CN110596158A - X-ray automatic detection device for welding seam of large-curvature workpiece - Google Patents

X-ray automatic detection device for welding seam of large-curvature workpiece Download PDF

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Publication number
CN110596158A
CN110596158A CN201910954479.5A CN201910954479A CN110596158A CN 110596158 A CN110596158 A CN 110596158A CN 201910954479 A CN201910954479 A CN 201910954479A CN 110596158 A CN110596158 A CN 110596158A
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CN
China
Prior art keywords
base
sliding block
transverse
guide rail
longitudinal
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.)
Pending
Application number
CN201910954479.5A
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Chinese (zh)
Inventor
刘源泂
马榕泽
袁文新
姜繁智
刘钊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
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Wuhan University of Science and Engineering WUSE
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Application filed by Wuhan University of Science and Engineering WUSE filed Critical Wuhan University of Science and Engineering WUSE
Priority to CN201910954479.5A priority Critical patent/CN110596158A/en
Publication of CN110596158A publication Critical patent/CN110596158A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00Investigating 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
    • G01N23/02Investigating 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
    • G01N23/04Investigating 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/03Investigating materials by wave or particle radiation by transmission
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/10Different kinds of radiation or particles
    • G01N2223/101Different kinds of radiation or particles electromagnetic radiation
    • G01N2223/1016X-ray
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/30Accessories, mechanical or electrical features
    • G01N2223/308Accessories, mechanical or electrical features support of radiation source
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/30Accessories, mechanical or electrical features
    • G01N2223/33Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
    • G01N2223/3303Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts object fixed; source and detector move
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/60Specific applications or type of materials
    • G01N2223/629Specific applications or type of materials welds, bonds, sealing compounds
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/60Specific applications or type of materials
    • G01N2223/639Specific applications or type of materials material in a container
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/60Specific applications or type of materials
    • G01N2223/646Specific applications or type of materials flaws, defects

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

The invention relates to an X-ray automatic detection device for a welding seam of a large-curvature workpiece. The industrial camera comprises a bottom guide rail, a base, a main support arm, a cantilever beam, a telescopic beam, a cross sliding table, an industrial camera and an X-ray generator, wherein the base is slidably arranged on the bottom guide rail, and the lower part of the main support arm is arranged on the base; the cantilever beam is fixedly connected with the upper end of the main supporting arm. The invention completes the detection of the workpiece with larger curvature radius and the transverse and longitudinal welding lines through the control of the visual control system, has simple and convenient operation, compact whole mechanism and smaller use space, replaces the traditional large gantry type mechanism, greatly reduces the labor intensity of detection personnel, realizes autonomous scanning and improves the precision. And the visual imaging system establishes a connection with the control module through the processing of the terminal, so that the real-time performance and the reliability of the detection are improved.

Description

X-ray automatic detection device for welding seam of large-curvature workpiece
Technical Field
The invention relates to a nondestructive testing device and a nondestructive testing method, in particular to an X-ray automatic testing device for a welding seam of a large-curvature workpiece.
Background
The quality of large storage tanks, like those for storing petroleum, is related to serious threat to personal and property safety, so that the quality control is very strict in the manufacturing process of large-curvature workpieces, and the national strict standards restrict the quality of welding seams. At present, the X-ray flaw detection is widely used for detecting the welding seam of a workpiece with large curvature, and the X-ray flaw detector is generally hung on the wall of a tank by a simple suspension cage and is pulled and moved by manpower, and the X-ray flaw detector is manually stuck to carry out photographic flaw detection. However, because the diameter of the large-curvature workpiece is large and can reach more than 10m, the height can reach more than 1m, each piece of film is 300mm long, manual traction is extremely easy to collide, and the efficiency is very low. Therefore, providing a technical way with high automation degree, safety and reliability that can track the welding seam and take a picture is a technical problem to be overcome in the field.
Disclosure of Invention
The invention aims to overcome the defects of the conventional X-ray detection device for the large-curvature workpiece and provide the automatic X-ray detection device for the welding seam of the large-curvature workpiece, which can realize safe and efficient automatic detection.
The X-ray automatic detection device for the welding seam of the large-curvature workpiece, provided by the invention, can get rid of the original manual cage type scanning and realize the automatic scanning of the welding seam with multiple degrees of freedom.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
an X-ray automatic detection device for a welding seam of a large-curvature workpiece comprises: the industrial camera comprises a bottom guide rail, a base, a main support arm, a cantilever beam, a telescopic beam, a cross sliding table, an industrial camera and an X-ray generator, wherein the base is slidably arranged on the bottom guide rail, and the lower part of the main support arm is arranged on the base; the cantilever beam is with the upper end rigid coupling of main tributary brace, install on the cantilever beam flexible roof beam slidable, the cross slip table includes lateral sliding device and longitudinal sliding device, lateral sliding device includes horizontal track, horizontal slider, horizontal motor, horizontal lead screw, and horizontal slider slides on horizontal track, longitudinal sliding device includes vertical track, vertical slider, vertical motor, vertical lead screw, and vertical slider slides on vertical track, the horizontal track of cross slip table is installed on flexible roof beam, the vertical rail mounting of cross slip table is on horizontal slider, install first anchor clamps and second anchor clamps on the vertical slider of cross slip table, X ray generator and industrial camera are installed respectively on first anchor clamps and second anchor clamps.
Furthermore, a telescopic guide rail is installed on one side of the cantilever beam, a sliding block matched with the telescopic guide rail is installed on the telescopic beam, and the sliding block is driven by a lead screw to move on the telescopic guide rail;
furthermore, a base sliding block is arranged on the base and moves on the bottom guide rails through the base sliding block, and a rack is arranged on one of the bottom guide rails and is meshed with a gear driven by a base motor on the base.
Furthermore, a reinforcing rib plate is arranged at the joint of the cantilever beam and the main supporting arm.
Furthermore, the main support arm is provided with a slewing bearing, the slewing bearing is provided with an inner ring and an outer ring which can rotate relatively, the inner ring and the outer ring are respectively connected with the lower part and the upper part of the main support arm, a gear ring of the outer ring of the slewing bearing is meshed with a gear driven by a slewing motor, and the slewing motor drives the gear ring of the outer ring to rotate, so that the cantilever beam performs slewing motion.
The device can be matched with a terminal processor for use, comprises all motors, an X-ray generator, an industrial camera and the like, and establishes contact between related parts and a control module, controls the position of the X-ray generator in real time, and tracks and photographs the weld joint.
Compared with the prior art, the invention has the following advantages:
the invention provides a visual detection robot for X-rays of a welding seam of a large-curvature workpiece, which is used for replacing manual X-ray detection of the welding seam of the large-curvature workpiece, so that the danger of high-altitude operation and radiation of detection personnel can be avoided, the robot finishes detection of the workpiece with larger curvature radius and the transverse and longitudinal welding seams through the control of a visual control system, is simple and convenient to operate, has compact whole mechanism and smaller use space, replaces the traditional large gantry type mechanism, greatly reduces the labor intensity of the detection personnel, realizes autonomous scanning and improves the precision. And the visual imaging system establishes a connection with the control module through the processing of the terminal, so that the real-time performance and the reliability of the detection are improved.
Drawings
FIG. 1 is a schematic perspective structural view of an X-ray automatic detection device for a weld joint of a large-curvature workpiece according to the present invention;
FIG. 2 is a schematic perspective structural view of another view angle of the automatic X-ray detection device for a weld joint of a large-curvature workpiece according to the present invention;
FIG. 3 is a schematic perspective structural view of another view angle of the automatic X-ray detection device for a weld joint of a large-curvature workpiece according to the present invention;
the reference numbers in the figures are as follows:
1-a bottom rail; 2-a base slider; 3-a base; 4-main support arm; 5-a slewing bearing; 6-reinforcing plate; 7-cantilever beam; 8-a rotary electric machine; 9-a telescopic guide rail; 10-a lead screw; 11-a telescopic beam; 12-a cross slide; 13-a first clamp; 14-X-ray generator; 15-an industrial camera; 16-a base motor; 17-second clamp.
Detailed Description
In order that the invention may be more clearly understood, the following detailed description of the embodiments of the invention is given with reference to the accompanying drawings and examples.
As shown in fig. 1, 2 and 3, the X-ray automatic detection device for the weld joint of the large-curvature workpiece of the invention comprises: the device comprises a bottom guide rail 1, a base 3, a main support arm 4, a cantilever beam 7, a telescopic beam 11, a cross sliding table 12, an industrial camera 15 and an X-ray generator 14, wherein the base 3 is slidably mounted on the bottom guide rail 1, and the lower part of the main support arm 4 is mounted on the base 3; cantilever beam 7 and main tributary support arm 4's upper end rigid coupling, install on cantilever beam 7 flexible roof beam 11 slidable, cross slip table 12 includes transverse sliding device and longitudinal sliding device, transverse sliding device includes horizontal track, horizontal slider, horizontal motor, horizontal lead screw, and horizontal slider slides on horizontal track, longitudinal sliding device includes vertical track, vertical slider, vertical motor, vertical lead screw, and vertical slider slides on vertical track, the horizontal track of cross slip table 12 is installed on flexible roof beam 11, the vertical track of cross slip table 12 is installed on horizontal slider, install first anchor clamps 13 and second anchor clamps 17 on the vertical slider of cross slip table 12, X ray generator 14 and industrial camera 15 are installed respectively on first anchor clamps 13 and second anchor clamps 17.
The connection mode of the telescopic beam 11 and the cantilever beam 7 can adopt various known technologies in the field, for example, one side of the cantilever beam 7 is provided with a telescopic guide rail 9, the telescopic beam 11 is provided with a sliding block matched with the telescopic guide rail 9, and the sliding block is driven by a lead screw 10 to move on the telescopic guide rail 9; as shown in fig. 1, 2 and 3, the lead screw 10, the telescopic guide rail 9 and the matched slide block are well known in the art, and are not described in detail here, and the telescopic movement of the telescopic beam 11 can also be realized by using a rack and pinion.
The base 3 can be provided with a base sliding block 2, and the base sliding block 2 moves on the bottom guide rail 1, and one of the bottom guide rails 1 is provided with a rack which is meshed with a gear driven by a base motor 16 on the base 3.
And a reinforcing rib plate 6 is arranged at the joint of the cantilever beam 7 and the main supporting arm 4 so as to realize the stability of the connection and optimize the mechanical property.
The main supporting arm 4 is provided with a slewing bearing 5, the slewing bearing 5 is provided with an inner ring and an outer ring which can rotate relatively, the inner ring and the outer ring are respectively connected with the lower part and the upper part of the main supporting arm 4, an outer ring gear ring of the slewing bearing 5 is meshed with a gear driven by a slewing motor 8, and the slewing motor 8 drives the outer ring gear ring to rotate, so that the cantilever beam 7 performs slewing motion.
The mechanism can be matched with a terminal processor to carry out tests, comprises all motors, an X-ray generator, an industrial camera and the like, relevant parts are connected with a control module, the terminal processor carries out intelligent and automatic control, the position of the X-ray generator is controlled in real time, and tracking and shooting are carried out on a welding seam.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention. The technology not related to the invention can be realized by the prior art.

Claims (5)

1. The utility model provides a big camber work piece welding seam X ray automatic checkout device which characterized in that includes: the device comprises a bottom guide rail (1), a base (3), a main support arm (4), a cantilever beam (7), a telescopic beam (11), a cross sliding table (12), an industrial camera (15) and an X-ray generator (14), wherein the base (3) is slidably mounted on the bottom guide rail (1), and the lower part of the main support arm (4) is mounted on the base (3); the cantilever beam (7) is fixedly connected with the upper end of the main supporting arm (4), the telescopic beam (11) can be slidably arranged on the cantilever beam (7), the cross sliding table (12) comprises a transverse sliding device and a longitudinal sliding device, the transverse sliding device comprises a transverse track, a transverse sliding block, a transverse motor and a transverse screw rod, the transverse sliding block slides on the transverse track, the longitudinal sliding device comprises a longitudinal track, a longitudinal sliding block, a longitudinal motor and a longitudinal screw rod, the longitudinal sliding block slides on the longitudinal track, the transverse track of the cross sliding table (12) is arranged on the telescopic beam (11), the longitudinal track of the cross sliding table (12) is arranged on the transverse sliding block, a first clamp (13) and a second clamp (17) are arranged on a longitudinal sliding block of the cross sliding table (12), the X-ray generator (14) and the industrial camera (15) are respectively mounted on a first clamp (13) and a second clamp (17).
2. The automatic X-ray inspection apparatus for a weld of a large-curvature workpiece according to claim 1, wherein: and a telescopic guide rail (9) is installed on one side of the cantilever beam (7), a sliding block matched with the telescopic guide rail (9) is installed on the telescopic beam (11), and the sliding block is driven by a lead screw (10) to move on the telescopic guide rail (9).
3. The automatic X-ray inspection apparatus for a weld of a large-curvature workpiece according to claim 1, wherein: the base (3) is provided with a base sliding block (2) and moves on the bottom guide rail (1) through the base sliding block (2), one of the bottom guide rails (1) is provided with a rack which is meshed with a gear driven by a base motor (16) on the base (3).
4. The automatic X-ray inspection apparatus for a weld of a large-curvature workpiece according to claim 1, wherein: and a reinforcing rib plate (6) is arranged at the joint of the cantilever beam (7) and the main supporting arm (4).
5. The automatic X-ray detection device for the weld joint of the large-curvature workpiece as claimed in claim 1, characterized in that the main support arm (4) is provided with a slewing bearing (5), the slewing bearing (5) is provided with an inner ring and an outer ring which can rotate relatively, the inner ring and the outer ring are respectively connected with the lower part and the upper part of the main support arm (4), the outer ring gear of the slewing bearing (5) is meshed with a gear driven by a slewing motor (8), and the slewing motor (8) drives the outer ring gear to rotate, so that the cantilever beam (7) performs slewing motion.
CN201910954479.5A 2019-10-09 2019-10-09 X-ray automatic detection device for welding seam of large-curvature workpiece Pending CN110596158A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112282304A (en) * 2020-10-09 2021-01-29 温州燧人智能科技有限公司 Robot for building engineering who is difficult for empting
CN113406121A (en) * 2021-06-11 2021-09-17 重庆市特种设备检测研究院 Automatic device and detection method for multi-angle X-ray detection of weld defects
CN114397316A (en) * 2021-12-24 2022-04-26 江苏龙山管件有限公司 Self-positioning pipe fitting elbow defect ray detection device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201098773Y (en) * 2007-09-03 2008-08-13 长春工业大学 Single-arm suspension-beam type welding seam automatic tracing submerged arc-welding machine
EP2330332A2 (en) * 2009-11-19 2011-06-08 GE Sensing & Inspection Technologies GmbH Device for inspecting and/or welding a pipe along a weld seam
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
CN206779658U (en) * 2017-03-17 2017-12-22 四川豪特电气有限公司 Stereoscopic vision laser aiming robot welding system
CN208147107U (en) * 2018-02-02 2018-11-27 杭州联鹰科技有限公司 Laser seam tracking device
CN210923522U (en) * 2019-10-09 2020-07-03 武汉科技大学 X-ray automatic detection device for welding seam of large-curvature workpiece

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201098773Y (en) * 2007-09-03 2008-08-13 长春工业大学 Single-arm suspension-beam type welding seam automatic tracing submerged arc-welding machine
EP2330332A2 (en) * 2009-11-19 2011-06-08 GE Sensing & Inspection Technologies GmbH Device for inspecting and/or welding a pipe along a weld seam
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
CN206779658U (en) * 2017-03-17 2017-12-22 四川豪特电气有限公司 Stereoscopic vision laser aiming robot welding system
CN208147107U (en) * 2018-02-02 2018-11-27 杭州联鹰科技有限公司 Laser seam tracking device
CN210923522U (en) * 2019-10-09 2020-07-03 武汉科技大学 X-ray automatic detection device for welding seam of large-curvature workpiece

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112282304A (en) * 2020-10-09 2021-01-29 温州燧人智能科技有限公司 Robot for building engineering who is difficult for empting
CN112282304B (en) * 2020-10-09 2023-02-10 温州燧人智能科技有限公司 Robot for building engineering who is difficult for empting
CN113406121A (en) * 2021-06-11 2021-09-17 重庆市特种设备检测研究院 Automatic device and detection method for multi-angle X-ray detection of weld defects
CN113406121B (en) * 2021-06-11 2024-05-17 重庆市特种设备检测研究院 Automatic device and method for multi-angle X-ray detection of weld defects
CN114397316A (en) * 2021-12-24 2022-04-26 江苏龙山管件有限公司 Self-positioning pipe fitting elbow defect ray detection device
CN114397316B (en) * 2021-12-24 2024-05-28 江苏龙山管件有限公司 Self-positioning pipe fitting elbow defect ray detection device

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