1. The utility model provides a welding seam defect multi-angle X ray detection's automation equipment which characterized in that: including control computer, modeling computer, X-ray machine (1), anchor clamps (2), accent appearance robot (3), moving platform (4) and demountable installation imaging plate (5) on jar wall (10), transfer appearance robot (3) and load on moving platform (4), X-ray machine (1) fixed mounting is on anchor clamps (2), X-ray machine (1) includes emission port (11) of X-ray, install a plurality of peripheral distancers (21) around emission port (11) of X-ray machine (1) on anchor clamps (2), still install the rectilinear movement unit on anchor clamps (2), install central range finder (22) on the rectilinear movement unit, central range finder (22) are located the dead ahead of emission port (11), control computer and X-ray machine (1), transfer appearance robot (3), moving platform (4), The peripheral distance measuring instrument (21), the central distance measuring instrument (22) and the linear moving unit are in signal connection, and the modeling computer is in signal connection with the investment robot (3), the imaging plate (5), the peripheral distance measuring instrument (21) and the central distance measuring instrument (22).

2. The automatic multi-angle X-ray detection device for the weld defects according to claim 1, characterized in that: the number of the peripheral distance measuring instruments (21) is not less than four.

3. The automatic multi-angle X-ray detection device for the weld defects according to claim 1, characterized in that: the imaging plate (5) is provided with a fixed frame (51), and a plurality of suckers (52) are installed on the edge of the fixed frame (51).

4. The automatic multi-angle X-ray detection device for weld defects according to claim 3, wherein: the sucking disc (52) is provided with a threaded rod (53) in a rotating mode, and the threaded rod (53) is connected to the fixing frame (51) in a threaded mode.

5. The automatic multi-angle X-ray detection device for the weld defects according to claim 1, characterized in that: the moving platform (4) comprises a plurality of mecanum wheels (41).

6. The automatic multi-angle X-ray detection device for weld defects according to claim 5, wherein: and a plurality of supporting mechanisms (42) are also arranged on the moving platform (4).

7. The automatic multi-angle X-ray detection device for weld defects according to claim 6, wherein: supporting mechanism (42) are including mount pad (421), heel brace motor (422) and supporting legs (423), heel brace motor (422) fixed mounting is on mount pad (421), install the lead screw on the output shaft of heel brace motor (422), lead screw and supporting legs (423) spiro union, heel brace motor (422) and control computer signal connection.

8. The automatic multi-angle X-ray detection device for the weld defects according to claim 1, characterized in that: the posture adjusting robot (3) is a 6-axis joint type mechanical arm, and the clamp (2) is fixedly mounted at the free end of the 6-axis joint type mechanical arm.

9. A multi-angle X-ray automatic detection method for weld defects is characterized by comprising the following steps: the automated detection method using the automated device according to any one of claims 5 to 8, comprising the steps of:

1) an operator controls the mobile platform (4) to move to the position (101) near the designated defect of the tank wall (10) through a control computer, and then the supporting mechanism (42) is jacked to realize the fixed support of the mobile platform (4);

2) the control computer controls the linear moving unit to drive the central distance measuring instrument (22) to move to a position coaxial with the emitting port (11) of the X-ray machine (1) and start;

3) taking the laser beam of the central distance meter (22) as an indication, an operator controls the posture adjusting robot (3) through a control computer, so that the laser beam of the central distance meter (22) points to a defect position (101) on the tank wall (10);

4) simultaneously starting the peripheral distance measuring instruments (22) and the central distance measuring instrument (21) to detect the distance between the positions of the peripheral distance measuring instruments and the tank wall (10);

5) the modeling computer can obtain the relative pose between the pose adjusting robot (3) and the tank wall (10) through settlement of the 5 distance values and the current pose of the pose adjusting robot (3);

6) taking the specified defect (101) as a sphere center and a ray detection distance as a radius, constructing a hemisphere, setting a series of position points where a ray machine is located during multi-angle detection on the hemisphere, and controlling a computer to finish the planning of the overall motion track of the mechanical arm;

7) the linear moving unit is controlled by a control computer to drive the central distance measuring instrument (22) to move to a starting position, and an emitting opening (1) of the emitter (1) is avoided;

8) automatically controlling the posture adjusting robot (3) to drive the ray machine (1) to sequentially move to each detection position point through a control computer according to a preset program, starting the ray machine (2) at each detection position point, and carrying out ray detection until the detection of all the position points is finished;

9) the imaging plate (5) and the gesture adjusting robot (3) respectively transmit the obtained image and the mechanical arm gesture data corresponding to the image to the modeling computer in real time or after operation, and the modeling computer completes the construction of a defect three-dimensional model on the basis of the data.

Background

The current radiographic inspection method which is widely applied is to use penetrating radiation rays emitted by an X-ray source and a gamma-ray source to penetrate through a welding seam and then to make a film photosensitive, and defect images in the welding seam are displayed on a processed radiographic film. The method is mainly used for finding defects of pores, slag inclusion, cracks, incomplete penetration and the like in the welding seam.

For products assembled by welding, a weld is usually left on the product. Whether the connection at the welding seam is reliable or not is one of important influence factors of product performance.

In the related art, most welding seam detection adopts a manual detection mode, the accuracy of a detection result mainly depends on the detection skill of a detector, and under the condition, the detection mode often has false detection, the product quality cannot be ensured, the detection precision is low, and the detection efficiency is low.

Disclosure of Invention

The purpose of the invention is: the automatic device and the detection method for multi-angle X-ray detection of the weld defects are used for solving the problems of low detection precision and low detection efficiency in the existing detection mode.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a welding seam defect multi-angle X ray detection's automation equipment, includes control computer, modeling computer, X-ray machine, anchor clamps, transfers appearance robot, moving platform and demountable installation imaging plate on jar wall, transfer appearance robot loading on moving platform, X-ray machine fixed mounting is on anchor clamps, X-ray machine includes the transmission mouth of X-ray, install a plurality of peripheral distancers around the transmission mouth of X-ray machine on the anchor clamps, still install the rectilinear movement unit on the anchor clamps, install central distancer on the rectilinear movement unit, central distancer is located the dead ahead of transmission mouth, control computer and X-ray machine, transfer appearance robot, moving platform, peripheral distancer, central distancer, rectilinear movement unit signal connection, modeling computer and money transferring robot, imaging plate signal connection, The peripheral distance measuring instruments and the central distance measuring instrument are in signal connection.

Further limited, the peripheral distance meters are not less than four. By means of the structural design, the distance between the clamp and the tank wall is measured through at least four peripheral distance measuring instruments, and the measuring accuracy of pose self-detection is guaranteed.

Further inject, install fixed frame on the formation of image board, a plurality of sucking discs are installed to fixed frame edge. Such structural design through the sucking disc imaging plate demountable installation at the back of jar wall, loading and unloading are convenient.

Further inject, the last rotation of sucking disc installs the threaded rod, the threaded rod spiro union is on fixed frame. By the aid of the structural design, the height extending out of the sucker is adjustable, so that the imaging plate is tightly attached to the tank wall or keeps a specified distance from the tank wall, and the application range is wider.

Further defined, the mobile platform includes a plurality of mecanum wheels. By the aid of the structure design, translation in any direction and steering at any angle can be realized by using the moving platform with the Mecanum wheels, any turning radius is not needed, and the Mecanum wheel moving platform has the outstanding advantages that position adjustment is convenient, and particularly, adjustment of small displacement in any direction can be realized during final positioning.

Further, a plurality of supporting mechanisms are further mounted on the moving platform. Due to the structural design, after the mobile platform moves to the corresponding position, the automatic device can be supported by the supporting mechanism, and the problem that the accuracy of the final defect three-dimensional model is influenced due to the change of the gravity center when the posture adjusting robot drives the clamp to move to different positions is avoided.

Further inject, supporting mechanism includes mount pad, heel brace motor and supporting legs, heel brace motor fixed mounting is on the mount pad, install the lead screw on the output shaft of heel brace motor, lead screw and supporting legs spiro union, the heel brace motor is connected with control computer signal. Due to the structural design, the lifting of the supporting mechanism is realized by controlling the computer through the control of the foot supporting motor, the automation degree of the device is further improved, and the use is more convenient.

Further, the posture adjusting robot is a 6-axis joint type mechanical arm, and the clamp is fixedly mounted at the free end of the 6-axis joint type mechanical arm.

The invention also discloses a multi-angle X-ray automatic detection method for the weld defects, and the automatic detection device comprises the following steps:

1) an operator controls the mobile platform to move to the position near the designated defect position of the tank wall through the control computer, and then the supporting mechanism is jacked up, so that the mobile platform is fixedly supported;

2) the control computer controls the linear moving unit to drive the central distance measuring instrument to move to a position coaxial with the emission port of the X-ray machine and start;

3) taking the laser beam of the central distance meter as an indication, and controlling the posture adjusting robot by an operator through a control computer to enable the laser beam of the central distance meter to point to the defect position on the tank wall;

4) starting the peripheral distance measuring instrument and the central distance measuring instrument at the same time, and detecting the distance between the positions of the peripheral distance measuring instrument and the tank wall;

5) the modeling computer can obtain the relative pose between the pose adjusting robot and the tank wall by settling the 5 distance values and the current pose of the pose adjusting robot;

6) constructing a hemisphere by taking the specified defect as a sphere center and taking the ray detection distance as a radius, setting a series of position points where the ray machine is located during multi-angle detection on the hemisphere, and controlling a computer to finish the planning of the overall motion track of the mechanical arm;

7) the linear moving unit is controlled by the control computer to drive the central distance measuring instrument to move to the initial position, and the emission port of the emitter is avoided;

8) automatically controlling the posture adjusting robot to drive the ray machine to sequentially move to each detection position point through the control computer according to a preset program, starting the ray machine at each detection position point, and carrying out ray detection until the detection of all the position points is completed;

9) the imaging plate and the posture adjusting robot respectively transmit the obtained image and the mechanical arm posture data corresponding to the image to the modeling computer in real time or after operation, and the modeling computer completes the construction of a defect three-dimensional model on the basis of the data.

The invention adopting the technical scheme has the advantages that:

1. the X-ray machine is driven to carry out multi-angle detection, the detection automation degree is high, the detection efficiency is improved, and meanwhile, the detection precision is improved;

2. the distance between the clamp and the tank wall is measured by the central distance meter and the plurality of peripheral distance meters, then the current pose information of the clamp is obtained by calculating the distance size, and the detection precision is further improved by matching with the image information obtained on the imaging plate.

Drawings

The invention is further illustrated by the non-limiting examples given in the accompanying drawings;

FIG. 1 is a first schematic structural diagram of an embodiment of an automatic apparatus and a detection method for multi-angle X-ray detection of weld defects of the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of an automatic apparatus and a detection method for multi-angle X-ray detection of weld defects according to the present invention;

FIG. 3 is a third schematic structural diagram of an embodiment of an automatic apparatus and a detection method for multi-angle X-ray detection of weld defects of the present invention;

FIG. 4 is a schematic structural diagram of an imaging plate portion in an embodiment of an automated apparatus and a detection method for multi-angle X-ray detection of weld defects according to the present invention;

the main element symbols are as follows:

a tank wall 10, a defect location 101,

An X-ray machine 1, a tank wall 10, a defect site 101,

A clamp 2, a peripheral distance meter 21, a central distance meter 22,

A posture adjusting robot 3,

The device comprises a moving platform 4, a Mecanum wheel 41, a supporting mechanism 42, a mounting seat 421, a foot supporting motor 422, supporting feet 423, an imaging plate 5, a fixed frame 51, a suction cup 52 and a threaded rod 53.

Detailed Description

The present invention will be described in detail with reference to the drawings and specific embodiments, wherein like reference numerals are used for similar or identical parts in the drawings or the description, and implementations not shown or described in the drawings are known to those of ordinary skill in the art. In addition, directional terms, such as "upper", "lower", "top", "bottom", "left", "right", "front", "rear", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present invention.

As shown in figures 1-4, the multi-angle X-ray detection automation device for weld defects comprises a control computer, a modeling computer, an X-ray machine 1, a clamp 2, an attitude adjusting robot 3, a moving platform 4 and an imaging plate 5 which is detachably arranged on a tank wall 10, wherein the attitude adjusting robot 3 is loaded on the moving platform 4, the X-ray machine 1 is fixedly arranged on the clamp 2, the X-ray machine 1 comprises an X-ray emitting port 11, a plurality of peripheral distance meters 21 are arranged on the clamp 2 around the X-ray machine 1 emitting port 11, a linear moving unit is also arranged on the clamp 2, a central distance meter 22 is arranged on the linear moving unit, the central distance meter 22 is positioned right in front of the emitting port 11, the control computer is in signal connection with the X-ray machine 1, the attitude adjusting robot 3, the moving platform 4, the peripheral distance meters 21, the central distance meters 22 and the linear moving unit, the modeling computer is in signal connection with the investment robot 3, the imaging plate 5, the peripheral distance meters 21 and the central distance meter 22.

The peripheral distance meters 21 are not less than four, preferably four. The distances between the fixture 2 and the tank wall are measured by four peripheral distance measuring instruments 21 to ensure the measurement accuracy of pose self-detection.

The image forming plate 5 is provided with a fixing frame 51, and a plurality of suction cups 52 are mounted on the edge of the fixing frame 51. The imaging plate 5 is detachably mounted on the back of the tank wall 10 through the suction cup 52, and the assembly and disassembly are convenient.

A threaded rod 53 is rotatably mounted on the suction cup 52, and the threaded rod 53 is screwed on the fixed frame 51. The height of the sucker 52 can be adjusted, so that the imaging plate 5 is tightly attached to the tank wall 10 or keeps a specified distance from the tank wall 10, and the application range is wider.

The mobile platform 4 comprises a plurality of mecanum wheels 41. The movable platform using the mecanum wheels 41 can realize translation in any direction and steering at any angle without any turning radius, and has the outstanding advantages of convenient position adjustment, and particularly can realize adjustment of small displacement in any direction during final positioning.

A plurality of support mechanisms 42 are also mounted on the mobile platform 4. After the moving platform 4 moves to the corresponding position, the supporting mechanism 42 can be used for supporting the automation device, so that the problem that when the posture adjusting robot 3 drives the clamp 2 to move to different positions, the accuracy of the final defect three-dimensional model is affected due to the change of the gravity center is solved.

The supporting mechanism 42 comprises a mounting seat 421, a foot supporting motor 422 and supporting feet 423, the foot supporting motor 422 is fixedly mounted on the mounting seat 421, a screw rod is mounted on an output shaft of the foot supporting motor 422, the screw rod is in threaded connection with the supporting feet 423, and the foot supporting motor 422 is in signal connection with a control computer. The lifting of the supporting mechanism 42 is realized by controlling the foot supporting motor 422 by the control computer, so that the automation degree of the device is further improved, and the use is more convenient.

The posture adjusting robot 3 is a 6-axis joint type mechanical arm, and the clamp 2 is fixedly arranged at the free end of the 6-axis joint type mechanical arm.

The invention also discloses a multi-angle X-ray automatic detection method for the weld defects, and the automatic detection device comprises the following steps:

1) an operator controls the mobile platform 4 to move to the position close to the appointed defect position 101 of the tank wall 10 through the control computer, and then the supporting mechanism 42 is jacked up to realize the fixed support of the mobile platform 4;

2) the control computer controls the linear moving unit to drive the central distance measuring instrument 22 to move to a position coaxial with the emitting port 11 of the X-ray machine 1 and start;

3) taking the laser beam of the central distance meter 22 as an indication, an operator controls the posture adjusting robot 3 through the control computer, so that the laser beam of the central distance meter 22 points to the defect position 101 on the tank wall 10;

4) starting 4 peripheral distance meters 22 and a central distance meter 21 at the same time, and detecting the distance between the position of the peripheral distance meters and the tank wall 10;

5) the modeling computer can obtain the relative pose between the pose adjusting robot 3 and the tank wall 10 by settling the 5 distance values and the current pose of the pose adjusting robot 3;

6) constructing a hemisphere by taking the specified defect 101 as a sphere center and taking the ray detection distance as a radius, setting a series of position points where the ray machine is located during multi-angle detection on the hemisphere, and controlling a computer to finish the planning of the overall motion track of the mechanical arm;

7) the control computer controls the linear moving unit to drive the central distance measuring instrument 22 to move to the initial position, and the transmitting opening 1 of the transmitter 1 is avoided;

8) automatically controlling the posture adjusting robot 3 to drive the ray machine 1 to move to each detection position point in sequence through a control computer according to a preset program, starting the ray machine 2 at each detection position point, and performing ray detection until the detection of all the position points is completed;

9) the imaging plate 5 and the pose adjusting robot 3 respectively transmit the obtained image and the pose data of the mechanical arm corresponding to the image to a modeling computer in real time or after operation, and the modeling computer completes the construction of a defect three-dimensional model on the basis of the data.

The automation device and the detection method for multi-angle X-ray detection of the weld defects provided by the invention are described in detail above. The description of the specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.