Omnidirectional mobile digital flat panel ray inspection robot based on mecanum wheel

Abstract

The invention provides an omni-direction mobile digital flat panel ray detection robot based on Mecanum wheels. The omni-direction mobile digital flat panel ray detection robot based on the Mecanum wheels comprises a ray source end robot and a digital flat panel detector end robot which both adopt an omni-direction Mecanum wheel structure, the ray source end robot comprises a frame I, Mecanum wheels I, servo motors I, a front tracking sensor I, a rear tracking sensor I, an X-ray source, permanent magnets I and a motion control box I, and the flat panel detector end robot comprises a frame II, Mecanum wheels II, servo motors II, a front tracking sensor II, a rear tracking sensor II, a digital flat panel, permanent magnets II and a motion control box II. The detection robot can conduct omni-directional movement, and on one hand, advancing and retreating, lateral moving and turning around own center can be achieved; on the other hand, rotational movement around any point can be further achieved; the flexibility of the robot on weld joint detection on the curved surface of equipment can be greatly improved specially in large-scale in-service bearing special equipment such as power station boilers, spherical tanks and vertical storage tanks.

Description

technical field [0001] The invention relates to an omnidirectional mobile digital flat-panel radiation detection robot based on a Mecanum wheel. Background technique [0002] 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. [0003] 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 ma...

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Problems solved by technology

[0009] The purpose of the present invention is to provide an omni-directional mobile digital flat-panel radiation detection robot based on Mecanum wheels to solve the gaps in the existing technology in the automatic digital radiation detection process equipment of large spherical tanks, vertical storage tanks and other in-service pressure equipment. , and the existing detection robots are relatively inflexible to the welding seam detection on the curved surface of the equipment, and cannot meet the needs and other problems

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