CN105301020B - Radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns - Google Patents

Abstract

The present invention provides a ray source end robot based on a Mecanum wheel for digital flat-panel ray detection, including a vehicle frame 1, a Mecanum wheel 1, a servo motor 1, a front tracking sensor 1, a rear tracking sensor 1, an X-ray source, and a permanent magnet Magnet one and motion control box one, motion control box one is arranged on the vehicle frame one, front tracking sensor one is arranged on the front end of vehicle frame one, rear tracking sensor one is arranged on the rear end of vehicle frame one, vehicle frame one An X-ray source is provided in the middle, a Mecanum wheel 1 is respectively provided on both sides of the vehicle frame 1, a servo motor 1 is connected to a motion control box 1, and a permanent magnet 1 is respectively provided on both sides of the bottom of the vehicle frame 1. This kind of detection robot can move in all directions, that is, in addition to realizing forward and backward, lateral movement, and turning in place, it can also realize rotational movement around any point, especially in large-scale applications such as power plant boilers, spherical tanks, and vertical storage tanks. In special pressure-bearing equipment, the flexibility of the robot to detect welds on the curved surface of the equipment can be greatly improved.

Description

Radiation source robot for digital flat panel ray detection based on Mecanum wheel

technical field

The invention relates to a ray source end robot for digital flat-panel ray detection based on a Mecanum wheel.

Background technique

my country is a big country in the manufacture of pressure-bearing special equipment, and the number of pressure-bearing special equipment manufacturing ranks first in the world. Pressure-bearing special equipment is the basic equipment of industry. Petrochemical, electric power, aerospace and other industries, as well as various fields of national defense and people's livelihood require various pressure-bearing special equipment. It is of strategic significance to improve the international competitiveness, manufacturing capacity and product quality of my country's pressure-bearing special equipment.

Non-destructive testing is a key means to check the quality of pressure-bearing special equipment manufacturing, and it is also a bottleneck restricting production capacity. At present, in the manufacture of special pressure equipment in China, film radiography is used for 70% of non-destructive testing of welds. This method has a long detection period, low efficiency, difficulty in image storage and reproduction, and consumes a large amount of oil and silver resources, and also produces darkroom waste liquid to pollute the environment, so it is urgently needed to be improved and improved.

Digital flat panel radiography is a new non-destructive testing technology developed in the past ten years. It has the advantages of fast detection speed, high efficiency, high sensitivity, convenient image storage, copying and calling, energy saving and environmental protection, etc. However, since the digital flat-panel detector of digital flat-panel radiography cannot be attached to the inner wall of the container like a film, this technology cannot be applied in the inspection of medium-to-large-diameter container welds by single-wall transillumination. At present, only double-wall can be used. The transillumination method is used to detect the weld seams of pipes and gas cylinders with a diameter of less than 1m.

In recent years, the number of special equipment has been increasing rapidly. This poses new challenges to ensure high-quality, high-efficiency, and high-level inspection and testing of special equipment. At present, there is a gap in the automated digital ray inspection process equipment for large-scale spherical tanks, vertical storage tanks and other in-service pressure-bearing special equipment at home and abroad, and the existing inspection robots are relatively insufficient in flexibility for weld inspection on equipment curved surfaces. need.

For example, the detection robot disclosed in the patent No. ZL200510018933.4 cannot detect large spherical tanks and vertical storage tanks because they cannot be positioned on the object to be detected.

For example, the X-ray detection robot for storage tank welds disclosed in the application number 201410005169.6 can only move horizontally and vertically, and cannot move or rotate in any direction. position.

Pressure-bearing special equipment involves public safety, has high quality requirements, and needs advanced non-destructive testing technology to escort. We should improve the manufacturing capacity and quality level of pressure-bearing special equipment, and at the same time improve the level of non-destructive testing technology in my country.

Contents of the invention

The purpose of the present invention is to provide a ray source robot based on Mecanum wheel-based digital flat-panel ray detection to solve the problem of automatic digital ray detection process equipment for large spherical tanks, vertical storage tanks and other in-service pressure equipment in the prior art. blank, and the existing detection robots are relatively inflexible to the weld detection on the curved surface of the equipment, and cannot meet the demand and other problems.

Technical solution of the present invention is:

A ray source robot for digital flat-panel ray detection based on Mecanum wheels, including a frame, a Mecanum wheel, a servo motor, a front tracking sensor, a rear tracking sensor, an X-ray source, a permanent magnet and a motion control box, The motion control box is set on the frame, the front tracking sensor is set at the front end of the frame, the rear tracking sensor is set at the rear end of the frame, the X-ray source is set in the middle of the frame, and the two sides of the frame are respectively set The mecanum wheel is connected with a servo motor, the servo motor is connected with the motion control box, and permanent magnets are respectively arranged on both sides of the bottom of the vehicle frame.

Further, the X-ray source adopts a continuous X-ray source.

Further, the number of the mecanum wheels is four, and the mecanum wheels are respectively provided at the four ends of the vehicle frame.

Further, the ray source end robot is set on one side of the object to be detected. The robot at the ray source end and the robot at the digital flat panel detector end are set on both sides of the object to be detected, and a WiFi repeater is installed at the manhole of the object to be detected, such as a spherical tank, that is, at the entrance and exit.

Further, the vehicle frame is a square structure formed by vertically setting several longitudinal ribs and several transverse ribs.

Further, there is a gap between the permanent magnet and the detected object, that is, the bottom surface of the permanent magnet is higher than the bottom surface of the Mecanum wheel, and the distance between the permanent magnet and the detected object is greater than that between the Mecanum wheel and the detected object. distance.

Further, the frame is equipped with a suspension vibration isolation device, including a flexible unit and a horizontal mechanism. One end of the flexible unit is set on the top platform of the magnet holder, the other end of the flexible unit is movably connected to the frame holder, and the bottom of the magnet holder is connected to There are permanent magnets, and the frame fixing seat is connected to the boss of the bearing seat through a horizontal mechanism. The bearing seat and the magnet fixing seat are respectively connected to the servo motor through bolts. There is a motor fixing plate between the magnet fixing seat and the servo motor, and the servo motor is connected through the axle. Mecanum wheel.

Further, the horizontal mechanism adopts more than one H-shaped connecting rods, and more than one H-shaped connecting rods are installed in parallel and located on the same vertical plane to form a parallel four-bar linkage mechanism. The boss of the frame fixing seat and the boss of the bearing seat.

Further, the flexible unit is fixed between the top platform of the magnet holder and the pressure plate by bolts. The flexible unit is composed of several leaf springs superimposed, and the leaf spring includes a long leaf spring in the middle. Decrease, the long leaf spring gap fits in the empty groove of the holder.

The beneficial effects of the present invention are:

1. This type of ray source robot based on Mecanum wheels for digital flat-panel ray detection adopts an all-round Mecanum wheel structure. The omnidirectional mobile robot based on four Mecanum wheels is magnetically adsorbed on the surface of the spherical tank, and carries a digital ray detection system to detect The detection of welds can realize omnidirectional movement on the surface of the detected object such as spherical tanks, and the robot can flexibly detect welds in various directions.

2. This kind of ray source robot based on Mecanum wheel digital flat-panel ray detection can automatically track welds with multiple degrees of freedom, can achieve high sensitivity and high reliability, high efficiency and low cost, energy saving and environmental protection, can replace film photography, and realize special Testing technology upgrade for pressure equipment manufacturing.

3. This kind of detection robot can move in all directions, that is, in addition to realizing forward and backward, lateral movement, and turning in place, it can also realize rotational movement around any point, especially in power plant boilers, spherical tanks, vertical storage tanks, etc. In large-scale in-service pressure-bearing special equipment, the flexibility of the robot to detect welds on the curved surface of the equipment can be greatly improved.

4. The detection robot can realize the application of digital flat-panel ray detection technology in pressure-bearing equipment with a diameter of more than 4m. It uses single-wall transillumination to complete the detection of various forms of welds, and realizes detection automation. The detection efficiency can be increased by five times. The construction period can be shortened to one tenth of that of film photography, and the detection cost can be reduced to one third of that of film photography, and the construction period and cost of manufacturing pressure-bearing special equipment can be reduced accordingly.

5. At present, the annual output value of domestic pressure-bearing equipment manufacturing radiographic inspection exceeds 1 billion yuan, and the consumption cost of film and medicine is about 400 million yuan. The use of digital flat-panel radiographic inspection technology does not require the use of film, which not only saves a lot of costs, but also saves a lot of polyester. Fiber (film base material) and precious metal silver (photosensitive material), as well as a large number of chemicals (for darkroom processing), have significant social benefits in terms of energy saving and environmental protection.

Description of drawings

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is a schematic structural diagram of the ray source end robot in the embodiment;

Fig. 3 is the structural representation of digital flat panel detector end robot in the embodiment;

Fig. 4 is a schematic diagram of the connection relationship between the suspension vibration isolation device and the vehicle frame in the embodiment;

Fig. 5 is a schematic structural view of the suspension vibration isolation device in the embodiment;

Fig. 6 is a top view of the suspension vibration isolation device in the embodiment;

Figure 7 is a rear view of the suspension vibration isolation device in the embodiment;

Fig. 8 is a right view of the suspension vibration isolation device in the embodiment;

Fig. 9 is a schematic diagram of the communication connection between the robot at the radiation source end, the robot at the digital flat panel detector end, and the host computer in the embodiment;

Fig. 10 is a schematic diagram illustrating the process of synchronous tracking of the robot at the ray source end and the robot at the digital flat panel detector end in the embodiment;

Fig. 11 is the explanatory diagram of detection report generating module in the embodiment;

Among them: 1-ray source robot, 2-digital flat panel detector robot, 3-host computer, 4-spherical tank, 5-suspension vibration isolation device;

11- Front tracking sensor, 12- Permanent magnet, 13- Mecanum wheel, 14- Frame, 15- Rear tracking sensor, 16- Servo motor, 17- X-ray source, 18- Motion control box;

21-front tracking sensor 2, 22-permanent magnet 2, 23-Mecanum wheel 2, 24-frame 2, 25-rear tracking sensor 2, 26-servo motor 2, 27-digital panel, 28-motion control box two;

51-flexible unit, 52-motor fixed plate, 53-bearing seat, 54-wheel axle, 55-H type connecting rod, 56-vehicle frame fixing seat, 57-magnet fixing seat, 58 pressing plate.

detailed description

Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Example

A digital flat-panel radiation detection system based on the Mecanum wheel, as shown in Figure 1, includes a host computer 3, a radiation source robot 1, and a digital flat-panel detector robot 2, and both the radiation source robot 1 and the digital flat-panel detector robot 2 use All-round Mecanum wheel structure, the ray source end robot 1 is equipped with a motion control box 18, the motion control box 18 is connected with the host computer 3 and the digital flat panel detector end robot 2 through the wireless communication module 1, and the motion control box 18 is connected with the CAN communication module 1 Connect the servo motor 16, the digital flat panel detector end robot 2 is provided with a motion control box 2 28, the motion control box 2 28 is connected with the host computer 3 and the ray source end robot 1 through the wireless communication module 2, and the motion control box 2 28 communicates through CAN The second module is connected to the second servo motor 26 .

The ray source robot 1 includes a frame 14, a mecanum wheel 13, a servo motor 16, a front tracking sensor 11, a rear tracking sensor 15, an X-ray source 17, a permanent magnet 12 and a motion control box 18, as shown in Figure 2 , the front tracking sensor 11 is located at the front end of the vehicle frame 14, the rear tracking sensor 15 is located at the rear end of the vehicle frame 14, and the middle part of the vehicle frame 14 is provided with a motion control box 18 and an X-ray source 17, and the two sides of the vehicle frame 14 Mecanum wheels 13 are respectively arranged on the sides, and the mecanum wheels 13 are connected with the rotating shaft of the servo motor 16, and the bottom sides of the vehicle frame 14 are respectively provided with permanent magnets 12.

Digital flat-panel detector end robot 2 includes frame two 24, Mecanum wheel two 23, servo motor two 26, front tracking sensor two 21, rear tracking sensor two 25, digital flat panel 27, permanent magnet two 22 and motion control box 28, as shown in Figure 3, the front tracking sensor 2 21 is located at the front end of the vehicle frame 24, the rear tracking sensor 2 25 is located at the rear end of the vehicle frame 24, and the middle part of the vehicle frame 24 is provided with a motion control box 2 28 And digital flat panel 27, digital flat panel 27 is located at the bottom of vehicle frame two 24, and the both sides of vehicle frame two 24 are respectively provided with Mecanum wheel two 23, and Mecanum wheel two 23 is connected with the rotating shaft of servomotor two 26, and vehicle frame two 24 Two permanent magnets 22 are respectively arranged on both sides of the bottom.

The X-ray source 17 adopts a continuous X-ray source 17. Compared with a pulsed X-ray source, it can obtain clearer and higher-level imaging, and can make the detection image reach JB/T 4730.2-2005: AB level, which can be applied to bearing Internal defect detection of welding seam of pressure special equipment. For example: For a steel workpiece with a thickness of 25mm, use an image quality meter: IQI EN 462-W6 FE, AB level technical level requirements: No. 11 wire wire is clearly visible, and use a continuous X-ray source 17 to meet the technical level AB level requirements. The pulsed X-ray source has a low technical level and cannot meet JB/T 4730.2-2005: AB level. Generally, it cannot meet the needs of internal defect detection of welds in pressure-bearing special equipment. It is mainly used for metal hazards in airports and high-speed rail station security inspections. Automated scanning of products.

The embodiment adopts the single-wall transillumination shown in Fig. 1, the ray source is inside, and the digital flat panel is outside. Two carrying robot trolleys are magnetically adsorbed on the surface of the spherical tank 4. The two robots are divided into a ray source end robot 1 and a digital flat panel detector. The end robot 2 and the ray source end robot 1 are controlled by their own welding seam tracking or remote control, and the digital flat panel detector end robot 2 tracks the ray source end robot 1 to ensure that the digital flat panel detector end robot 2 and the ray source end robot 1 synchronized walking.

As shown in Figure 10, the robot 1 at the ray source end walks autonomously, and records the encoder information to obtain the number of turns of each wheel, and then sends the information to the robot 2 at the digital flat panel detector end through wireless, and the digital flat panel detector end robot 2 Robot 2 controls the rotation of each wheel of robot 1 at the digital flat panel detector end according to the encoder information sent by robot 1 at the ray source end, and the elimination of the cumulative error generated by the movement of robot 2 at the digital flat panel detector end can adopt two schemes:

Option 1, from the pictures obtained by each digital flat panel 27 exposure, it can be seen that there is a circular exposure area on the square digital flat panel 27, and the circular exposure area is the position of the radiation source, that is, the digital flat panel detector end is obtained through the picture. The position of robot 2 relative to the robot 1 at the ray source end is offset by a distance, and the movement of the robot 2 at the flat panel detector end is corrected during the next walking process, so as to realize the synchronization between the robot 2 at the digital flat panel detector end and the robot 1 at the ray source end track.

Solution 2, the robot 1 at the ray source end is equipped with a resistance wire, and the robot 1 at the ray source end heats the tank body area facing the heat source through the resistance wire or infrared rays. When the heating reaches a certain level, the heated area will form a point facing the heat source The temperature is the highest, and the temperature gradually decreases towards the surroundings. The robot 2 at the digital flat panel detector side is distributed with four symmetrical thermal sensors. The temperature difference between the four thermal sensors will generate a piezoelectric signal. If there is no alignment In the case of the four thermal sensors facing different temperatures, there will be a pressure difference in the piezoelectric signal generated. According to the pressure difference, the robot at the end of the digital flat panel detector is controlled to move towards the highest temperature point, thereby realizing synchronous tracking.

The kinematic structure of each robot adopts an all-round Mecanum wheel structure, that is, Mecanum wheels are used in more than three positions of the robot, that is, Mecanum wheels, preferably four positions. The omnidirectional mobile robot based on four Mecanum wheels is magnetically adsorbed on the surface of the spherical tank 4, and carries a digital ray inspection system to inspect the weld. The omnidirectional mobile robot can flexibly inspect welds in various directions. Wherein, the adsorption of the robot on the surface of the spherical tank 4 is realized by installing four permanent magnets on the vehicle frame and arranging them symmetrically.

The bottom surface of the permanent magnet 12 is higher than the bottom surface of the Mecanum wheel 13, and the bottom surface of the permanent magnet 22 is higher than the bottom surface of the Mecanum wheel 23, so that the permanent magnet 12 and the permanent magnet 22 can provide adsorption At the same time, keep a certain distance from the tank wall of the spherical tank, so as to avoid the impact of the resistance on the walking when it is completely absorbed, so as to ensure the smooth running of the Mecanum wheel 13 and the Mecanum wheel 223. The permanent magnet 12 and the second permanent magnet 22 can also adopt a reversible structure, and by adjusting the adsorption angles of the permanent magnet 12 and the second permanent magnet 22, the adjustment of different adsorption forces can be realized.

The front tracking sensor 11 and the rear tracking sensor 15 are respectively connected to the motion control box 18, and the motion control box 18 is connected to the upper computer 3 through a wireless WIFI module. The front tracking sensor 2 21 and the rear tracking sensor 2 25 are respectively connected to the motion control box 2 28, and the motion control box 2 28 is connected to the upper computer 3 through the wireless WIFI module. The welding seam tracking of robot 1 at the ray source end records real-time shooting of the welding seam through two cameras at the head and tail of the robot, and then obtains the position of the robot relative to the welding seam after image processing, and then adjusts the vehicle speed in time according to the position deviation.

The continuous X-ray source 17 on the robot 1 at the ray source end is fixed in the center of the frame 14, with the radiation source facing down, and the digital flat panel on the robot 2 at the digital flat panel detector side is fixed at the bottom center of the frame 2 24. The digital flat panel is the digital imaging flat panel The receiving side of the ray source end robot 1 and the digital flat panel detector end robot 2 are respectively located on the inner and outer sides of the spherical tank 4 when they are running. The radiation source end robot 1 emits X-rays, and the digital flat panel detector end robot 2 Flat panel 27 is digitally imaged, thereby realizing automatic non-destructive testing of weld seams.

The remote control of the ray source robot 1 is controlled by installing the wireless communication module 1 on the robot, and installing a wireless WiFi relay at the entrance and exit of the spherical tank 4, and then connecting the remote host computer 3 and the ray source robot 1 through WiFi , and the robot 1 at the ray source end and the robot 2 at the digital flat panel detector end transmit video information captured in real time through wireless WiFi. The upper computer 3 can remotely control the motion and working mode of the robot 1 at the ray source end and the robot 2 at the digital flat panel detector end.

The robot 1 at the ray source end and the robot 2 at the digital flat panel detector end are respectively provided with a spirit level, and the level instruments are respectively connected to the motion control box and the motion control box 2, and the attitude of the ray source end robot 1 and the robot 2 at the digital flat panel detector end is calibrated through the level instrument. Keep robot 1 at the ray source end and robot 2 at the digital flat panel detector end parallel.

The frame 14 of the robot 1 at the ray source end and the frame 2 15 of the robot 2 at the digital flat panel detector end are respectively provided with suspension vibration isolation devices 5 with the same structure. As shown in FIG. 4 , the radiation source robot 1 is taken as an example for illustration.

As shown in Figure 5, the suspension vibration isolation device 5 includes a flexible unit 51 and a horizontal mechanism. One end of the flexible unit 51 is located on the top platform of the magnet holder 57, and the other end of the flexible unit 51 is movably connected to the vehicle frame holder 56, and the magnet holder The bottom of 57 is connected with permanent magnet 12, and vehicle frame fixing seat 56 is connected the boss of bearing seat 53 by horizontal mechanism, and bearing seat 53 and magnet fixing seat 57 are connected servo motor 16 by bolt respectively, and magnet fixing seat 57 and servo motor 16 A motor fixing plate 52 is arranged between them, and the servo motor 16 is connected to the mecanum wheel 13 through the wheel shaft 54 .

The horizontal mechanism adopts more than one H-type connecting rod 55, as shown in Figure 8, more than one H-type connecting rod 55 is installed in parallel and is positioned on the same vertical plane, and the two ends of the H-type connecting rod 55 are respectively connected to the vehicle frame by pin shafts and fixed The boss of seat 56, the boss of bearing seat 53.

The flexible unit 51 is fixed between the top platform of the magnet holder 57 and the pressing plate 58 by bolts, as shown in Figure 6, the flexible unit 51 is composed of several leaf springs superimposed, and the leaf spring includes a long leaf spring located in the middle, and the length of the leaf spring is determined by the length of the leaf spring. The leaf spring decreases to both ends, and the long leaf spring gap fits in the empty groove of the holder, as shown in Figure 7, the long leaf spring can slide back and forth in the groove.

The flexible unit 51 is composed of one long leaf spring, two middle leaf springs, two short leaf springs and five leaf springs superimposed, and a middle leaf spring and a short leaf spring are symmetrically distributed on both sides of the long leaf spring.

The center of the permanent magnet 12 is located on the vertical plane where the wheel shaft 54 is located, and the permanent magnet 12 is arranged parallel to the running surface of the mecanum wheel 13 .

As shown in Figure 4, when the Mecanum wheel vehicle of the ray source end robot 1 and the digital flat panel detector end robot 2 is assembled with the suspension vibration isolation device 5, the top surface of the vehicle frame fixing seat 56 is connected to the vehicle frame 14 or the vehicle frame two. 24 are fixedly connected together, and the four suspension vibration isolation devices 5 are symmetrically installed according to the kinematic laws of Mecanum wheel 1313 and Mecanum wheel 223.

When the Mecanum wheel vehicle is crawling on the surface of the magnetic material, the combined force of the permanent magnet 12 and the Mecanum wheel vehicle's own weight provides a positive pressure. When a certain Mecanum wheel 13 encounters an obstacle, the Mecanum wheel 13 is lifted. The permanent magnet 12 and the mecanum wheel 13 are lifted at the same time, and the lower surface of the magnet is kept parallel to the adsorption surface, the other mecanum wheels 13 are still close to the adsorption surface, and the permanent magnet 12 and the mecanum wheel 13 cross the obstacle at the same time After that, it is re-adsorbed on the surface of the magnetic permeable material.

When the Mecanum wheel vehicle is crawling on the surface of the magnetic material, the gravitational force of the Mecanum wheel vehicle points to the adsorption surface, and the long leaf spring and the leaf spring between the long leaf spring and the top platform of the magnet holder 57 are deformed under force to provide a shock absorption effect ; When the gravitational force of the Mecanum wheel vehicle is facing away from the adsorption surface, the long leaf spring and the leaf spring between the long leaf spring and the pressing plate 58 are deformed under force to provide a shock absorption effect to realize the Mecanum wheel vehicle on the adsorption plane at any angle Shock absorption for crawling.

The suspension vibration isolation device 5 can meet the adsorption stability and motion stability of the Mecanum wheel, ensure the contact and pressure between the Mecanum wheel and the surface of the magnetic material, ensure the distance and parallelism of the permanent magnet adsorption surface, and make the adsorption effect more stable. , at the same time, the shock isolation unit can realize the shock isolation in the upper and lower directions, which can satisfy the shock isolation effect of the adsorption surface of the robot installed with the suspension system at various angles.

Two H-shaped connecting rods 55 and the boss of the vehicle frame holder 56 and the boss of the bearing seat 53 form a parallelogram linkage mechanism, which ensures that the Mecanum wheel and the permanent magnet 12 etc. are in translational motion, and that the permanent magnet 12 and the permanent magnet 12 are in parallel motion. The contact surfaces of the Mecanum wheels are parallel, thereby ensuring that the permanent magnet 12 has a stable adsorption force on the magnetically conductive adsorption surface.

The flexible unit 51 has five leaf springs distributed symmetrically. The folded springs have both good flexibility and strong load-bearing capacity. When the Mecanum wheel crosses obstacles, it can produce large deformation without causing damage due to excessive deformation. Failure, the symmetrically distributed overlapping springs can make the robot equipped with the suspension system have a shock absorption effect when crawling on a plane with any angle.

Permanent magnet 12 is installed on the position of independent suspension, can make the suspension that Mecanum wheel is housed even when running into an obstacle in the crawling process and still can advance pasting adsorption surface, guarantees the motion characteristic of the robot that Mecanum wheel is housed, and The permanent magnet 12 is close to the Mecanum wheel, and the structural size of the suspension can ensure the distance between the magnet and the adsorption surface, and ensure the stable adsorption force of the magnet to the adsorption surface, and when encountering obstacles, the magnet can rise and fall at the same time as the Mecanum wheel, preventing the The adsorption surface distance is small while colliding with obstacles.

Figure 9 is a working diagram of the entire control system. The robot 1 at the ray source end, the robot 2 at the digital flat panel detector end, and the host computer 3 communicate with each other and transmit information through WiFi. The robot 1 at the ray source end and the robot 2 at the digital flat panel detector end are respectively equipped with The wireless communication module, the front tracking sensor, the rear tracking sensor, the CAN communication module, the motion control box for controlling the motor, the servo motor and other modules realize the above functions.

The control system includes the robot 1 at the ray source end, the robot 2 at the digital flat panel detector end, and the upper computer 3, which is the operation center. The three units are connected through the wireless communication module 1 and the wireless communication module 2. The components of the control system of the robot 2 are roughly the same. The front tracking sensor 11 and the rear tracking sensor 15 of the robot 1 at the ray source end are digital cameras, which are used for automatic tracking by performing image processing on the captured pictures. The robot 1 communicates with the motor and the level meter through the CAN bus. The robot 1 at the ray source end calculates the speed of each motor according to the remote control or automatic tracking command, and sends the control command to each motor through the CAN bus. The encoder information of each motor and the level meter The information is transmitted back to the motion control box 18 of the robot 1 at the radiation source end through the CAN bus, and the motion control box 18 of the robot 1 at the radiation source end analyzes and calculates the returned information, and then transmits the information to the digital flat panel detector end through the wireless communication module Robot 2, the digital flat panel detector robot 2 adjusts its own motion command memory according to the information transmitted by the ray source robot 1, and finally the calculated motion command is transmitted to the motor through the CAN bus.

The Mecanum wheel weld detection robot of the embodiment adopts the Mecanum wheel omni-directional mobile platform and the AGV system, which fills the gap in digital ray automatic detection process equipment for large spherical tanks 4, vertical storage tanks and other in-service pressure-bearing special equipment at home and abroad. In addition to realizing advance and retreat, lateral movement, and turning in situ, the detection robot of the embodiment can also realize rotational movement around any point, especially in large-scale in-service pressure-bearing special equipment such as power plant boilers, spherical tanks, and vertical storage tanks. It can greatly improve the flexibility of the robot to detect the weld on the equipment surface.

This Mecanum wheel-based digital flat-panel radiographic inspection robot imaging system also includes a detection report generation module, which: through the processing of radiographic inspection images, performs qualitative identification of defects based on features, and performs quantitative and grading of defects, according to JB/T 4730.2-2005 and other relevant standards, combined with computer database technology, can automatically generate test reports, as shown in Figure 11.

The embodiment is applicable to the detection of various welds of large-scale pressure-bearing equipment such as spherical tanks and storage tanks, including longitudinal seams, circular seams, embedded joint welds, head joints, etc.; the robot's actions and degrees of freedom meet the requirements of weld detection Process requirements, robot movement accuracy meets the detection accuracy requirements; welding seam automatic tracking technology meets the field use requirements; the digital radiography technology and process adopted by the system meet the detection standard requirements. The embodiment finally forms a set of practical robot digital flat-panel ray detection system capable of automatically tracking welds, which can be used for automatic detection of welds of large-scale pressure-bearing special equipment with a diameter greater than 4m.

Claims (6)

1. a kind of radiographic source end robot based on the Mecanum digital flat panel ray detections taken turns, it is characterised in that：Including car Frame, Mecanum wheel, servomotor, preceding tracking sensor, rear tracking sensor, x-ray source, permanent magnetic iron and motion control Box, motion control box is on vehicle frame, and preceding tracking sensor is located at the front end of vehicle frame, and rear tracking sensor is located at after vehicle frame End, the middle part of vehicle frame is provided with x-ray source, and x-ray source uses continous way x-ray source；Using comprehensive Mecanum wheel constructions, car Frame is respectively provided on two sides with Mecanum wheel, and Mecanum wheel is connected with servomotor, servomotor connection motion control box, car The two bottom sides of frame are respectively equipped with permanent magnetic iron；

Vehicle frame is provided with suspension isolation mounting, including flexible unit, horizontal mechanism, and one end of flexible unit is located at magnet fixed seat Top platform, the other end of flexible unit is flexibly connected vehicle frame fixed seat, and the bottom of magnet fixed seat is connected with permanent magnetic iron, car Frame fixed seat connects the boss of bearing block by horizontal mechanism, and bearing block is bolted servo electricity respectively with magnet fixed seat Machine, is provided with motor fixing plate between magnet fixed seat and servomotor, servomotor connects Mecanum wheel by wheel shaft；It is flexible single Member is bolted between the top platform of magnet fixed seat and pressing plate, and flexible unit is made up of the superposition of some flat springs, piece Spring is included located at middle long leaf spring, and the length of flat spring is successively decreased from long leaf spring to two ends, and long leaf spring gap coordinates in fixation In the dead slot of seat.

2. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature It is：The quantity of Mecanum wheel is four, and Mecanum wheel is respectively equipped with four ends of vehicle frame.

3. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature It is：The source robot is arranged on the side of detected material.

4. the radiographic source terminal device based on the Mecanum digital flat panel ray detections taken turns as described in claim any one of 1-3 People, it is characterised in that：Vehicle frame is the square structure being vertically arranged by some vertical muscle and some horizontal bars.

5. the radiographic source terminal device based on the Mecanum digital flat panel ray detections taken turns as described in claim any one of 1-3 People, it is characterised in that：Gap is provided between permanent magnetic iron and detected object.

6. the radiographic source end robot as claimed in claim 1 based on the Mecanum digital flat panel ray detections taken turns, its feature It is：Horizontal mechanism uses more than one H types connecting rod, and more than one H types connecting rod is parallel to be installed and positioned at same vertical plane On, the two ends of H type connecting rods pass through the boss of bearing pin connecting vehicle frame fixed seat, the boss of bearing block respectively.