High-energy X-ray radiographic film changing robot

Abstract

The invention discloses a high-energy X-ray radiographic film changing robot, and relates to the technical field of high-energy X-ray nondestructive testing. The high-energy X-ray radiographic film changing robot comprises a movable vehicle, an openable screen film library, a mechanical gripper, movement mechanisms of the mechanical gripper and an electric control cabinet, and mechanical transmission, electric control, hydraulic control, pneumatic control and PLC (programmable logic control) functions are integrated in a system. Film holders are remotely and automatically switched by the system via a manual teaching technology, a remote control technology, an automatic zero calibration technology, a film library ray screen structure optimization design technology and an industrial robot technology. A plurality of industrial X-ray film holders can be stored at one step by the aid of the robot, films in the film holders can be effectively screened, and a series of automatic film changing actions such as grabbing the film holders and spatially positioning the film holders can be automatically completed under remote instruction operation actions according to an artificially taught movement track. The high-energy X-ray radiographic film changing robot has the advantages that the robot can replace operators to reliably and automatically switch the films under a high-energy X-ray condition, and the work efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of high-energy X-ray nondestructive testing. Background technique [0002] In the process of high-energy X-ray radiography, the film cassette is generally replaced manually. Every time the accelerator shoots a film, the operator needs to enter the inspection site to replace the film cassette. Both theoretical analysis and actual monitoring results show that after the high-energy X-ray linear accelerator stops emitting beams, there is still a certain amount of residual radiation, which is very harmful to the health of operators and difficult to protect. Now the method of safe waiting is usually used to solve the problem of radiation protection, that is, after the accelerator stops emitting beams, wait for a safe period of time to allow the residual radiation to naturally decay to an acceptable level, and then enter the inspection site to replace the film. Under the general radiographic dose, the safe waiting...

AI Technical Summary

Problems solved by technology

Generally, the beam output time of the workpiece to be tested is about 20s~30s when receiving high-energy X-ray photography, and the safety waiting time is much longer than the beam o

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