A dual-arm robot digital radiographic imaging device and its detection method

Abstract

The patent of this invention belongs to the technical field of non-destructive testing, and specifically discloses a dual-arm robot digital radiographic imaging device and its detection method, including: a detector; an X-ray machine; a detection platform for mounting precision workpieces; a pair of seven-axis robots, each of which is used to drive the detector and the X-ray machine to move within the detection area where the detection platform is currently located; and a control system for electrically connecting with the detector, the X-ray machine, the detection platform, and the seven-axis robot; wherein the detection platform includes: a plurality of grippers for clamping multiple parts of a precision workpiece; a drive mechanism for driving the grippers to open and close; and a lifting mechanism for driving the grippers to lift and lower. This device realizes automated flaw detection of longer welded parts and honeycomb panels, improves detection efficiency, and thus meets the industry's production capacity needs, and effectively improves the clarity and detection accuracy of the flaw detection imaging of precision workpieces, ensuring detection quality.

Description

Technical Field

[0001] The present invention relates to the technical field of non-destructive testing, in particular to a dual-arm robot digital radiographic imaging device and a testing method thereof. Background Art

[0002] Currently, the industry mostly uses traditional X-ray film photography or portable DR imaging methods to detect long welds and honeycomb panels in the aviation industry. These precision workpieces have different shapes and complex structures, resulting in low detection efficiency and the inability to achieve automated detection.

[0003] In addition, due to the limitations of both X-ray film photography and portable DR imaging, which cannot flexibly adjust the angle and position of the X-ray machine and detector, it is difficult to clearly image the complex structure of the precision workpiece, resulting in the defect detection of the edge or weld of the precision workpiece failing to meet the accuracy requirements. Summary of the Invention

[0004] In response to the problems in the prior art, the purpose of the present invention is to provide a dual-arm robot digital radiographic imaging device and a detection method thereof, so as to realize automated flaw detection of longer welded parts and honeycomb panels, improve detection efficiency, thereby meeting the industry's production capacity needs, and effectively improve the clarity and detection accuracy of flaw detection imaging of precision workpieces, thereby ensuring detection quality.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] Design a dual-arm robot digital radiography device, including:

[0007] detector;

[0008] X-ray machine;

[0009] Inspection platform, used to mount precision workpieces;

[0010] a pair of seven-axis robots, each of which is used to drive the detector and the X-ray machine to move within the detection area where the detection platform is currently located;

[0011] and a control system for electrically connecting with the detector, X-ray machine, detection platform and seven-axis robot;

[0012] Wherein, the detection platform includes:

[0013] Multiple jaws for clamping multiple parts of precision workpieces;

[0014] A driving mechanism, used for driving the clamping jaws to open and close;

[0015] The lifting mechanism is used to drive the clamping jaws away from or close to the precision workpiece.

[0016] Furthermore, the clamping jaw includes a pair of clamping arms, the pair of clamping arms are cross-arranged, and the opening of the clamping jaw faces upward.

[0017] Furthermore, the driving mechanism includes a pair of mutually meshed first gears and a first driving part, wherein the first driving part is used to drive the first gear to rotate, thereby moving the two clamping arms respectively connected to the pair of first gears closer or farther away.

[0018] Furthermore, the lifting mechanism includes a vertically arranged linear motion module, the upper end of the base of the linear motion module is connected to a base on which a pair of the first gears are installed, and the height of the slide of the linear motion module relative to the ground is fixed.

[0019] Furthermore, the invention further comprises a first driving device, wherein the plurality of the clamping jaws are arranged side by side, and the first driving device is used to drive the clamping jaws to move along a straight line where the plurality of the clamping jaws are arranged side by side;

[0020] Wherein, the first driving device includes a guide rail, a mounting seat connected to the guide rail, and a second driving part, the second driving part is used to drive the mounting seat to slide along the guide rail, and the mounting seat is connected to the sliding seat;

[0021] The second driving part includes a rack parallel to the guide rail and a second motor installed on the mounting seat, and the rotating shaft of the second motor is connected to a second gear meshing with the rack.

[0022] Furthermore, a limiting mechanism is included, wherein the pair of clamping arms of the clamping jaw rotate in the same plane, and the limiting mechanism is used to limit the swing range of the clamping arms;

[0023] The limiting mechanism includes a pair of first travel switches respectively arranged at both ends of the swinging direction of the clamping arms. At least one clamping arm in each pair of clamping arms is provided with a paddle respectively used to touch the pair of first travel switches. The pair of first travel switches are connected to the driving mechanism through a controller.

[0024] Furthermore, an anti-collision mechanism is included for preventing adjacent jaws from colliding;

[0025] The anti-collision mechanism includes a second travel switch and a touch rod respectively arranged on adjacent mounting seats, the touch rod is used to touch the second travel switch on the adjacent mounting seat, and the second travel switch is connected to the driving device through a controller.

[0026] Furthermore, a transparent placement plate is included, and the end of the clamping arm is provided with a limit block for contacting the end of the placement plate, and the clamping arm is configured as a length-retractable structure;

[0027] The clamping arm includes a primary telescopic arm, a secondary telescopic arm and a locking mechanism. The secondary telescopic arm is connected to the primary telescopic arm through a slide rail, and the slide rail extends along the length direction of the primary telescopic arm. The locking mechanism is used to limit the relative position of the secondary telescopic arm and the primary telescopic arm.

[0028] Furthermore, the locking mechanism includes a locking pin installed on the secondary telescopic arm and a pin hole provided on the primary telescopic arm. The pin hole is used for the pin shaft of the locking pin to pass through, and the pin holes are evenly spaced along the length direction of the primary telescopic arm.

[0029] In addition, a detection method is applied to any of the above-mentioned dual-arm robot digital radiographic imaging devices, comprising the following steps:

[0030] Step 1: Place the precision workpiece to be inspected on the inspection platform, select or enter the number of the precision workpiece on the human-computer interaction interface of the control system, and click to start automatic operation;

[0031] Step 2: The control system obtains the position parameters and radiometric parameters of the part of the precision workpiece to be inspected based on the information of the precision workpiece to be inspected;

[0032] and obtaining the motion trajectory parameters of a pair of seven-axis robots based on the coordinate information of the detector and the X-ray machine within the detection area, and transmitting them to the control system;

[0033] Step 3: The control system controls the seven-axis robot to move according to the motion trajectory parameters and reaches the specified initial position. The control system also controls a pair of seven-axis robots and the inspection platform so that the inspected part of the precision workpiece is within the detection range of the detector and the X-ray machine.

[0034] Step 4: When the detector and X-ray machine move to the inspected part, the control system controls the X-ray machine to emit X-rays. After the X-rays pass through the precision workpiece, they are received by the detector and imaged. The detector transmits the received image to the control system, which processes the image to obtain a high-quality image.

[0035] Step 5: When the seven-axis robot reaches the interference point where the gripper interferes, the seven-axis robot stops and sends a first signal to the control system. After receiving the first signal, the control system controls the lifting mechanism to lower the gripper to a preset fixed position. After the gripper is lowered, the control system sends a first feedback signal to the seven-axis robot, and the seven-axis robot starts to move again to complete the detection of the interference point.

[0036] When the seven-axis robot moves out of the interference point, the seven-axis robot sends a second signal to the control system. After receiving the second signal, the control system controls the lifting mechanism to lift the clamping device to reset it, and sends a second feedback signal to the seven-axis robot after the clamp is reset. The seven-axis robot continues to move, thereby realizing detection and imaging of all inspected parts of the precision workpiece.

[0037] Compared with the existing technology, the dual-arm robot digital radiography device provided by the present invention has a unique structure. It uses a 7-axis robot with a running track to make the displacement of the radiography machine and detector more flexible and free. It can reach spatial positions that are inaccessible to ordinary traditional tooling to achieve the optimal imaging detection posture, facilitating multi-angle and multi-directional detection of the complex structure of precision workpieces. It can also flexibly adjust the distance between the precision workpiece and the detector, that is, adjust the optimal magnification factor for finding defects on the precision workpiece, so that the structure of the precision workpiece can be displayed and imaged more clearly, thereby improving imaging clarity and ensuring the accuracy of detecting defects on the edges or welds of precision workpieces.

[0038] Furthermore, when the clamp blocks the detection of the part of the precision workpiece where the clamp is located, the lifting mechanism can be used to control the clamp to open and detach from the precision workpiece, eliminating the obstruction of the clamp to the detector and the X-ray machine, thereby facilitating subsequent detection by the detector and the X-ray machine. There is no need to manually move or adjust the position or posture of the precision workpiece, which greatly improves the detection efficiency.

[0039] In addition, the control system can store inspection programs corresponding to various types of precision workpieces. When inspecting a workpiece, the control system selects the inspection program corresponding to the current type of precision workpiece. The control system controls the detector, X-ray machine, inspection platform and seven-axis robot according to the called inspection program. Only the precision workpiece needs to be manually arranged and placed on the gripper. The entire system can complete a one-time DR transillumination inspection of the precision workpiece under the control of the control system.

[0040] This device uses a seven-axis robot for detection. Within the detection range, the X-ray machine and detector can reach any position, meeting the X-ray digital imaging detection requirements of workpieces such as long welded parts and honeycomb panels. The use of the clamping jaws can adjust the precision workpiece to the optimal detection position, greatly reducing the motion range of the seven-axis robot. The entire device uses mature technology and equipment, cleverly integrated and matched, filling the technical gap in the field of automated detection of large-scale aviation products. The system control is simple, stable and reliable, labor intensity is greatly reduced, and the detection capacity is absolutely improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Attachment Figure 1 This is a structural diagram of a dual-arm robot digital radiographic imaging device.

[0043] Attachment Figure 2 This is a structural diagram of the detection platform in the first working state.

[0044] Attachment Figure 3 This is a structural diagram of the second working state of the detection platform.

[0045] Attachment Figure 4 This is a schematic diagram of the assembly at a single clamping jaw.

[0046] In the figure: 1. Clamping arm, 101. Secondary telescopic arm, 102. Primary telescopic arm, 2. First gear, 3. First driving unit, 4. Limiting mechanism, 401. First travel switch, 402. Paddle, 5. Locking pin, 6. Slide rail, 7. Base, 8. Linear motion module, 801. Base, 802. Slide, 9. Mounting seat, 10. Second motor, 11. Guide rail, 12. Rack, 13. Gasket, 14. Limiting block, 15. X-ray machine, 16. Seven-axis robot, 17. Detector, 18. Detection platform, 19. Precision workpiece. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] like Figures 1 to 4 As shown, as a preferred embodiment of the present invention, a dual-arm robot digital radiographic imaging device includes:

[0049] Detector 17 and X-ray machine 15, wherein the detector 17 adopts a high-definition dynamic amorphous silicon flat panel detector 17, and the X-ray machine 15 adopts a small focus X-ray machine, that is, the X-ray machine 15 is used to emit X-rays, and the detector 17 is used to receive the X-rays after passing through the precision workpiece 19 and form an image;

[0050] The inspection platform 18 is used to mount and fix a precision workpiece 19 so that the detector 17 and the X-ray machine 15 can be used to perform flaw detection on the precision workpiece 19 placed on the inspection platform 18. Specifically, the precision workpiece 19 can be placed along the length of the inspection platform 18, that is, the length of the precision workpiece 19 overlaps the length of the inspection platform 18.

[0051] A pair of seven-axis robots 16 are used to drive the detector 17 and the X-ray machine 15 to move within the detection area where the detection platform 18 is located, so as to utilize the seven redundant degrees of freedom of the seven-axis robots 16 to more flexibly adjust the angle, position and flip the imaging space posture and position of the X-ray machine 15 and the detector 17;

[0052] It should be noted that one of the seven-axis robots 16 carries the detector 17 and performs active movement and displacement under control, while the other seven-axis robot 16, under the control of the linkage system algorithm, makes the carried X-ray machine maintain a set relative position posture relative to the detector 17, thereby making the X-ray machine move synchronously with the detector 17, making it easy to adjust the position of the detector 17 and the X-ray machine and reducing the adjustment time; the "linkage system algorithm" is a well-known technology in the field of robotic arms and will not be described in detail.

[0053] and a control system for electrically connecting with the detector 17, the X-ray machine 15, the detection platform 18, and the seven-axis robot, for controlling the operation of the detector 17, the X-ray machine 15, the detection platform 18, and the seven-axis robot, respectively, so as to adjust the position and posture of the detector 17 and the X-ray machine 15, and control the start and stop of the detector 17 and the X-ray machine 15, and also control the detection platform 18 to adjust the precision workpiece 19 to the optimal detection position, thereby greatly reducing the motion range of the seven-axis robot 16;

[0054] The detection platform 18 includes:

[0055] Multiple clamping jaws are used to clamp multiple parts of the precision workpiece 19. In actual work, at least three clamping jaws are used to clamp various parts of the precision workpiece 19 in the length direction, ensuring that when one of the clamping jaws is separated from the precision workpiece 19, the remaining clamping jaws can still support the precision workpiece 19;

[0056] A driving mechanism for driving the clamping jaws to open and close to release or clamp the precision workpiece 19;

[0057] The lifting mechanism is used to drive the clamping jaws away from or close to the precision workpiece 19, thereby adjusting the position of the clamping jaws.

[0058] When applying the dual-arm robot digital radiography device provided by the present invention, a 7-axis robot with a running track is used to make the displacement of the radiography machine and the detector 17 more flexible and free, and to reach a spatial position that is inaccessible to ordinary traditional tooling, so as to achieve the best imaging detection posture, and facilitate multi-angle and multi-directional detection of the complex structure of the precision workpiece 19. In addition, the distance between the precision workpiece 19 and the detector 17 can be flexibly adjusted, that is, the adjustment can find the optimal magnification factor of defects on the precision workpiece 19, so that the structure of the precision workpiece 19 can be displayed and imaged more clearly, thereby improving the imaging clarity and ensuring the accuracy of detecting defects on the edge or weld of the precision workpiece 19.

[0059] Furthermore, when the clamp blocks the detector 17 and the X-ray machine from detecting the part of the precision workpiece 19 located at the clamp, the clamp can be controlled by the lifting mechanism to open and separate from the precision workpiece 19, eliminating the obstruction of the clamp to the detector 17 and the X-ray machine 15, thereby facilitating subsequent detection by the detector 17 and the X-ray machine 15 without manually moving or adjusting the position or posture of the precision workpiece 19, thereby greatly improving detection efficiency.

[0060] In addition, the control system can store the corresponding inspection programs for various types of precision workpieces 19. When inspecting a workpiece, the control system selects the inspection program corresponding to the current type of precision workpiece 19. The control system controls the detector 17, X-ray machine 15, inspection platform 18 and seven-axis robot according to the retrieved inspection program. The precision workpiece 19 only needs to be manually arranged and placed on the gripper. The entire system can complete a one-time DR transillumination inspection of the precision workpiece 19 under the control of the control system.

[0061] This device uses a seven-axis robot 16 for detection. Within the detection range, the X-ray machine 15 and the detector 17 can reach any position, meeting the X-ray digital imaging detection requirements of workpieces such as longer welded parts and honeycomb panels; and the application of the clamp can adjust the workpiece to the optimal detection position, greatly reducing the robot's range of motion; the entire device uses mature technology and equipment, cleverly integrated and matched, filling the technical gap in the field of automated detection of large-scale aviation products. The system control is simple, stable and reliable, the labor intensity is greatly reduced, and the detection capacity is absolutely improved.

[0062] On the basis of the above embodiment, the above-mentioned clamping jaws include a pair of clamping arms 1, which are cross-arranged to form a scissors-like structure, and the opening of the clamping jaws is set upward, so as to facilitate placing the precision workpiece 19 in the clamping jaws from top to bottom, and use the clamping arms 1 to support and fix the precision workpiece 19. It should be noted that the precision workpiece 19 is supported by a pair of clamping arms 1 at an angle to each other, a V-block type, to form a two-point fixation to prevent the precision workpiece 19 from shaking or flipping, thereby achieving a fixed posture of the precision workpiece 19 in the clamping jaws.

[0063] In the specific work, first number and name the workpiece, then set up the process, manually set the tooling and X-ray machine, and flat-panel detector position for each inspected part, save this process, and the next time you encounter the same workpiece, just click to use this process, and you can automatically complete the workpiece inspection with one click.

[0064] It should be noted that for X-ray inspection of complex structures, it is often necessary to repeatedly adjust the relative positions of the X-ray source, workpiece, and X-ray receiving device to find the optimal penetration angle to complete the inspection. X-ray film and portable DR are difficult to complete this task. Even if it is completed, it takes a lot of time and has low work efficiency, which cannot meet production needs. However, this patented technology can dynamically collect data and easily find the optimal penetration angle.

[0065] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0066] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0067] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A dual-arm robot digital radiographic imaging device, characterized in that: include: detector; X-ray machine; Inspection platform, used to mount precision workpieces; a pair of seven-axis robots, each of which is used to drive the detector and the X-ray machine to move within the detection area where the detection platform is currently located; and a control system for electrically connecting with the detector, X-ray machine, detection platform and seven-axis robot; Wherein, the detection platform includes: A plurality of clamping jaws, each of which includes a pair of clamping arms, the pair of clamping arms are cross-arranged, and the openings of the clamping jaws face upward, for clamping multiple parts of a precision workpiece; a driving mechanism comprising a pair of mutually meshing first gears and a first driving portion, wherein the first driving portion is used to drive the first gear to rotate, thereby causing two clamping arms respectively connected to the pair of first gears to move closer or farther away, thereby driving the clamping jaws to open and close; Lifting mechanism, used to drive the clamping jaws away from or closer to the precision workpiece; It also includes a transparent placement plate, the end of the clamping arm is provided with a limit block for contacting the end of the placement plate, and the clamping arm is configured as a length-retractable structure; The clamping arm includes a primary telescopic arm and a secondary telescopic arm and a locking mechanism, the secondary telescopic arm is connected to the primary telescopic arm via a slide rail, the slide rail extends along the length direction of the primary telescopic arm, wherein the locking mechanism is used to limit the relative position of the secondary telescopic arm and the primary telescopic arm; the lifting mechanism includes a vertically arranged linear motion module, the upper end of the base of the linear motion module is connected to a base on which a pair of first gears are installed, and the slide of the linear motion module is fixed at a fixed height relative to the ground; The invention also includes a first driving device, wherein the plurality of the clamping jaws are arranged side by side, and the first driving device is used to drive the clamping jaws to move along a straight line where the plurality of the clamping jaws are arranged side by side; Wherein, the first driving device includes a guide rail, a mounting seat connected to the guide rail, and a second driving part, the second driving part is used to drive the mounting seat to slide along the guide rail, and the mounting seat is connected to the sliding seat; The second driving part includes a rack parallel to the guide rail and a second motor mounted on the mounting base, wherein the rotating shaft of the second motor is connected to a second gear meshing with the rack; Also included is an anti-collision mechanism for preventing collisions between adjacent jaws; The anti-collision mechanism includes a second travel switch and a touch rod respectively arranged on adjacent mounting seats, the touch rod is used to touch the second travel switch on the adjacent mounting seat, and the second travel switch is connected to the driving device through a controller.

2. The dual-arm robot digital radiographic imaging device according to claim 1, characterized in that: It also includes a limiting mechanism, wherein the pair of clamping arms of the clamping jaw rotate in the same plane, and the limiting mechanism is used to limit the swing range of the clamping arms; The limiting mechanism includes a pair of first travel switches respectively arranged at both ends of the swinging direction of the clamping arms. At least one clamping arm in each pair of clamping arms is provided with a paddle respectively used to touch the pair of first travel switches. The pair of first travel switches are connected to the driving mechanism through a controller.

3. The dual-arm robot digital radiographic imaging device according to claim 1, characterized in that: The locking mechanism includes a locking pin installed on the secondary telescopic arm and a pin hole provided on the primary telescopic arm. The pin hole is used for the pin shaft of the locking pin to pass through, and the pin holes are evenly spaced along the length direction of the primary telescopic arm.

4. A detection method, applied to the dual-arm robot digital radiographic imaging device according to any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1: Place the precision workpiece to be inspected on the inspection platform, select or enter the number of the precision workpiece on the human-computer interaction interface of the control system, and click to start automatic operation; Step 2: The control system obtains the position parameters and radiometric parameters of the part of the precision workpiece to be inspected based on the information of the precision workpiece to be inspected; and obtaining the motion trajectory parameters of a pair of seven-axis robots based on the coordinate information of the detector and the X-ray machine within the detection area, and transmitting them to the control system; Step 3: The control system controls the seven-axis robot to move according to the motion trajectory parameters and reaches the specified initial position. The control system also controls a pair of seven-axis robots and the inspection platform so that the inspected part of the precision workpiece is within the detection range of the detector and the X-ray machine. Step 4: When the detector and X-ray machine move to the inspected part, the control system controls the X-ray machine to emit X-rays. After the X-rays pass through the precision workpiece, they are received by the detector and imaged. The detector transmits the received image to the control system, which processes the image to obtain a high-quality image. Step 5: When the seven-axis robot reaches the interference point where the gripper interferes, the seven-axis robot stops and sends a first signal to the control system. After receiving the first signal, the control system controls the lifting mechanism to lower the gripper to a preset fixed position. After the gripper is lowered, the control system sends a first feedback signal to the seven-axis robot, and the seven-axis robot starts to move again to complete the detection of the interference point. When the seven-axis robot moves out of the interference point, the seven-axis robot sends a second signal to the control system. After receiving the second signal, the control system controls the lifting mechanism to lift the clamping device to reset it, and sends a second feedback signal to the seven-axis robot after the clamp is reset. The seven-axis robot continues to move, thereby realizing detection and imaging of all inspected parts of the precision workpiece.

Images