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Robot-based automatic detection method and device for ray digital imaging of tube plate

An automatic detection device and digital imaging technology, applied in the use of radiation for material analysis, etc., to achieve high-efficiency radiation detection, improve detection efficiency, and reduce labor intensity

Pending Publication Date: 2020-05-22
CHINA SPECIAL EQUIP INSPECTION & RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a robot-based automatic detection method and device for digital imaging of pipe tube sheet radiography, thereby solving the aforementioned problems in the prior art

Method used

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  • Robot-based automatic detection method and device for ray digital imaging of tube plate
  • Robot-based automatic detection method and device for ray digital imaging of tube plate

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] The working process of the ray digital imaging automatic detection device is: run the software of the detection system in the remote control unit, and import the design drawing of the tube sheet to be detected into it, and set the detection parameters; The control unit transmits motion information to the robot 1 according to the design drawing, and the robot 1 receives the information and controls the crawling claw 5 to move to the vicinity of the first weld to be detected; the robot 1 moves to the When detecting the weld, the remote control unit controls the video positioning unit 3 to align the tube hole to be detected to take pictures, and uploads to the remote control unit to determine the center position of the tube hole; the pre-detection The unit inserts a pre-detection rod into the tube hole according to the center position of the tube hole determined by the remote control unit, realizes position correction, and detects whether there is foreign matter in the tube...

Embodiment 2

[0048] The process of the digital imaging unit 2 performing transillumination imaging in this embodiment is: the digital imaging unit 2 starts the rod anode and the detector to perform the first transillumination imaging on the fillet weld, and the ray of the rod anode The source emits cone beam rays to perform transillumination imaging on the fillet weld; after the first transillumination imaging is completed, the rod anode is turned off, the digital imaging unit 2 is controlled to rotate at a certain angle, and the rod anode is turned on for the second transillumination. According to imaging; after the second transillumination imaging is completed, the rod anode is closed, the digital imaging unit 2 is controlled to rotate again, and the rod anode is turned on to perform the next transillumination imaging, and a fillet weld is performed multiple times by the above method Transillumination imaging, and finally the robot 1 controls the rod anode to pull out the tube hole; the a...

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Abstract

The invention discloses a robot-based automatic detection method and a device for ray digital imaging of a tube plate. The robot-based automatic detection device comprises a robot, a digital imaging unit, a video positioning unit, a pre-detection unit and a far-end control unit, the robot is controlled to move to a first to-be-detected tube hole according to a detection path; the video positioningunit is used for photographing the to-be-detected tube hole and determining the central position of the tube hole; the pre-detection unit uses a pre-detection rod to realize position correction; a rod anode in the digital imaging unit emits rays to carry out transillumination imaging on the weld joint tube hole, and ray digital imaging detection of one fillet weld joint is completed; and ray digital imaging detection of all fillet weld joints is completed in sequence. According to the invention, a ray digital imaging technology is combined with the automatic detection device, so that high-precision and high-efficiency automatic detection can be realized, the detection efficiency is greatly improved, the labor intensity of personnel is reduced, and high-image-quality and high-efficiency ray detection is realized.

Description

technical field [0001] The invention relates to the field of detection of fillet welds of tube and tube sheets of heat exchangers, in particular to a robot-based X-ray digital imaging automatic detection method and device for tube and tube sheets. Background technique [0002] At present, the non-destructive testing methods used for the fillet welds of heat exchanger tubes and tube sheets mainly include penetration, eddy current and ray methods; the penetration testing method can only detect the surface defects of the weld, and the eddy current testing method can only detect surface and near-surface defects. Surface defects, neither of which can detect defects inside the weld. The ray inspection method can detect all the defects of the weld, and is currently the only effective means to realize the detection of internal and external defects of the fillet weld of the tube plate of the heat exchanger. [0003] However, since the heat exchanger is welded by hundreds or even ten...

Claims

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Application Information

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IPC IPC(8): G01N23/04
CPCG01N23/04
Inventor 梁丽红郑晖代淮北赵泓
Owner CHINA SPECIAL EQUIP INSPECTION & RES INST
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