CN115616007B - Automatic adjusting device and method for weld defect X-ray detection - Google Patents
Automatic adjusting device and method for weld defect X-ray detection Download PDFInfo
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- CN115616007B CN115616007B CN202211147222.7A CN202211147222A CN115616007B CN 115616007 B CN115616007 B CN 115616007B CN 202211147222 A CN202211147222 A CN 202211147222A CN 115616007 B CN115616007 B CN 115616007B
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000003466 welding Methods 0.000 claims abstract description 125
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 17
- 239000002184 metal Substances 0.000 claims description 7
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 239000010953 base metal Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 2
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/10—Different kinds of radiation or particles
- G01N2223/101—Different kinds of radiation or particles electromagnetic radiation
- G01N2223/1016—X-ray
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/60—Specific applications or type of materials
- G01N2223/646—Specific applications or type of materials flaws, defects
Abstract
The invention relates to an automatic adjusting device and method for weld defect X-ray detection, and belongs to the field of X-ray detection. The laser angle measuring module is positioned on the same plane with the X-ray flaw detector window, the middle position of the welding seam is determined through the line laser camera, and the axis of the X-ray flaw detector window passes through the middle position of the welding seam through the guide rail sliding module. The 360-degree all-directional rotating module is arranged on the base, any angle rotation of the 360-degree all-directional rotating module is realized through the fixed base, the height adjusting module is connected with the 360-degree all-directional rotating module through the lower adjusting plate, the height of the object placing table of the welding workpiece is adjusted under the action of the electric push rod, and the irradiation angle adjusting module is connected with the height adjusting module through the upper adjusting plate, so that the direction adjustment of the welding seam is realized. The advantages are that: the placing requirement of the workpiece to be detected is effectively reduced. The focal length and the irradiation angle are adjusted through the combination of intelligent sensing and a mechanical structure, and the adjustment speed is high and the precision is high.
Description
Technical Field
The invention relates to the field of X-ray detection, in particular to an automatic adjusting device and method for weld defect X-ray detection.
Background
The welding is used as a main processing technology of metal, is widely applied to the industries of automobile production, ship manufacturing, aerospace and the like, and has serious consequences on the quality of products when the welding seam has defects. The X-ray weld defect detection can directly obtain a weld defect image, and directly obtain the length and width dimensions of the defect, so that the defect is more visual.
In the welding seam X-ray detection process, workpieces with different thicknesses need to use different X-ray flaw detectors, different focal lengths are used, and according to welding seams in different directions, the welding seams and the X-ray irradiation angle are required to be in a vertical state or to be in a certain angle, the manual adjustment speed is low, the required distance and angle cannot be found accurately, and how to realize the adjustment of the focal length and the irradiation angle by a mechanical device is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention aims to provide an automatic adjusting device and method for weld defect X-ray detection, which solve the problems in the prior art. The laser angle measuring module is positioned on the same plane with the X-ray flaw detector window, the middle position of the welding seam is determined through the line laser camera, the axis of the X-ray flaw detector window passes through the middle position of the welding seam through the guide rail sliding module, whether the distances from the X-ray flaw detector window to a welding seam parent metal are equal or not is measured in real time through the laser ranging sensor, and whether the angle of the X-ray flaw detector window relative to the plane of the welding seam is in a vertical state or not is judged. The angle rotation of the workpiece can be realized through the 360-degree omnibearing rotation module, the adjustment of the height of the welded workpiece is realized through the electric push rod, and the adjustment of the X-ray irradiation angle is realized through the irradiation angle adjustment module until the optimal angle is determined, so that the detection and adjustment of the X-rays emitted by the window of the X-ray flaw detector and the surface verticality of the welding seam are met.
The above object of the present invention is achieved by the following technical solutions:
The automatic adjusting device for the X-ray detection of the weld defects comprises a laser angle measuring module, a guide rail sliding module, a control module, a 360-degree omnibearing rotating module, a weld angle adjusting module, a height adjusting module and an irradiation angle adjusting module, wherein the laser angle measuring module is positioned on the same plane with a window of an X-ray flaw detector 1, and measures the distance from the window of the X-ray flaw detector to a weld parent metal in real time; the guide rail sliding module is arranged on the base 10 to realize the relative position adjustment of the welding line and the window of the X-ray flaw detector 1; the control module is arranged in the base 10 and drives the first motor 6, the second motor 15, the first stepping motor 19.1 and the second stepping motor 19.2 to move; the 360-degree omnibearing rotary module is characterized in that a motor II 15 arranged in a base 10 drives a rotary disk 9 to realize 360-degree rotation; the height adjusting module is connected with the upper adjusting plate 7 and the lower adjusting plate 14 through the adjusting rod 8, and realizes the height adjustment under the combined action of the electric push rod 13 and the first, second and third connecting rods 12.1, 12.2 and 12.3; the irradiation angle adjusting module is supported by the lower adjusting plate 14, and drives the welding workpiece placing table 5 to rotate through the first motor 6, so that the irradiation angle is adjusted.
The first laser ranging sensor 17.1 and the second laser ranging sensor 17.2 are symmetrically arranged at two sides of the online laser camera 16 to form a laser angle measurement module, the laser angle measurement module is fixed at the beam part of the supporting table 2, two lower supporting ends of the supporting table 2 are fixed on the first guide rail 18.1 and the second guide rail 18.2 through connecting plates, the laser angle measurement module and a window of the X-ray flaw detector 1 are positioned on the same plane, and the overlapping arrangement of the axes of the online laser camera 16 and the X-ray flaw detector 1 is ensured; the middle position of the welding seam is determined by the length of the broken line section and the broken line point of the linear laser image obtained by the linear laser camera 16, and the first laser ranging sensor 17.1 and the second laser ranging sensor 17.2 respectively measure the distance from the position to the base metal flat plate at two sides of the welding seam.
The first guide rail 18.1, the second guide rail 18.2, the first stepping motor 19.1 and the second stepping motor 19.2 form a guide rail sliding module together, the first guide rail 18.1 and the second guide rail 18.2 are fixed on the base 10, the relative positions of the X-ray flaw detector 1 on the supporting table 2 and the welding seam on the welding workpiece placing table 5 are adjusted through the guide rail sliding module, and the window axis of the X-ray flaw detector 1 passes through the middle position of the welding seam.
The welding line angle adjusting module is as follows: the welding workpiece is fixed on a welding workpiece placing table 5 by a fixing clamp 4, a first motor 6 is locked on the supporting frame 3 in a sliding manner and is connected with the welding workpiece placing table 5 through a rotating rod 11, and the inclination angle of the welding workpiece placing table 5 is controlled; the relative angle between the welding seam on the welding workpiece placing table 5 and the X-ray flaw detector 1 is adjusted through the welding seam angle adjusting module, and when the distances from the positions of the first and second laser ranging sensors 17.1 and 17.2 to the base metal flat plates on two sides of the welding seam are equal, the angle adjustment is achieved.
The 360-degree omnibearing rotary module is as follows: the rotary disk 9 is arranged on the base 10 and is driven by the motor I15 to rotate; the direction of the welding seam on the object placing table 5 of the welding workpiece is adjusted through the 360-degree omnibearing rotary module, so that the direction of the welding seam is parallel to the axis of the X-ray flaw detector 1.
The height adjusting module comprises a supporting frame 3, an upper adjusting plate 7, a plurality of adjusting rods 8, a first connecting rod 12.1, a second connecting rod 12.2, a third connecting rod 12.3, an electric push rod 13 and a lower adjusting plate 14, wherein the supporting frame 3 is fixed on a rotating disc 9, when an inner rod of the electric push rod 13 is in a telescopic state, a first motor 6 can slide up and down on the supporting frame 3, and when the electric push rod 13 is in a static state, the first motor 6 is fixed by an internal clamping mechanism of the supporting frame 3. The upper adjusting plate 7 is connected with the rotary rod 11 and sequentially connected with each adjusting rod 8 through bolts, each adjusting rod 8 is connected with the lower adjusting plate 14 through bolts, the second connecting rod 12.2 is connected with the electric push rod 13, and the second connecting rod 12.2 moves back and forth under the pushing of the electric push rod 13, so that the height adjustment is realized. The end of the electric push rod 13 is fixed on the upper surface of the lower adjusting plate 14, the lower adjusting plate 14 is fixed on the rotary disk 9, and when the inner rod of the electric push rod 13 is in a telescopic state, the connecting rod III 12.3 moves back and forth along the groove of the lower adjusting plate 14.
Another object of the present invention is to provide an automatic adjustment method for detecting weld defects by X-rays, comprising the steps of:
Step 1, placing a welding workpiece: stably placing a welding workpiece on a welding workpiece placing table 5, and enabling the welding seam direction to be consistent with the axis direction of an X-ray flaw detector;
Step 2, after the welding workpiece is placed on the welding workpiece placement table 5, the laser angle measurement module starts to identify the center position of the welding seam and the angle information of the X rays and the surface of the welding seam;
Step 2.1, irradiating the welding seam with a line laser camera 16, wherein the total length of the laser line is Ln=L1n-L2 n, the width of the welding seam is Wn=W1n-W2 n, and driving a 360-degree omnibearing rotary module and a guide rail sliding module to adjust the angle and the position to be L1 n-W1n=L2n-W2 n;
Wherein Ln is the nth laser line, wn is the width of a welding line in the nth laser line, L1n is the leftmost coordinate point of the nth laser line, L2n is the rightmost coordinate point of the nth laser line, W1n is the leftmost coordinate point of the nth welding line, and W2n is the leftmost coordinate point of the nth welding line;
Step 2.2, measuring the base materials from the positions of the first and second laser ranging sensors 17.1 and 17.2 to the two sides of the welding seam, wherein the distances are d1n and d2n respectively, and driving a motor 6 of a welding seam angle adjusting module to ensure that d1n=d2n, and finishing angle adjustment; wherein d1n is the nth measurement distance of the laser ranging sensor, and d2n is the second nth measurement distance of the laser ranging sensor.
The invention has the beneficial effects that: the welding piece is arranged on the device, so that the relative adjustment of the thickness of the welding workpiece and the focal length of the X-ray flaw detector can be realized, the X-ray irradiation direction is ensured to be perpendicular to the surface of the workpiece to be detected, the vertical irradiation of X-rays and welding seams can be realized by adjusting the angle of the object placing table of the welding workpiece, the whole coverage of the X-ray irradiation range in the welding seam detection can be realized, and the device effectively reduces the placing requirement of the workpiece to be detected. The focal length and the irradiation angle are adjusted through the combination of intelligent sensing and a mechanical structure, and the adjustment speed is high and the precision is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and explain the application and together with the description serve to explain the application.
FIG. 1 is a schematic diagram of an automatic adjusting device for weld defect X-ray detection according to the present invention;
FIG. 2 is a top view of a weld;
FIG. 3 is a side view of a weld joint prior to angular adjustment;
FIG. 4 is a side view of an angularly adjusted weld.
In the figure: 1. an X-ray flaw detector; 2. a support table; 3. a motor support; 4.a fixing clamp; 5. a welding workpiece placing table; 6. a first motor; 7. an upper adjusting plate; 8. an adjusting rod; 9. a rotating disc; 10. a base; 11. a rotating rod; 12.1, connecting rod one; 12.2, connecting rod two; 12.3, connecting rod III; 13. an electric push rod; 14.a lower adjusting plate; 15. a second motor; 16. a line laser camera; 17.1, a first laser ranging sensor; 17.2, a second laser ranging sensor; 18.1, a first guide rail; 18.2, a second guide rail; 19.1, a first stepping motor; 19.2, a stepping motor II; 20. and a control module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1 to 4, the adjusting device for detecting the weld defect X-ray comprises a laser angle measuring module, a control module, a guide rail sliding module, a 360-degree omnibearing rotating module, a height adjusting module, an irradiation angle adjusting module and other accessories. The laser angle measuring module is positioned on the same plane with the X-ray flaw detector window, the middle position of the welding line is determined through the line laser camera 16, the axis of the X-ray flaw detector window passes through the middle position of the welding line through the guide rail sliding module, whether the distances from the X-ray flaw detector window to a welding line parent metal are equal or not is measured in real time through the laser ranging sensor, and whether the angle of the X-ray flaw detector window relative to the plane of the welding line is in a vertical state or not is judged. The 360-degree all-directional rotating module is arranged on the base, any angle rotation of the 360-degree all-directional rotating module is realized through the fixed base, the height adjusting module is connected with the 360-degree all-directional rotating module through the lower adjusting plate, the height of the object placing table of the welding workpiece is adjusted under the action of the electric push rod, and the irradiation angle adjusting module is connected with the height adjusting module through the upper adjusting plate, so that the direction adjustment of the welding seam is realized.
Referring to fig. 1, the automatic adjusting device for detecting the weld defect X-ray comprises a laser angle measuring module, a guide rail sliding module, a control module, a 360-degree omnibearing rotating module, a weld angle adjusting module, a height adjusting module and an irradiation angle adjusting module, wherein the laser angle measuring module is positioned on the same plane with a window of an X-ray flaw detector, measures whether the distances from the window of the X-ray flaw detector 1 to a weld parent metal are equal in real time, and judges whether the angle of the window of the X-ray flaw detector 1 relative to the plane of the weld is in a vertical state; the guide rail sliding module is arranged on the base, so that the relative position adjustment of the welding line and the window of the X-ray flaw detector is realized; the control module 20 is arranged in the base 10 and controls the movement of a first motor 6, a second motor 15, a first stepping motor 19.1, a second stepping motor 19.2 and other mechanisms in the whole device on the basis of the data obtained by the laser angle measurement module; the 360-degree omnibearing rotary module is characterized in that a motor II 15 arranged in a base 10 drives a rotary disk 9 to realize 360-degree rotation; the height adjusting module is connected with the upper adjusting plate 7 and the lower adjusting plate 14 through the adjusting rod 8, and realizes the height adjustment under the combined action of the electric push rod 13 and the first, second and third connecting rods 12.1, 12.2 and 12.3; the irradiation angle adjusting module is supported by the lower adjusting plate 14, and drives the welding workpiece placing table 5 to rotate through the first motor 6, so that the irradiation angle is adjusted. Other accessories are composed of a base, a supporting table and the like, so that the flaw detector and the motor are fixed.
The first laser ranging sensor 17.1 and the second laser ranging sensor 17.2 are symmetrically arranged at two sides of the online laser camera 16 to form a laser angle measuring module, the laser angle measuring module is fixed at a beam part of the supporting table 2, two lower supporting ends of the supporting table 2 are fixed on the first guide rail 18.1 and the second guide rail 18.2 through connecting plates, the laser angle measuring module and a window of the X-ray flaw detector 1 are positioned on the same plane, and the axis superposition placement of the online laser camera 16 and the X-ray flaw detector 1 is ensured; the middle position of the welding seam is determined by the length of the broken line section and the broken line point of the linear laser image obtained by the linear laser camera 16, and the first laser ranging sensor 17.1 and the second laser ranging sensor 17.2 respectively measure the distance from the position of the first laser ranging sensor to the base metal flat plate at two sides of the welding seam.
The guide rail sliding module comprises two guide rails I, II 18.1 and 18.2, two stepping motors I and II 19.1 and 19.2, the guide rails I, II and 19.2 are respectively fixed on the base 10 through screws and connecting plates, and the relative positions of the X-ray flaw detector 1 on the supporting table 2 and the welding seam on the welding workpiece placing table 5 are adjusted under the control of the online laser camera 16 and the control module 20, so that the window axis of the X-ray flaw detector 1 passes through the middle position of the welding seam.
The welding seam angle adjusting module comprises a fixing clamp 4, a welding workpiece placing table 5, a first motor 6 and a rotating rod 11, wherein the fixing clamp 4 is used for fixing a welding workpiece on the welding workpiece placing table 5, when an inner rod of an electric push rod 13 does not do telescopic motion and is in a static state, the first motor 6 is clamped and fixed on the support frame 3 and is connected with the welding workpiece placing table 5 through the rotating rod 11, so that the inclination angle of the welding workpiece placing table 5 is controlled; under the control of the first laser ranging sensors, the second laser ranging sensors 17.1 and 17.2 and the control module 20, the relative angle between the welding seam on the welding workpiece placing table 5 and the X-ray flaw detector 1 is adjusted, and when the first laser ranging sensors, the second laser ranging sensors 17.1 and the second laser ranging sensors 17.2 measure that the distances between the base metal plates at two sides of the welding seam are equal, the angle adjustment is achieved.
The 360-degree all-directional rotating module consists of a rotating disc 9, a base 10 and a motor II 15, wherein the rotating disc 9 is arranged on the base 10 and is driven to rotate by the motor II 15, the rotating disc drives the motor II 15 to rotate for a certain angle, and then the 360-degree rotating module rotates for the same angle on the plane of the motor base. The welding seam direction on the object placing table 5 of the welding workpiece is adjusted under the feedback control of the online laser camera 16 and the control module 20, so that the welding seam direction is parallel to the axis of the X-ray flaw detector 1.
The height adjusting module comprises a supporting frame 3, an upper adjusting plate 7, a plurality of adjusting rods 8, a first connecting rod 12.1, a second connecting rod 12.2, a third connecting rod 12.3, an electric push rod 13 and a lower adjusting plate 14, wherein the supporting frame 3 is fixed on a rotating disc 9, when an inner rod of the electric push rod 13 is in a telescopic state, a first motor 6 can slide up and down on the supporting frame 3, and when the electric push rod 13 is in a static state, the first motor 6 is fixed by an internal clamping mechanism of the supporting frame 3. The upper adjusting plate 7 is connected with the rotary rod 11 and sequentially connected with each adjusting rod 8 through bolts, each adjusting rod 8 is connected with the lower adjusting plate 14 through bolts, the second connecting rod 12.2 is connected with the electric push rod 13, and the second connecting rod 12.2 moves back and forth under the pushing of the electric push rod 13, so that the height adjustment is realized. The end of the electric push rod 13 is fixed on the upper surface of the lower adjusting plate 14, the lower adjusting plate 14 is fixed on the rotary disk 9, and when the inner rod of the electric push rod 13 is in a telescopic state, the connecting rod III 12.3 moves back and forth along the groove of the lower adjusting plate 14.
Referring to fig. 1 to 4, the automatic adjustment method for detecting weld defects by using X-rays of the present invention comprises the following steps:
step 1, placing a welding workpiece: the welding workpiece is stably placed on the object placing table 5 of the welding workpiece, and the welding seam direction is consistent with the axis direction of the X-ray flaw detector as much as possible, so that the automatic adjustment time of the device is reduced.
And 2, after the welding workpiece is placed on the welding workpiece placement table 5, the laser angle measurement module starts to identify the center position of the welding seam and the angle information of the X-rays and the surface of the welding seam.
Step 2.1, the line laser camera 16 irradiates the weld joint, the total length of the laser line is ln=l1n-L2 n, wherein the width of the weld joint is wn=w1n-w2n, and the 360-degree omnibearing rotary module and the guide rail sliding module are driven. The specific adjustment is as follows:
When L1m-W1m is more than L2m-W2m and L1k-W1k is more than L2k-W2k, the 360-degree omnibearing rotary module is driven to rotate by an angle delta under the drive of a motor II 15; when L1m-W1m is less than L2m-W2m and L1k-W1k is less than L2k-W2k, the 360-degree omnibearing rotation module is driven to reversely rotate by an angle delta under the drive of a motor II 15.
When all L1n-W1n is more than L2n-W2n, the guide rail sliding module is adjusted to move forward; when all L1n-W1n is less than L2n-W2n, the guide rail sliding module is adjusted to move reversely; finally (L1 n-W1 n) - (L2 n-W2 n) <0.1, and the angle and position adjustment is completed.
Wherein Ln is the nth laser line, wn is the weld width in the nth laser line, L1n is the leftmost coordinate point of the nth laser line, L2n is the rightmost coordinate point of the nth laser line, W1n is the leftmost coordinate point of the nth weld line, W2n is the leftmost coordinate point of the nth weld line, L1m is the leftmost coordinate point of the mth laser line, L2m is the rightmost coordinate point of the mth laser line, W1k is the leftmost coordinate point of the kth weld line, W2k is the leftmost coordinate point of the kth weld line, and m < k.
Step 2.2, measuring parent metals at two sides of a welding line by using two laser ranging sensors I, II, 17.1 and 17.2, wherein the distances are d1n and d2n respectively, driving a motor of a welding line angle adjusting module, when d1n is more than d2n, rotating a motor I6 by an angle theta, comparing d1n with d2n again, and if d1n is more than d2n, continuing rotating a motor I6 by an angle theta until d1n-d2n is less than 0.1, and finishing angle adjustment; when d1n is less than d2n, the motor I6 reversely rotates by an angle theta, d1n and d2n values are compared again, and if d1n is less than d2n, the motor I6 continuously reversely rotates by the angle theta until d1n-d2n is less than 0.1, and the angle adjustment is finished. Wherein d1n is the nth measurement distance of the laser ranging sensor, and d2n is the second nth measurement distance of the laser ranging sensor.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An automatic regulating apparatus for weld defect X-ray detection, which is characterized in that: the device comprises a laser angle measurement module, a guide rail sliding module, a control module, a 360-degree omnibearing rotation module, a welding seam angle adjustment module, a height adjustment module and an irradiation angle adjustment module, wherein the laser angle measurement module is positioned on the same plane with a window of an X-ray flaw detector (1), and measures the distance from the window of the X-ray flaw detector to a welding seam parent metal in real time; the guide rail sliding module is arranged on the base (10) to realize the relative position adjustment of the welding line and the window of the X-ray flaw detector (1); the control module is arranged in the base (10) and controls the first motor (6), the second motor (15), the first stepping motor (19.1) and the second stepping motor (19.2) to move; the 360-degree omnibearing rotary module is characterized in that a motor II (15) arranged in a base (10) drives a rotary disk (9) to realize 360-degree rotation; the height adjusting module is connected with the upper adjusting plate (7) and the lower adjusting plate (14) through an adjusting rod (8), and realizes the height adjustment under the combined action of the electric push rod (13) and the first, second and third connecting rods (12.1, 12.2 and 12.3); the irradiation angle adjusting module is supported by a lower adjusting plate (14), and drives a welding workpiece placing table (5) to rotate through a motor I (6) so as to adjust the irradiation angle;
the first laser ranging sensor (17.1) and the second laser ranging sensor (17.2) are symmetrically arranged at two sides of the online laser camera (16) to form a laser angle measurement module, the laser angle measurement module is fixed at a beam part of the supporting table (2), two lower supporting ends of the supporting table (2) are fixed on the first guide rail (18.1) and the second guide rail (18.2) through connecting plates, the laser angle measurement module and a window of the X-ray flaw detector (1) are positioned on the same plane, and the online laser camera (16) and an axis of the X-ray flaw detector (1) are superposed; determining the middle position of a welding line through the length of a broken line section and a broken line point of a linear laser image obtained by a linear laser camera (16), and respectively measuring the distance from the position of a first laser ranging sensor (17.1) and the distance from the position of a second laser ranging sensor (17.2) to base metal plates at two sides of the welding line;
The first guide rail (18.1), the second guide rail (18.2), the first stepping motor (19.1) and the second stepping motor (19.2) form a guide rail sliding module together, the first guide rail (18.1) and the second guide rail (18.2) are fixed on the base (10), the relative positions of the X-ray flaw detector (1) on the supporting table (2) and the welding seam on the welding workpiece placing table (5) are adjusted through the guide rail sliding module, and the window axis of the X-ray flaw detector (1) passes through the middle position of the welding seam;
The welding line angle adjusting module is as follows: the welding workpiece is fixed on a welding workpiece placing table (5) by a fixing clamp (4), a first motor (6) is locked on the supporting frame (3) in a sliding manner and is connected with the welding workpiece placing table (5) through a rotating rod (11), and the inclination angle of the welding workpiece placing table (5) is controlled; the relative angle between the welding seam on the object placing table (5) of the welding workpiece and the X-ray flaw detector (1) is adjusted through the welding seam angle adjusting module, and when the distances from the positions of the first and second laser ranging sensors (17.1 and 17.2) to the base metal plates at two sides of the welding seam are equal, the angle adjustment is achieved.
2. The automatic adjustment device for weld defect X-ray detection according to claim 1, wherein: the 360-degree omnibearing rotary module is as follows: the rotary disk (9) is arranged on the base (10) and is driven by the motor II (15) to rotate; the direction of a welding seam on a welding workpiece placing table (5) is adjusted through a 360-degree omnibearing rotating module, so that the direction of the welding seam is parallel to the axis of the X-ray flaw detector (1).
3. The automatic adjustment device for weld defect X-ray detection according to claim 1, wherein: the height adjusting module is as follows: the support frame (3) is fixed on the rotary disk (9), when the inner rod of the electric push rod (13) is in a telescopic state, the motor I (6) slides up and down on the support frame (3), and when the electric push rod (13) is in a static state, the motor I (6) is fixed by an internal clamping mechanism of the support frame (3); the upper adjusting plate (7) is connected with the rotary rod (11) and sequentially connected with each adjusting rod (8) through bolts, each adjusting rod (8) is connected with the lower adjusting plate (14) through bolts, the second connecting rod (12.2) is connected with the electric push rod (13), and the second connecting rod (12.2) moves back and forth under the pushing of the electric push rod (13) to realize height adjustment; the end part of the electric push rod (13) is fixed on the lower adjusting plate (14), the lower adjusting plate (14) is fixed on the rotary disk (9), and when the inner rod of the electric push rod (13) is in a telescopic state, the connecting rod III (12.3) moves back and forth along the groove of the lower adjusting plate (14).
4. An automatic adjustment method of weld defect X-ray detection by using the automatic adjustment device of weld defect X-ray detection according to any one of claims 1 to 3, comprising the steps of:
Step1, placing a welding workpiece: stably placing a welding workpiece on a welding workpiece placing table (5), and enabling the welding seam direction to be consistent with the X-ray flaw detector axis direction;
step 2, after the welding workpiece is placed on a welding workpiece placing table (5), a laser angle measuring module starts to identify the center position of a welding seam and angle information of X rays and the surface of the welding seam;
Step 2.1, irradiating a welding seam by a line laser camera (16), wherein the total length of a laser line is Ln=L1n-L2 n, the width of the welding seam is Wn=W1n-W2 n, and driving a 360-degree omnibearing rotary module and a guide rail sliding module to adjust the angle and the position to be L1 n-W1n=L2n-W2 n;
Wherein Ln is the nth laser line, wn is the width of a welding line in the nth laser line, L1n is the leftmost coordinate point of the nth laser line, L2n is the rightmost coordinate point of the nth laser line, W1n is the leftmost coordinate point of the nth welding line, and W2n is the leftmost coordinate point of the nth welding line;
Step 2.2, measuring the base materials from the positions of the first and second laser ranging sensors (17.1 and 17.2) to the two sides of the welding seam, wherein the distances are d1n and d2n respectively, and driving a motor I (6) of the welding seam angle adjusting module to ensure that d1n=d2n, and finishing angle adjustment; wherein d1n is the nth measurement distance of the laser ranging sensor, and d2n is the second nth measurement distance of the laser ranging sensor.
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