CN201034947Y - Spiral welding line X ray real time digital image-forming detecting and autotracking unit - Google Patents
Spiral welding line X ray real time digital image-forming detecting and autotracking unit Download PDFInfo
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- CN201034947Y CN201034947Y CNU2007201544732U CN200720154473U CN201034947Y CN 201034947 Y CN201034947 Y CN 201034947Y CN U2007201544732 U CNU2007201544732 U CN U2007201544732U CN 200720154473 U CN200720154473 U CN 200720154473U CN 201034947 Y CN201034947 Y CN 201034947Y
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- 238000003466 welding Methods 0.000 title description 16
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000003384 imaging method Methods 0.000 claims abstract description 17
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- 238000000034 method Methods 0.000 claims description 12
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- 238000003860 storage Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000013441 quality evaluation Methods 0.000 abstract description 3
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- 230000001915 proofreading effect Effects 0.000 abstract 1
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- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
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- 239000002184 metal Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
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- 238000005476 soldering Methods 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Abstract
The utility model relates to a spirally weld X-ray real-time digital imaging detecting and auto tracking device, relating to the radiation imaging technology field. At present the quality evaluation and the judgment that whether the weld departs from detecting center position or not of the spirally weld X-ray real-time digital imaging detection are implemented by observing the weld perspective image artificially, and the rotating or translating speed of the welded pipe is regulated through manual operation, thus the middle proofreading is realized. The general video photographing technology and the laser image technology which are used are both related to the changes of the external ray and the work pieces surface condition, and many interference signals exist, so greater errors are generated. The utility model uses an X-ray detector, changes the electrical signal to the digital image signal through an image acquisition card, and displays the signals on the screen in real-time. The current position and offset of the weld are calculated out by the software processing, and are fed back to the movement controller. The objective of tracking and controlling can be obtained through the motion actuator adjusting the rotation speed and the level moving speed of the welded pipe. The utility model has the benefit effects of higher reliability, better practicality and lower price.
Description
Technical field
The utility model relates to the radiant image technical field, especially relates to a kind of weld seam detection and autotracker.
Background technology
The X ray Real Time Imaging Technology welding quality that characteristics have been widely used in spiral welded pipe because its detection efficiency height, weld seam inherent vice image be directly perceived etc. detects.In the actual detected process, the tube head of x-ray system and the installation site of X-ray detector generally are relatively-stationary, spiral welded pipe is placed on two groups or more turning rolls, turning rolls be installed in mobile trolley used on, chassis moves along surface-based track.Before detecting beginning, at first need the center of ray source focus, detected weld and the center of X-ray detector are adjusted on the straight line, the primary optical axis that guarantees X ray simultaneously is vertical with X-ray detector with detected weld seam, promptly finishes the adjustment of inspection center position.Then, according to spiral weld detection speed and the helix angle size set, calculate the velocity of rotation and the point-to-point speed of spiral welded pipe respectively, the rotating speed of the rotary drive motor by regulating turning rolls and the pan drive motor of chassis guarantees that spiral weld arrives the inspection center position continuously, finishes the quality testing of whole piece weld seam.But; in testing process,, often have that phenomenon that position while welding departs from the inspection center position takes place and the interruption that causes testing process because spiral welded pipe rotates Yin Qi Shaft to the influence of multiple external cause such as skid of mechanical wear, the machinery of play, driving rolls.At present, all be to adopt manual observation weld seam fluoroscopy images in actual production process, find after the welding seam bias inspection center, rotate or point-to-point speed by operating personnel's manual adjustment welded tube, make spiral weld come back to the detection position, this method is very high and labour intensity is big to operating personnel's experience dependence.
The patent No. is 200420012656.7 utility model, adopt general video frequency pick-up head to make sensor, standard P AL system vision signal with output, adopt simulation, digital circuit with vision signal amplify, processing such as shaping, filtering, binaryzation, realize the weld seam recognition under the surface of steel plate state.The patent No. is the utility model of 200420009924.X, utilize laser beam to form laser plane through cylindrical mirror, project and produce laser stripe on the workpiece, vision sensor is gathered the seam laser image, calculate position while welding by Flame Image Process, to realize the purpose of soldering joint automatic tracking.The common feature of above-mentioned these welding seam tracking methods is: adopt visible light source to shine face of weld, utilize the surface image of video camera picked-up weld seam, then by methods such as signal Processing and data analyses, realize the straight weld tracking.But, in actual production process, because the influence of factors such as the variation of extraneous light, the pollution of surface of the work and corrosion, make the face of weld image of picked-up itself have many undesired signals, more existing disposal routes are difficult to tell weld seam exactly, thereby can produce bigger error even follow the tracks of failure
Summary of the invention
The purpose of this utility model provides and is not subjected to that extraneous light and workpieces surface condition influence, reliability height, imaging detection of spiral weld X ray real-time digital and autotracker that practicality is good.
Principle of the present utility model is to utilize the characteristics that the later X ray of spiral weld has included welding line structure information that penetrate, be output as electric signal by finishing the photoelectricity conversion after the X-ray detector reception, is data image signal by image pick-up card with electrical signal conversion, and the digital picture that shows in real time on screen is used for the welding quality evaluation of spiral weld.Simultaneously, with the data image signal gathered transducing signal as position while welding, by image processing software calculate the weld seam current location and with the side-play amount of inspection center's point, send the value of this side-play amount to motion control unit as feedback signal, reach the control purpose of soldering joint automatic tracking by movement executing mechanism adjustment welded tube rotational speed and the speed of moving horizontally.
The purpose of this utility model is achieved through the following technical solutions:
1, imaging detection of spiral weld X ray real-time digital and autotracker have an X-ray detector, inside the computer processing unit of software and image pick-up card, display, motion control unit, two cover movement executing mechanisms are installed.Image pick-up card is electrically connected with X-ray detector, and computer processing unit is electrically connected with display and motion control unit respectively, and motion control unit is electrically connected with two cover movement executing mechanisms respectively.
2, the principal character of above-described X-ray detector is X ray can be converted into electric signal, can export with analog form, and also the mode of available digital is exported.The output signal of X-ray detector can comprise the detection signal of a face, also can be the detection signal that only comprises a line or many lines.Therefore X-ray detector is X-ray-scanning images of object detector or face array X radiographic detector.
3, the principal character of above-described motion control unit is itself to have certain data processing function, and can carry out the numeral exchange between the computer processing unit, but programmed control.Motion control unit is specially motion control card, or the PCL Programmable Logic Controller, or frequency changer.
4, above-described movement executing mechanism is servomotor and driver, or stepper motor and driver, or alternating current generator and frequency changer.
5, the system software that is installed in the computer processing unit has: parameter setting, system calibration, image acquisition and demonstration, Flame Image Process and storage, side-play amount are calculated, digital control computing.Wherein, the parameter setting is the running parameter that X-ray detector is set by image pick-up card; System calibration is with the error between the way elimination pixel of software; Image acquisition with show be according to the parameter that is provided with sampled data be treated as a width of cloth can be on screen dynamic images displayed in real time, be convenient to operating personnel to image recognition; Flame Image Process and storage are by operators such as integration noise reduction, contrast brightness enhancing, embossment algorithm, high-pass filtering, rim detection image to be carried out digital conversion the details of detected image is more clearly showed, detected image can be stored in hard disc of computer, the CD, also can utilize network to carry out telecommunication; It is to determine that with image processing method position while welding calculates the off-set value with the inspection center position then according to the view data of gathering that side-play amount is calculated; Digital control computing is the setting value according to weld seam side-play amount and initial detecting speed, utilizes digital control algorithm to calculate rotary drive motor and moves horizontally the new speed regulating control parameter of motor.
The utility model is at first adjusted to the inspection center position with the initial detecting position of spiral weld when work; By the helix angle and the detection speed of software man-machine dialog interface input welded tube, computer processing unit calculates initial rotational speed and initial point-to-point speed automatically; Motion control unit calculates output pulse frequency respectively according to initial motion speed, reduction gear ratio and sends to driving topworks and makes welded tube carry out helical motion; Open x-ray source emission X ray, penetrate and finish photoelectricity after the later X ray of spiral weld is received by X-ray detector and transform and be output as electric signal, computing machine is data image signal by being installed in its inner image pick-up card and software with the electrical signal conversion of X-ray detector output, on computer screen, show in real time on the one hand, be used for the welding quality evaluation of spiral weld, meanwhile, with the data image signal gathered transducing signal as position while welding, by the grey scale change characteristic of software according to welded seam area and mother metal zone, with weld seam and mother metal separately, calculate then the weld seam current location and with the side-play amount of inspection center's point; Send the value of this side-play amount to motion control unit as feedback signal, come the rotating speed of adjustment movement topworks to make weld seam remain on the inspection center position automatically by digital control algorithm.
The beneficial effects of the utility model are: X-ray detector is used as the position while welding detector simultaneously, under the condition of not adding other hardware device, directly utilize the X ray real-time digital image to calculate position while welding and with respect to the side-play amount of inspection center by computer software, by motion control unit and drive topworks realize spiral weld from motion tracking, thereby realized detecting of spiral weld X ray real-time digital imaging from motion tracking.Because the X ray real-time digital image of weld seam is not changed by extraneous light and the influence of face of weld state, thereby compare with other weld joint recognition method based on the face of weld image, this control method has higher reliability, better practicality and lower price.
Description of drawings:
Fig. 1 is imaging detection of spiral weld X ray real-time digital and autotracker theory diagram;
Fig. 2 is the structural representation of employing face array X radiographic detector
Fig. 3 is for adopting the structural representation of X-ray-scanning images of object detector
The title of each sequence number is as follows among the figure:
1-X radiographic source, 2-spiral welded pipe, 3-X ray detector, 3-1-face array X radiographic detector, 3-2-X-ray-scanning images of object detector, 4-image pick-up card, 5-computer processing unit, 6-display, 7-motion control unit, 8-rotation drive topworks, 9-driven in translation topworks
Embodiment:
First embodiment
Fig. 2 has shown employing face array X-ray detector.The X ray of X-ray tube 1 emission, penetrate after the spiral weld 2 on the welded tube, by face array X radiographic detector 3-1 X ray is transformed the output electric signal, be converted into the data image signal in the internal memory that can be kept at computer processing unit 5 by image pick-up card 4, on display 6, show in real time on the one hand, testing result as weld seam X ray real-time digital imaging system is evaluated welding quality, on the other hand, utilize computed in software to go out in the image of current collection weld seam position and with respect to the side-play amount of inspection center, motion control unit 7 is according to side-play amount size and control law, send new control signal to movement executing mechanism 8 and 9 respectively, change welded tube rotation and point-to-point speed, the realization closed loop is controlled automatically, makes spiral weld remain at the inspection center position.
Described array X radiographic detector 3-1, the electric signal of output can be a simulating signal, also can be the Direct Digital signal, the pattern matrix of collection is greater than 768 * 576, as being not less than 8BIT deeply, sample frequency 20 frames/more than second.
Second embodiment
For adopting the embodiment of X-ray-scanning images of object detector, describe below in conjunction with Figure of description 3.
The X ray of X-ray tube 1 emission, penetrate after the spiral weld 2 on the welded tube, by X-ray-scanning images of object detector 3-2 X ray is transformed the output electric signal, be converted into the data image signal in the internal memory that can be kept at computer processing unit 5 by image pick-up card 4, on display 6, show in real time on the one hand, testing result as weld seam X ray real-time digital imaging system is evaluated welding quality, on the other hand, utilize computed in software to go out in the image of current collection weld seam position and with respect to the side-play amount of inspection center, motion control unit 7 is according to side-play amount size and control law, send new control signal to movement executing mechanism 8 and 9 respectively, change welded tube rotation and point-to-point speed, realize the control automatically of not busy ring, make spiral weld remain at the inspection center position.
Described X-ray-scanning images of object detector 3-2, the electric signal of output can be a simulating signal, also can be the Direct Digital signal.Detector effectively detects length greater than 50mm, and single pixel size is less than 0.4mm, and as being not less than 8BIT deeply, sample frequency is more than 1000 row/seconds.
Claims (6)
1. imaging detection of spiral weld X ray real-time digital and autotracker, it is characterized by and have an X-ray detector, inside is equipped with the computer processing unit of software and image pick-up card, display, motion control unit, two cover movement executing mechanisms, wherein, image pick-up card is electrically connected with X-ray detector, computer processing unit is electrically connected with display and motion control unit respectively, and motion control unit is electrically connected with two cover movement executing mechanisms respectively.
2. spiral weld X ray real-time digital according to claim 1 imaging detection and autotracker, it is characterized by X-ray detector is face array X radiographic detector.
3. spiral weld X ray real-time digital according to claim 1 imaging detection and autotracker, it is characterized by X-ray detector is the X-ray-scanning images of object detector.
4. according to claim 1 or 2 or 3 imaging detection of described spiral weld X ray real-time digital and autotrackers, it is characterized by motion control unit is motion control card, or the PLC Programmable Logic Controller, or frequency changer.
5. spiral weld X ray real-time digital according to claim 4 imaging detection and autotracker, it is characterized by movement executing mechanism is servomotor and driver, or the step is carried out motor and driver, or alternating current generator and frequency changer.
6. spiral weld X ray real-time digital according to claim 5 imaging detection and autotracker is characterized in that the software that is installed in the computer processing unit has: parameter setting, system calibration, image acquisition and demonstration, Flame Image Process and storage, side-play amount are calculated, digital control computing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201544732U CN201034947Y (en) | 2007-05-23 | 2007-05-23 | Spiral welding line X ray real time digital image-forming detecting and autotracking unit |
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| CNU2007201544732U CN201034947Y (en) | 2007-05-23 | 2007-05-23 | Spiral welding line X ray real time digital image-forming detecting and autotracking unit |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915772A (en) * | 2010-07-27 | 2010-12-15 | 上海诚友实业有限公司 | Steel tube butt-jointed seam online X-ray photographic room |
| CN101961819A (en) * | 2009-07-22 | 2011-02-02 | 中国科学院沈阳自动化研究所 | Device for realizing laser welding and seam tracking and control method thereof |
| CN103120590A (en) * | 2012-11-27 | 2013-05-29 | 南通医疗器械有限公司 | Digital X-ray photography automatic tracking system |
| CN103942825A (en) * | 2008-09-10 | 2014-07-23 | 柯斯提克绘图公司 | Ray tracing system architectures and methods |
| 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 |
| CN107478665A (en) * | 2017-08-31 | 2017-12-15 | 重庆日联科技有限公司 | Tank bottom class butt welding part welding line detector and detection method |
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
-
2007
- 2007-05-23 CN CNU2007201544732U patent/CN201034947Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103942825A (en) * | 2008-09-10 | 2014-07-23 | 柯斯提克绘图公司 | Ray tracing system architectures and methods |
| CN103942825B (en) * | 2008-09-10 | 2017-10-10 | 想象技术有限公司 | Ray tracing system architectures and method |
| CN101961819A (en) * | 2009-07-22 | 2011-02-02 | 中国科学院沈阳自动化研究所 | Device for realizing laser welding and seam tracking and control method thereof |
| CN101961819B (en) * | 2009-07-22 | 2013-10-30 | 中国科学院沈阳自动化研究所 | Device for realizing laser welding and seam tracking and control method thereof |
| CN101915772A (en) * | 2010-07-27 | 2010-12-15 | 上海诚友实业有限公司 | Steel tube butt-jointed seam online X-ray photographic room |
| CN103120590A (en) * | 2012-11-27 | 2013-05-29 | 南通医疗器械有限公司 | Digital X-ray photography automatic tracking system |
| 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 |
| CN107478665A (en) * | 2017-08-31 | 2017-12-15 | 重庆日联科技有限公司 | Tank bottom class butt welding part welding line detector and detection method |
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: LANZHOU RICH-GOLDEN TESTING + CONTROL TECHNOLOGY C Free format text: FORMER OWNER: SUN ZHONGCHENG Effective date: 20101122 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 215000 NO. 42, LANGONGPING SOUTH STREET, QILIHE DISTRICT, LANZHOU CITY, GANSU PROVINCE TO: 730000 ROOM 503, LIANCHUANG BUILDING, ZHANGSUTAN, CHENGGUAN DISTRICT, LANZHOU CITY, GANSU PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20101122 Address after: 730000 room 503, LIAN building, Zhang Su beach, Chengguan District, Lanzhou, Gansu Patentee after: Lanzhou Rich-golden Test & Control Technology Co., Ltd. Address before: 215000, No. 42, South Street, LAN Gong, Qilihe District, Gansu, Lanzhou Patentee before: Sun Zhongcheng |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Spiral welding line X ray real time digital image-forming detecting and autotracking unit Effective date of registration: 20120713 Granted publication date: 20080312 Pledgee: Bank of China, Limited by Share Ltd, Lanzhou Binhe subbranch Pledgor: Lanzhou Rich-golden Test & Control Technology Co., Ltd. Registration number: 2012990000368 |
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| CX01 | Expiry of patent term |
Granted publication date: 20080312 |
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| CX01 | Expiry of patent term |