to lift. In particular, the method comprises the following steps of,
in this embodiment, the first driving part can drive the two lower sliding rods 107 to move toward the middle or move in opposite directions, so as to drive the double-scissor unit 103 to move up and down.
By opposite movement is here meant that the directions of movement of the two lower slide bars 107 are opposite (i.e. simultaneously outwards).
The following describes in detail how the first drive part is connected to the lower slide bar 107:
the lifting mechanism also comprises a crank rocker mechanism, and the first driving part is connected with the lower sliding rod 107 through the crank rocker mechanism.
Since there are two lower slide bars 107, there are two crank and rocker mechanisms in this embodiment.
As shown in fig. 6, each crank and rocker mechanism includes a rotating rod 109 and a straight link 110 vertically installed at each end (both ends) of the rotating rod 109, and the straight link 110 may be welded to the rotating rod 109, for example.
The first driving part is a driving motor 111, and may be a stepping motor, for example.
The number of the driving motors 111 in this embodiment is four, and each two driving motors are used for driving the same rotating rod 109.
As shown in fig. 7, a driving motor 111 is connected to an end portion of the rotating lever 109 through a coupling 112.
The other ends of the two straight links 110 are connected by a connecting rod 113, and the connecting rod 113 is parallel to the rotating rod 109.
Furthermore, at least one arc-shaped link is provided between the connecting rod 113 and the lower slide bar 107.
The arc links 114 shown in fig. 6 have two, and the present embodiment does not limit the number of arc links 114.
The connecting rod 113 and the lower sliding rod 107 are both circular rods, and circular rod holes (not shown) are respectively formed at both end portions of the arc-shaped connecting rod 114 and are respectively sleeved on the connecting rod 113 and the lower sliding rod 107.
Under the action of the four driving motors 111, the two rotating rods 109 respectively rotate and transmit power to the corresponding lower slide bar positions through the arc-shaped connecting rods 114, so as to drive the two lower slide bars 107 to simultaneously move inwards or outwards.
The movement of the two lower sliding rods 107 can further drive the double-scissor unit 103 to realize ascending or descending movement.
In addition, there may be only two driving motors in this embodiment, one of the driving motors is used to drive one rotation rod 109 (disposed at a certain end portion of the corresponding rotation rod 109), and the other driving motor drives the other rotation rod 109.
Although the driving effect is weaker than that of the four driving motors 111, the implementation of the function of the invention is not affected.
In addition, the lifting mechanism further includes a lifting mechanism base 115, and the lower slide rail 102 is mounted on the lifting mechanism base 115.
The number of the lifting mechanism bases 115 in this embodiment may be two, for example, each lower slide rail 102 is correspondingly mounted on one lifting mechanism base 115, and the mounting manner may be, for example, a bolt connection or a welding connection.
The driving motor 111 is mounted (bolted) to the elevating mechanism base 115 via a driving motor mounting base 116. The lifting mechanism base 115 may be attached to the traveling mechanism attachment plate 501 by bolts, for example.
The present embodiment does not limit the specific structure of the driving motor mounting base 116.
In addition, in order to ensure the stability of the lifting mechanism in the lifting process, the following design is also carried out:
a guide bar seat 117 is installed at the bottom of the upper slide rail 101. Since there are two upper slide rails 101 in this embodiment, the guide bar base 117 can be simultaneously connected to the bottoms of the two upper slide rails 101, as shown in fig. 7.
A guide hole seat 119 is installed on the upper scissor unit pin 104, and a guide hole (not shown) for a guide rod to pass through is formed on the guide hole seat 119. Through the design, the stability of the lifting mechanism in the lifting process is effectively ensured.
The guide hole mount 119 is provided with a pin hole (not shown) for mounting to the upper scissor unit pin 104.
Of course, the lifting mechanism in this embodiment is also provided with a lifting buffer mechanism, as shown in fig. 8.
When the lifting mechanism descends, the lifting buffer mechanism can play a certain buffer role on the whole lifting mechanism. In addition, the lifting buffer mechanism can share the burden of the driving motor 111. In particular, the method comprises the following steps of,
the lifting buffer mechanism comprises two sets of lifting buffer units which are respectively positioned at different side parts of the lower scissor unit.
The following description will be given by taking one side of the lifting buffer unit as an example:
the lift buffer unit includes two spring buffer seats 120 respectively mounted on the lift mechanism base 115.
Specifically, a spring buffer seat mounting hole is formed in the lifting mechanism base 115, and the bottom of the spring buffer seat 120 extends into the spring buffer seat mounting hole and is mounted on the lifting mechanism base 115 through a bolt.
A compression spring 121 is placed on each spring buffer seat 120.
Each spring buffer seat 120 is correspondingly provided with a pressure rod guide rod 122 which is vertically arranged upwards.
In addition, the lift buffer unit further includes a pressing rod 123 which can simultaneously press down the two compression springs, as shown in fig. 4.
Wherein, two ends of the pressing rod 123 are respectively provided with a pressing rod guiding hole (not shown) matched with the pressing rod guiding rod; two ends of the pressing rod 123 are respectively sleeved on one of the pressing rod guide rods 122 and can automatically move up and down.
Two end parts of the pin shaft 105 of the lower scissors fork unit extend outwards respectively and are arranged in the middle of each pressing rod 123 on the corresponding side.
As shown in fig. 8, the above configuration may be changed to:
on the basis of the existing lower scissors fork unit pin shaft 105, two side link rods 124 are respectively arranged at two ends of the lower scissors fork unit pin shaft 105, and the other ends of the side link rods 124 are arranged in the middle of each pressing rod 123 at the corresponding side.
When the double scissor unit 103 descends, the lower scissor unit pin 105 lowers to drive the pressing rod 123 to press down each compression spring 121, so that the buffer effect of the descending lifting mechanism is achieved.
The lifting mechanism 1 in the embodiment is used for realizing the lifting action of the radiographic inspection robot, and has high automation degree.
The rotating mechanism 2 in this embodiment is used to realize horizontal rotation and vertical rolling motion of the X-ray flaw detector.
As shown in fig. 9 to 11, the rotation mechanism 2 includes a rotation mechanism base plate 201, a second driving member, a worm 202, a worm wheel 203, a bushing 204, a bushing support base 205, and a roller base plate 206.
Wherein, rotary mechanism bottom plate 201 is square board for bear rotary mechanism's other parts.
The rotary mechanism base plate 201 is mounted on the upper slide rail 101.
The second driving component may be, for example, a driving motor 207 for rotating the worm 202. In particular, the method comprises the following steps of,
as shown in fig. 13 and 14, the second driving part is mounted on the bottom plate 201 of the rotating mechanism and connected to the worm 202, and the other end of the worm 202 may be mounted on the worm support base 208 through a bearing, for example.
The second drive component may be mounted to the rotary mechanism base plate 201, for example, by a drive motor mount 215 (bolts).
A sleeve bearing 205 is mounted (by bolts) to the rotary mechanism base plate 201.
The upper end of the sleeve 204 is mounted (by bolts) to the lower surface of the roller shoe plate 206 and extends down to the upper surface of the sleeve support base 205. Further, a center shaft 209 extending upward is provided at the center of the sleeve support base 205.
The central axis 209 is an axis which is installed at the middle of the bushing support base 205 and extends upward.
The central shaft 209 is located inside the shaft sleeve 204, and a bearing (not shown) is provided between the central shaft 209 and the shaft sleeve 204.
In addition, in order to ensure the stability of the bushing 204 during the rotation process, the bushing supporting seat 205 is further designed as follows:
a circular boss 210 which protrudes upwards and has the same diameter as the inner diameter of the shaft sleeve 204 is arranged in the middle of the upper surface of the shaft sleeve supporting seat 205, and the lower end of the shaft sleeve 204 is sleeved on the circular boss 210.
Further, a support ring 211 is arranged below the worm wheel 203 and sleeved on the shaft sleeve 204. The lower surface of the worm wheel 203 is positioned on the support ring 211, and the lower surface of the support ring 211 is positioned on the bushing support base 205.
The support ring 211 can support the worm wheel 203.
The worm wheel 203 is sleeved on the shaft sleeve 204 and fixedly connected with the shaft sleeve through a key; the worm wheel 203 and the worm 202 are engaged with each other.
The general working principle of the rotating mechanism 2 in the invention is as follows:
the driving motor 207 drives the worm 202 to rotate, so that the worm wheel 203 rotates, and the roller seat plate 206 rotates in the horizontal direction through transmission between the worm wheel and the worm, and the X-ray flaw detector 214 is located on the roller seat plate 206.
As shown in fig. 12, the embodiment of the present invention also designs the roller seat plate:
the roller seat plate is provided with two roller seats 212, and the roller seats 212 are arranged in a row (along the left-right direction).
Two unpowered rollers 213 arranged in parallel (in the front-rear direction) are mounted on each roller base 212, and the axial direction of each roller 213 is kept in agreement with the arrangement direction of each roller base 212.
In this way, the X-ray inspection machine 214 can be placed above each roller 213, and the direction of the placed X-ray inspection machine 214 is aligned with the axial direction of the roller 213, so that the X-ray inspection machine 214 can be rolled in the vertical direction.
Of course, the roller base 212 may be three, and each roller base 212 may have two unpowered rollers 213 disposed thereon. Alternatively, the number of roller bases 212 may be four or six, with one unpowered roller 213 mounted on each roller base 212.
The rotating mechanism in the present embodiment realizes horizontal rotation and vertical (manual) tumbling motion of the X-ray inspection machine 214.
The invention can complete the positioning operation of the X-ray flaw detector 214 and the angle adjustment operation of the emission port in the radiographic inspection by organically combining the travelling mechanism 5, the lifting mechanism 1 and the rotating mechanism 2.
It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A radiographic inspection robot, comprising:
the walking mechanism, the lifting mechanism and the rotating mechanism are sequentially arranged from bottom to top; wherein:
the lifting mechanism comprises an upper slide rail, a lower slide rail and a double-scissor unit positioned between the upper slide rail and the lower slide rail;
the top of the double-shear fork unit is provided with two upper sliding rods which are positioned in the upper sliding rails and matched with the upper sliding rails;
the bottom of the double-shear fork unit is provided with two lower sliding rods which are positioned in the lower sliding rails and matched with the lower sliding rails;
the lifting mechanism is provided with a first driving part which is used for driving the two lower sliding rods to simultaneously draw close to the middle or do opposite movement;
the lifting mechanism further comprises a crank and rocker mechanism, and the first driving part is connected with the lower sliding rod through the crank and rocker mechanism;
the number of the crank rocker mechanisms is two, and each crank rocker mechanism is correspondingly connected with one lower sliding rod;
the crank rocker mechanism comprises a rotating rod and a straight connecting rod vertically arranged at each end part of the rotating rod;
the other ends of the two straight connecting rods are connected through a connecting rod parallel to the rotating rod;
at least one arc connecting rod is arranged between the connecting rod and the lower sliding rod;
the connecting rod and the lower sliding rod are round rods, and round rod holes are respectively formed in the two end parts of the arc-shaped connecting rod;
one end of the arc-shaped connecting rod is sleeved on the connecting rod, and the other end of the arc-shaped connecting rod is sleeved on the lower sliding rod;
the first driving part is a driving motor and is connected with the end part of the rotating rod through a coupler;
the double-scissor unit is formed by hinging an upper scissor unit and a lower scissor unit;
a guide rod seat is arranged at the bottom of the upper slide rail, and a guide rod extending downwards is arranged on the guide rod seat;
a guide hole seat is arranged on a pin shaft of the upper scissor unit, and a guide hole for a guide rod to pass through is arranged on the guide hole seat;
the lifting mechanism is also provided with a lifting buffer mechanism;
the lifting buffer mechanism comprises two sets of lifting buffer units which are respectively positioned at different side parts of the lower scissor unit;
the lifting buffer unit comprises two spring buffer seats which are respectively arranged on the lifting mechanism base;
a compression spring is respectively arranged on each spring buffer seat;
each spring buffer seat is correspondingly provided with a pressure rod guide rod;
the lifting buffer unit also comprises a pressure lever which can simultaneously press down the two compression springs;
wherein, two ends of the pressure bar are respectively provided with a pressure bar guide hole matched with the pressure bar guide rod;
two end parts of a pin shaft of the lower scissor unit respectively extend outwards and are arranged in the middle of each pressure lever on the corresponding side;
the rotating mechanism comprises a rotating mechanism bottom plate, a second driving part, a worm wheel, a shaft sleeve supporting seat and a roller seat plate; wherein, the rotating mechanism bottom plate is arranged on the upper slide rail;
the second driving part is arranged on the rotating mechanism bottom plate and is connected with the worm;
the shaft sleeve supporting seat is arranged on the rotating mechanism bottom plate;
the upper end of the shaft sleeve is arranged on the lower surface of the roller seat plate and extends downwards to the upper surface of the shaft sleeve supporting seat;
a middle shaft extending upwards is arranged in the middle of the shaft sleeve supporting seat, and a bearing is arranged between the middle shaft and the shaft sleeve;
the worm gear sleeve is arranged on the shaft sleeve and is fixedly connected with the shaft sleeve through a key; the worm wheel and the worm are mutually meshed;
the middle part of the upper surface of the shaft sleeve supporting seat is provided with a circular boss which protrudes upwards and has the same diameter as the inner diameter of the shaft sleeve;
the lower end of the shaft sleeve is sleeved on the circular boss;
a support ring sleeved on the shaft sleeve is also arranged below the worm wheel;
the lower surface of the worm wheel is positioned on the support ring, and the lower surface of the support ring is positioned on the shaft sleeve support seat;
the roller seat plate is provided with a plurality of roller seats, and the roller seats are arranged in a row; two unpowered rollers which are arranged in parallel are arranged on each roller seat, and the axial direction of each roller is consistent with the arrangement direction of each roller seat;
an X-ray flaw detector is arranged above each roller, and the arrangement direction of the X-ray flaw detector is consistent with the axial direction of the rollers.
2. The radiographic inspection robot of claim 1,
the walking mechanism comprises a walking mechanism mounting plate and four walking wheels positioned on the walking mechanism mounting plate;
wherein two walking wheels are the action wheel and dispose driving motor respectively, and two other walking wheels are from the driving wheel.
3. The radiographic inspection robot of claim 1,
the lifting mechanism further comprises a lifting mechanism base, and the lifting mechanism base is installed on the travelling mechanism;
the lower slide rail is arranged on the lifting mechanism base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247871.8A CN109250646B (en) | 2018-10-25 | 2018-10-25 | Radiographic inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247871.8A CN109250646B (en) | 2018-10-25 | 2018-10-25 | Radiographic inspection robot |
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| CN109250646A CN109250646A (en) | 2019-01-22 |
| CN109250646B true CN109250646B (en) | 2020-05-15 |
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| CN201811247871.8A Active CN109250646B (en) | 2018-10-25 | 2018-10-25 | Radiographic inspection robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161378B (en) * | 2019-04-17 | 2022-03-29 | 广西电网有限责任公司南宁供电局 | Intelligent inspection robot for switch cabinet |
| CN110790185B (en) * | 2019-11-06 | 2021-02-12 | 苏州热工研究院有限公司 | Conveying device for rotor weld joint detection robot |
| CN110749652A (en) * | 2019-11-18 | 2020-02-04 | 中国第一重型机械集团大连加氢反应器制造有限公司 | TOFD flaw detection auxiliary device and using method thereof |
| CN110887851B (en) * | 2019-12-26 | 2022-04-05 | 泰州市诚安无损检测有限公司 | X-ray flaw detection device |
| CN113504252B (en) * | 2021-06-29 | 2023-09-22 | 国网上海市电力公司 | Flaw detection device for power equipment |
| CN114607921A (en) * | 2022-03-21 | 2022-06-10 | 湖南省特种设备检验检测研究院湘潭分院 | Pipeline flaw detection equipment |
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Effective date of registration: 20220615 Address after: 271000 Gaochuang center, 28 Zhengyangmen street, high tech Zone, Tai'an City, Shandong Province Patentee after: Shandong Zeming Energy Technology Co.,Ltd. Address before: 256600, No. five, 391 the Yellow River Road, Bincheng District, Shandong, Binzhou Patentee before: BINZHOU University |
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