CN1253290A - Automatically moving X-ray flaw detector for welded seam of ship tank - Google Patents
Automatically moving X-ray flaw detector for welded seam of ship tank Download PDFInfo
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- CN1253290A CN1253290A CN 98110551 CN98110551A CN1253290A CN 1253290 A CN1253290 A CN 1253290A CN 98110551 CN98110551 CN 98110551 CN 98110551 A CN98110551 A CN 98110551A CN 1253290 A CN1253290 A CN 1253290A
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Abstract
An automatically moving X-ray flaw detector for welded seam of ship tank is composed of four independent parts including self-adsorptive moving flaw detector, remote console, rough-locating signal transmitter and auxiliary climb-up guide bridge. The main flaw detector can move forward or backward or turn left or right under the control of remote console to search welded seams based on adsorption-type chain climbing mechanism of permanent-magnet caterpillar belts on soft-connected movable frame, and can automatically take photo. The productivity can be increased by 10 times.
Description
The present invention relates to χ ray light fixture, the χ ray equipment of χ ray tube and used circuit thereof are arranged, particularly is a kind of ship jar weld seam χ ray inspection machine of creeping automatically.
The weldquality of boats and ships, storage tank is the key factor that is related to its safe operation and serviceable life.For many years, in boats and ships, storage tank were built, the most frequently used seam inspection equipment was the χ ray inspection machine.This type of defect-detecting equipment is existing multiple different series and model both at home and abroad.Its common feature is non-self-propelled, and the flaw detection process is artificial direct control entirely.Normally first scaffolding, the flaw detection operating personnel are delivered to the commissure that needs flaw detection with crane bracketplant or electric lift, on wooden partition, weld a support again, be placed in the χ ray inspection machine on the support and adjust focal length, operating personnel return ground, finish the seam inspection film making by cable operated χ X-ray machine X.Then, with said method operating personnel are delivered to the seam inspection place again, take off defectoscope, remove the special stand that welds, after operating personnel got back to ground, mobile again framing scaffold, crane or electric up-down frame descended seam inspection one.This type of defectoscope and described tradition flaw detection method of operating thereof, because of defectoscope needs artificial moving, so need utility appliance and personnel more, operating process is loaded down with trivial details, and work efficiency is very low; Because operating personnel's direct control χ ray inspection machine, the protection of old friend's body is difficulty; The potential fault of utility appliance also can cause personal injury, and unsafe factor is more, and accident happens occasionally.Utilize " Chinese patent CD " (1985-1998.6) to retrieve through retrieval department for information about, with the online information retrieval of Shandong Province information center of information institute, utilize " WPI Derwent world patent 20 years retrieval dish (1987-1996) and database retrieval system ", " PA (american petroleum digest) database and searching system " (1987-1996) to retrieve, all do not find to replace the defect-detecting equipment of creeping automatically of above-mentioned traditional operation method, do not find property document related to the present invention.
Shortcoming and defect part in view of above-mentioned prior art, purpose of the present invention just is to provide a kind of ship jar weld seam χ ray inspection machine of creeping automatically, it can be adsorbed on the wooden partition of ship or tank body itself, pass through wireless remote control, before and after realizing automatically walking and about turn automatically, automatically seek all flaw detection working routines such as weld seam, location, photograph film making, thereby overcome above-mentioned all shortcomings of original χ radiographic inspection equipment and traditional operation method thereof.
Above-mentioned purpose of the present invention is owing to following technical proposals realizes:
This machine comprises automatic absorption creep flaw detection main frame (abbreviation main frame), remote control station, coarse positioning signal projector and auxiliary four independent sectors of access bridge that climb.The flaw detection main frame mainly comprises hinge formula be flexible coupling movable machine frame, permanent magnetism crawler belt absorption type chain drive climbing mechanism, driving mechanism, spring hold-down mechanism, special χ ray tube and high voltage package, high pressure starting pilot lamp, signal antenna, fine positioning camera system, PLC industrial control unit (ICU) able to programme, coarse positioning signal receiver, χ radiographic source controller, drive motor controller, remote signal receiving circuit, χ radiographic source high-voltage start-up signal radiating circuit and supply socket etc.Remote control station mainly comprises housing, panel, walking operating grip, high pressure start-stop button, latchs time button, various pilot lamp, line voltmeter, signal antenna, time shutter controller, remote signal radiating circuit, high-voltage start-up signal receiving circuit, fine positioning picture monitor and alternating current steady voltage plug.The coarse positioning signal projector mainly comprises low frequency generator, support and fixed magnet.The auxiliary access bridge that climbs mainly comprises trolley, access bridge and cable drum.Each several part mutual alignment relation is, the absorption hinge formula of the flaw detection main frame movable machine frame that is flexible coupling of creeping is divided into forebay and afer bay certainly, and forward and backward frame is connected as a single entity by hinge, and is the swing of center easy on and off with the hinge.Permanent magnetism crawler belt absorption type chain drive climbing mechanism is equipped with on the frame both sides, is subjected to left front of forebay and right back two groups of drive mechanism of afer bay.Each cover about the spring hold-down mechanism, its compression spring is vertically across forward and backward frame hinged place, is screwed by forward and backward bearing and support to be installed on the forward and backward frame.Special χ ray tube and high voltage package thereof are installed above the forebay, constitute the χ radiographic source, high pressure starting pilot lamp and signal antenna are installed thereafter.The fine positioning camera system is installed in χ ray tube below.The forebay front bottom end is installed the coarse positioning signal receiver.PLC industrial control unit (ICU) able to programme, χ radiographic source controller, drive motor controller, remote signal receiving circuit, χ radiographic source high-voltage start-up signal radiating circuit and supply socket etc. are housed above the afer bay.Walking operating grip, high pressure start-stop button, various pilot lamp, line voltmeter, signal antenna are housed on the remote control station panel, controller between the exposure light time, latch time button etc.Remote signal radiating circuit and other special circuit, fine positioning picture monitor and alternating current steady voltage plug etc. are housed in the remote control station housing.
Between creeping main frame and remote control station, absorption links to each other by the Alternating Current Power Supply cable.Remote control station is fixedly placed in the trolley rear portion of the auxiliary access bridge that climbs.Before flaw detection work began, main frame placed the trolley front portion temporarily.
Two endless roller chain bars about the permanent magnetism crawler belt absorption type chain drive climbing mechanism of above-mentioned main frame comprises are at the peripheral uniform plurality of permanent magnets piece of fixing of roller chain.The subchain that rolls left bar interior forward end has drive sprocket, and the rear end has by movable sprocket; There is drive sprocket the inner rear end of right roller chain, and front end has by movable sprocket; There is stretching pulley at the roller chain middle part.This climbing mechanism is fixed by bolts on the mainframe of front and back by the bearing seat of each sprocket shaft.
The driving mechanism of above-mentioned main frame is made up of servomotor, motor cabinet, harmonic speed reducer, shaft coupling, active and passive sprocket shaft, bearing, bearing seat and sprocket wheel.This driving mechanism is fixed by bolts on the mainframe by motor cabinet and bearing seat etc.
χ ray tube that above-mentioned main frame is special and high voltage package thereof are formed the χ radiographic source.The two is a decentraction
Shape structure, top are the less χ ray tube of quality, and the bottom is the bigger high voltage package of quality, and it is fixed on the forebay with clip.Its center of gravity has increased stability the end of than.
PLC industrial control unit (ICU) able to programme on the above-mentioned main frame afer bay is furnished with 230 control program instructions with the trapezoid figure language establishment, and comprises interface expanded circuit and pilot relay.
Remote signal receiving circuit on the above-mentioned main frame afer bay is made up of signal antenna, local oscillation circuit, mixting circuit, scrambler, code translator and multichannel output signal amplifier.Form data-signal at last and deliver to PLC industrial control unit (ICU) able to programme and χ radiographic source controller.
The remote signal radiating circuit is made up of local oscillation circuit, scrambler, code translator, operating switch, button, frequency synthesis modulator, power amplifier radiating circuit and signal antenna in the above-mentioned remote control station.
Above-mentioned coarse positioning signal projector is made up of RC oscillatory circuit, 23.5HZ signal mu balanced circuit, 1: 1 dutycycle radiating circuit and transmitting probe, temporarily anchors to by near the flaw detection weld seam with magnet.Ultra-low frequency signal passes and is received by the receiving transducer of main frame front end lower curtate behind the flaw detection workpiece.
The above-mentioned auxiliary access bridge that climbs comprises trolley, access bridge and cable drum.Access bridge is made up of two folding track bridge plates, bearing pin and supports.Cable drum places the dolly lower curtate.Track bridge plate rear end links to each other with the trolley frame front end with bearing pin, and track bridge plate leading portion is got up by stent support and forms certain slope.Track bridge plate upper surface some transverse steel bars of burn-oning are to increase the friction force that main frame climbs.
The present invention is owing to adopted technique scheme, and its major advantage is:
1. owing to adopt creep automatically flaw detection main frame and telecontrol engineering, be completely free of traditional ship jar seam inspection process.Operating personnel on the ground an operating and remote controlling platform handle, button, and observe monitor and various pilot lamp simultaneously, can finish the film making of ship jar seam inspection.Automatization level is higher, improves 10 times of work efficiency than aforementioned conventional defects detecting technology method, has saved the utility appliance operating personnel, and favourable and personal protection and device security are the great technical progresses of ship jar seam inspection technical field.
2. because main frame has adopted permanent magnetism crawler belt absorption type chain drive climbing mechanism, complete machine can be adsorbed on by the flaw detection workpiece vertically, on level or the inclined surface, and can advance, retreat by steering order or left and right turning is freely creeped.
Since frame be divided into before and after two parts, middle adopt the hinge formula mode that is flexible coupling, and the spring hold-down mechanism arranged, so when detecting a flaw on the sphere that certain radian is arranged or the face of cylinder, the main frame rear and front end still can be close to surface of the work, keeps enough big absorption affinity.
4. special
Shape χ radiographic source has not only reduced machine gravity, puts in order to have added stability, and makes complete machine structure reasonable more, compact and attractive in appearance.
5. owing to adopt localization method thick, that fine positioning combines, make main frame seek the weld seam location more rapidly accurately.
6. operating personnel not only can finish the seam inspection film making by remote host on the ground automatically, and can radiogenic exposure voltage of χ and time shutter be set remote control, and the data interlock after will being provided with or changing.
Since main frame with 100 meters long cable power supplies, and all be provided with χ radiographic source high pressure on main frame and the ground remote control platform and start bright red pilot lamp, operating personnel in χ ray high-level radiation district beyond operation, still can the radiogenic duty of intuitive judgment χ, it is more reliable to work, and the person is safer.
8. owing to prepared a simple and practical auxiliary access bridge and a trolley of climbing, main frame is positioned over the dolly front portion temporarily before the flaw detection beginning, and remote control station can be placed in the dolly rear portion always.Access bridge can become holding state by folded state, and main frame can be climbed up upright surface of the work by telecommand voluntarily by the track bridge plate of access bridge, and is very flexible, no longer needs other utility appliance.
Accompanying drawing 1 is a flaw detection host machine integral texture edge synoptic diagram of the present invention.
Accompanying drawing 2 is flaw detection host machine integral structure schematic top plan view of the present invention.
Accompanying drawing 3 is remote control station panel synoptic diagram of the present invention.
Accompanying drawing 4 is thick, the fine positioning principle of work synoptic diagram of defectoscope searching weld seam.
Accompanying drawing 5 is that the auxiliary access bridge that climbs of defectoscope utilization is to the upright workpiece wooden partition synoptic diagram of creeping.
Accompanying drawing 6 is the remote signal receiving circuit theory diagrams on the main frame.
Accompanying drawing 7 is the remote signal radiating circuit theory diagrams on the remote control station.
Accompanying drawing 8 is coarse positioning schematic block circuit diagram.
Accompanying drawing 9 is operation and course of work block diagrams of defectoscope.
In conjunction with the accompanying drawings embodiments of the invention are described below:
Accompanying drawing 1, in 2, the 1st, χ ray tube, the 2nd, fine positioning camera, the 3rd, main frame outer cover, the 4th, high voltage package clip, the 5th, high voltage package, the 6th, frame holddown spring, the 7th, signal antenna, the 8th, HT pilot, the 9th, spring abutment and support, the 10th, frame connected body hinge, the 11st, front and back frame connected body, the 12nd, roller chain, the 13rd, χ radiographic source controller, the 14th, permanent magnetic iron block, the 15th, the passive sprocket shaft bearing in back, the 16th, preceding drive sprocket bearing seat, the 17th, coarse positioning probe receiver, the 18th, chain tension gear, the 19th, preceding passive sprocket shaft bearing, the 20th, forebay, the 21st, afer bay, the 22nd, back drive sprocket bearing seat, the 23rd, back-coupling, the 24th, the rear motor seat, the 25th, back harmonic speed reducer, the 26th, back servomotor, the 27th, preceding shaft coupling, the 28th, the front motor seat, the 29th, preceding servomotor, the 30th, PLC industrial control unit (ICU) able to programme, the 31st, high-voltage start-up signal radiating circuit and remote signal receiving circuit etc.
In the accompanying drawing 3, the 32nd, fine positioning image receiving antenna, the 33rd, remote signal emitting antenna, the 34th, high pressure starting pilot lamp, the 35th, line voltmeter, the 36th, power light, the 37th, high pressure stop button, the 38th, high pressure start button, the 39th, walking operating grip, the 40th, time shutter controller, the 41st, time shutter latch button.
In the accompanying drawing 4, the 42nd, coarse positioning signal projector, the 43rd, coarse positioning signal projector support, the 44th, coarse positioning signal projector fixed magnet.The 45th, from adsorbing the defectoscope of creeping, the 1st, the χ radiographic source on the defectoscope, the 2nd, the fine positioning camera on the defectoscope, the 17th, the coarse positioning probe receiver on the defectoscope.A is by the workpiece of detecting a flaw, and B is by the weld seam of detecting a flaw, and C is a photographic negative.
In the accompanying drawing 5, the 47th, trolley handlebar, the 48th, feed cable dish, the 49th, wheel, the 50th, vehicle frame, the 51st, back bridge plate, the 52nd, bearing pin, the 53rd, preceding bridge plate, the 54th, access bridge support, the 55th, feed cable.The 45th, by access bridge to the upright workpiece wallboard capable defectoscope of climbing, the 46th, be placed in the remote control station at trolley rear portion.A is upright workpiece wallboard.
Of the present invention as can be seen by accompanying drawing 1,2 from the one-piece construction of adsorbing the flaw detection main frame of creeping, each ingredient and mutual alignment relation thereof.By the parts on the accompanying drawing 3 remote control station panel of the present invention as can be seen, embody the composition and the function of remote control station.By accompanying drawing 4 find out that defectoscope seeks that weld seam is thick, the required special-purpose member of fine positioning and principle of work.Find out auxiliary each ingredient of access bridge and the mutual alignment relation thereof of climbing by accompanying drawing 5, it can also be seen that main frame is placed in states such as trolley rear portion by the access bridge plate to climb process and remote control station of upright workpiece.
By accompanying drawing 6,7 forming and the each several part annexation of host signal receiving circuit and remote signal radiating circuit as can be seen not only, and its course of work principle as can be seen.Contrasting as can be seen defectoscope by accompanying drawing 8 and accompanying drawing 4 seeks weld seam coarse positioning circuit and forms and course of work principle.
By the annexation of accompanying drawing 9 main frame both of the present invention as can be seen and remote control station main circuit, the remote control flaw detection course of work as can be seen again.
The flaw detection operation of the present invention and the course of work are:
As shown in Figure 4, at first put photographic negative C well, near photographic negative C, coarse positioning signal projector 42 is temporarily anchored to by the reverse side of flaw detection workpiece A again with magnet 44 at the reverse side of workpiece A by flaw detection weld seam B.
As shown in Figure 5, with trolley flaw detection main frame 45 and remote control station 46 are pushed over by near flaw detection hull or the storage tank, the dolly access bridge that climbs in front is placed, it is firm to support, and decontrols the cable 55 of suitable length simultaneously.
Walking handle 39 in the operation accompanying drawing 3 on remote control station 46 panels makes flaw detection main frame 45 slowly climb and be adsorbed onto automatically on the upright workpiece A along the back bridge plate 51 among Fig. 5 and preceding bridge plate 53.Pack up the access bridge that climbs then, the dolly of drawing back, and meanwhile decontrol cable 55, till safe distance.
According to thickness of workpiece, steel and flaw detection requirement are provided with or revise parameters such as time shutter on remote control station, and this parameter remote-control transmitting to the χ radiographic source controller on the main frame, and is locked.
As shown in Figure 9, operating personnel send the command signal of walking to front, rear, left and right by the walking operating grip on the remote control station to the remote signal radiating circuit.Through the processing of remote signal radiating circuit and by antenna this command signal is launched.After remote signal receiving circuit on the main frame is received this command signal and handled, again this signal is delivered to PLC industrial control unit (ICU) able to programme, gone the controlling and driving motor that main frame is walked to front, rear, left and right, carry out coarse positioning and look for weld seam by PLC.When to the front, rear, left and right straight line moving, drive motor controller makes former and later two drive motor turn to identical and keeps synchronously; When the left and right turning of needs, then make former and later two drive motor switched in opposite, very flexible.When the coarse positioning probe receiver 17 of main frame front bottom end arrives coarse positioning signal projector 42 places that pre-set, receive the coarse positioning signal, again with this signal Processing and deliver to PLC and go main control system to stop.At this moment,, main frame is moved among a small circle, the radiogenic ray window of χ on the main frame is aimed at by the flaw detection weld seam Yi Bian handle the walking operating grip Yi Bian observe the fine positioning monitor, and the location of stopping.Press the high pressure start button on the remote control station, send the high pressure starting order, launch through the processing of remote signal radiating circuit and by antenna.After signal receiving circuit on the main frame is received this command signal and handled, again this signal is delivered to PLC industrial control unit (ICU) able to programme, gone to control χ radiographic source controller energized, play the dynamic high-pressure film making.Simultaneously, χ radiographic source controller feeds back to PLC with the high pressure detection signal.If high pressure starts successfully, after PLC receives this signal, connect the high pressure starting pilot lamp on the main frame on the one hand, connect the high-voltage start-up signal radiating circuit on the main frame on the other hand, by the antenna on the main frame this signal is launched.Remote signal receiving circuit on the remote control station receives that the high pressure of promptly connecting on the remote control station behind this signal starts pilot lamp.After finishing film making, promptly close χ radiographic source power supply and high pressure starting pilot lamp automatically by the time shutter.Also can send the high pressure halt instruction and directly close χ radiographic source power supply, thus the high pressure of emergency cut-off χ ray.
After finishing the film making of one weld seam, post egative film and fix the coarse positioning signal projector at following one back of weld again, continuation is by the above-mentioned steps flaw detection of making film.
When χ radiographic source or power supply break down, when not finished the dynamic high-pressure film making, PLC industrial control unit (ICU) able to programme can be received fault-signal, and main control system returns, and the workpiece of backing off carries out fault handling.
Claims (9)
1. ship jar weld seam χ ray inspection machine of creeping automatically, comprise from adsorbing the flaw detection main frame of creeping, remote control station, coarse positioning signal projector and auxiliary four independent sectors of access bridge that climb, the main frame that it is characterized in that detecting a flaw mainly comprises the hinge formula movable machine frame that is flexible coupling, permanent magnetism crawler belt absorption type chain drive climbing mechanism, driving mechanism, the spring hold-down mechanism, special χ ray tube and high voltage package thereof, high pressure starting pilot lamp, signal antenna, the fine positioning camera system, PLC industrial control unit (ICU) able to programme, the coarse positioning signal receiver, χ radiographic source controller, drive motor controller, the remote signal receiving circuit, χ radiographic source high-voltage start-up signal radiating circuit and supply socket etc., remote control station mainly comprises housing, panel, the walking operating grip, high pressure start-stop button, latch time button, various pilot lamp, line voltmeter, signal antenna, the time shutter controller, the remote signal radiating circuit, the high-voltage start-up signal receiving circuit, fine positioning picture monitor and alternating current steady voltage plug, the coarse positioning signal projector mainly comprises low frequency generator, support and fixed magnet, the auxiliary access bridge that climbs mainly comprises trolley, access bridge and cable drum; Each several part mutual alignment relation is, divide forebay and afer bay from the creep hinge formula movable machine frame that is flexible coupling of flaw detection main frame of absorption, before, afer bay is connected as a single entity by hinge, and take the hinge as the swing of center easy on and off, permanent magnetism crawler belt absorption type chain drive climbing mechanism is equipped with on the frame both sides, be subjected to left front of forebay and right back two groups of drive mechanism of afer bay, each cover about the spring hold-down mechanism, its compression spring is vertically across preceding, the afer bay hinged place, by preceding, before rear support and support are screwed and are installed in, on the afer bay, special χ ray tube and high voltage package thereof are installed above the forebay, constitute the χ radiographic source, high pressure starting pilot lamp and signal antenna are installed thereafter, the fine positioning camera system is installed in χ ray tube below, the forebay front bottom end is installed the coarse positioning signal receiver, PLC industrial control unit (ICU) able to programme is housed above the afer bay, χ radiographic source controller, drive motor controller, the remote signal receiving circuit, χ radiographic source high-voltage start-up signal radiating circuit and supply socket etc., the walking operating grip is housed on the remote control station panel, high pressure start-stop button, various pilot lamp, line voltmeter, signal antenna, the time shutter controller, latch time button etc., remote signal radiating circuit and other special circuit are housed in the remote control station housing, fine positioning picture monitor and alternating current steady voltage plug etc.
2. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, two endless roller chain bars about the permanent magnetism crawler belt absorption type chain drive climbing mechanism that it is characterized in that main frame comprises, at the fixing some permanent magnetic iron blocks of the peripheral all portions of roller chain, the subchain that rolls left bar interior forward end has drive sprocket, the rear end has by movable sprocket, there is drive sprocket the inner rear end of right roller chain, front end has by movable sprocket, there is stretching pulley at the roller chain middle part, and this climbing mechanism is fixed on the forward and backward mainframe with set bolt by the bearing seat of each sprocket shaft.
3. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, the driving mechanism that it is characterized in that main frame is made up of servomotor, motor cabinet, harmonic speed reducer, shaft coupling, active and passive sprocket shaft, bearing, bearing seat and sprocket wheel, and this driving mechanism is fixed by bolts on the mainframe by motor cabinet and bearing seat etc.
4. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically is characterized in that χ ray tube and high voltage package thereof that main frame is special formed the χ radiographic source, and the two is a decentraction
Shape structure, top are the less χ ray tube of quality, and the bottom is the bigger high voltage package of quality, and it is fixed on the forebay with clip.
5. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, it is characterized in that the PLC industrial control unit (ICU) able to programme on the main frame afer bay, be furnished with 230 control program instructions, and comprise interface expanded circuit and pilot relay with the trapezoid figure language establishment.
6. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, it is characterized in that the remote signal receiving circuit on the main frame afer bay is made up of signal antenna, local oscillation circuit, mixting circuit, scrambler, code translator and multichannel output signal amplifier, form data-signal at last and deliver to PLC industrial control unit (ICU) able to programme and χ radiographic source controller.
7. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically is characterized in that the remote signal radiating circuit is made up of local oscillation circuit, scrambler, code translator, operating switch, button, frequency synthesis modulator, power amplifier radiating circuit and signal antenna in the remote control station.
8. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, it is characterized in that the coarse positioning signal projector is made up of RC oscillatory circuit, 23.5HZ signal mu balanced circuit, 1: 1 dutycycle radiating circuit and transmitting probe, temporarily anchor to by near the flaw detection weld seam with magnet.
9. the ship jar weld seam according to claim 1 χ ray inspection machine of creeping automatically, it is characterized in that the auxiliary access bridge that climbs comprises trolley, access bridge and cable, access bridge is made up of two folding track bridge plates, bearing pin and supports, cable drum places the dolly bottom, track bridge plate rear end links to each other with the trolley frame front end with bearing pin, track bridge plate leading portion is got up by stent support and becomes certain slope, track bridge plate upper surface some transverse steel bars of burn-oning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98110551 CN1253290A (en) | 1998-11-05 | 1998-11-05 | Automatically moving X-ray flaw detector for welded seam of ship tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98110551 CN1253290A (en) | 1998-11-05 | 1998-11-05 | Automatically moving X-ray flaw detector for welded seam of ship tank |
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| Publication Number | Publication Date |
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| CN1253290A true CN1253290A (en) | 2000-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98110551 Pending CN1253290A (en) | 1998-11-05 | 1998-11-05 | Automatically moving X-ray flaw detector for welded seam of ship tank |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN103616874A (en) * | 2013-11-28 | 2014-03-05 | 云南电力试验研究院（集团）有限公司电力研究院 | Remote operation control device of X-ray machine |
| CN105301020A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Digital flat panel ray detection ray source end robot based on Mecanum wheels |
| CN105699401A (en) * | 2016-03-22 | 2016-06-22 | 杭州惠威无损探伤设备有限公司 | X-ray flaw detection machine with bidirectional circuit switch |
| CN105710858A (en) * | 2016-04-22 | 2016-06-29 | 南京友智科技有限公司 | Intelligent environment-friendly comparison robot |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
-
1998
- 1998-11-05 CN CN 98110551 patent/CN1253290A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN101887037B (en) * | 2010-04-27 | 2011-12-14 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN103616874A (en) * | 2013-11-28 | 2014-03-05 | 云南电力试验研究院（集团）有限公司电力研究院 | Remote operation control device of X-ray machine |
| CN103616874B (en) * | 2013-11-28 | 2016-03-16 | 云南电力试验研究院（集团）有限公司电力研究院 | A kind of remote operation control device of X-ray machine |
| CN105301020A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Digital flat panel ray detection ray source end robot based on Mecanum wheels |
| CN105699401A (en) * | 2016-03-22 | 2016-06-22 | 杭州惠威无损探伤设备有限公司 | X-ray flaw detection machine with bidirectional circuit switch |
| CN105710858A (en) * | 2016-04-22 | 2016-06-29 | 南京友智科技有限公司 | Intelligent environment-friendly comparison robot |
| CN105710858B (en) * | 2016-04-22 | 2018-02-16 | 南京友智科技有限公司 | Intelligent environment protection compares robot |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
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