Multi-purpose Digital Radiography Automatic Detection Method

Abstract

A linkage type X-ray digital flat panel inspection device for straight welded steel pipes, comprising: a crawler fixing frame, a walking imager crawler, a mobile lifting ray machine device, a split conveyor roller table, a lifting and rotating track, and a system console. After feedback and summary of each piece of information through the system console, drive control commands are sent to drive the split conveyor roller table and the lifting and rotating track successively to convey the straight welded steel pipe to be inspected into the inspection room and then jack it up for adjustment and positioning. Then, the walking imager crawler and the mobile lifting ray machine device are synchronously driven to carry the X-ray machine and the imager to conduct real-time linkage inspection on the straight weld at the bottom of the steel pipe. The present invention overcomes the defects of traditional inspection methods and the prior art, saves the length space of the inspection room, greatly improves the safety and reliability, and greatly saves the equipment cost due to its simple and reliable structure. It has the advantages of convenient installation and maintenance, high inspection sensitivity, high inspection stability and efficiency, etc.

Description

Technical Field

[0001] The present invention relates to a multi-purpose digital ray automatic detection method, and more particularly to a linkage type X-ray digital flat panel detection device and a detection method. The following detection method takes a straight welded steel pipe as an example. Background Art

[0002] In recent years, the demand for straight welded steel pipes has been increasing day by day, and the detection technology of straight welded steel pipes has also developed rapidly. At present, the traditional detection method for straight welded steel pipes still installs a ray machine with a more than ten-meter-long extended boom, hoists the imager on the ceiling or installs it vertically, and the ray machine and the imager are relatively stationary and fixed. A large detection flat car carries the whole steel pipe to move for detection. This requires a special detection room with a total length of at least more than twice the length of the steel pipe line to complete the detection, wasting the layout of the site space, increasing the cost of ray protection and the cost of mechanical equipment such as large detection vehicles. Moreover, the ray machine is suspended on a long boom, and the too long high-voltage cable results in low detection sensitivity, and there are also problems and defects such as difficult equipment maintenance and low efficiency.

[0003] In the Chinese Patent Application Publication Specification CN102608140A, a steel pipe weld X-ray real-time imaging detection device is disclosed. The invention device includes a conveying roller assembly for carrying the workpiece to be inspected arranged in a detection protection room, a lifting and rotating wheel assembly arranged between the conveying roller assemblies, an X-ray receiving device assembly, a boom lifting machine assembly and an X-ray tube support assembly arranged in the detection protection room. It can meet the detection of the welds of tubular objects. This device has the characteristics of small floor area, low energy consumption, simple installation, high detection efficiency, saving funds and energy, and reducing costs. However, according to its detailed specification, the invention device still has the following defects: 1. Due to the boom structure of the invention device, it is huge and complex, and the extended structure is wide, so the detection range of the corresponding steel pipes is limited, and small-diameter steel pipes cannot be detected. 2. When loading the steel pipe, the steel pipe needs to be conveyed along the conveying roller path and pass through a straight-extending boom at the same time. When conveying a steel pipe with a smaller diameter, the steel pipe will swing its tail and jump, and there will be a risk of collision between the boom detection equipment and the inner wall of the steel pipe. In addition, when the lifting and rotating wheel assembly lifts the steel pipe, the steel pipe will move upward, and there will also be a risk of collision with the fixed boom stationary in the middle of the steel pipe, and the detection range of the steel pipe is small and the safety performance is poor. 3. The X-ray tube support assembly is a hanging and moving structure installed on the side wall and extending a long way above the detection room. This structure is complex and heavy, extends and hangs at a certain height, has a long extension distance, is difficult to install and debug, is difficult to maintain equipment such as X-ray tubes, and the equipment cost is also very high. When working frequently, there are huge safety hazards. Summary of the Invention

[0004] In view of the defects existing in the existing ray detection methods, the present invention proposes a linkage type X-ray digital flat weld steel pipe detection device and detection method that saves site space layout and greatly reduces the ray protection cost and mechanical equipment cost. It has the advantages of simple equipment maintenance, high detection sensitivity, high detection efficiency, etc.

[0005] The specific technical measures to solve the above technical problems are as follows: A linkage type straight weld steel pipe X-ray digital flat detection device, which is characterized in that it includes: a crawler fixing frame, a walking imager crawler, a mobile lifting ray machine device, a split type conveying roller path, a lifting and rotating path, and a system console. The crawler fixing frame is arranged at the rear end of the detection room. The front end of the crawler fixing frame is connected with a walking imager crawler. The mobile lifting ray machine device is arranged on the ground track in the middle of the detection room and can move forward. The split type conveying roller paths are spaced and placed in the central part of the detection room. The lifting and rotating path is placed in the middle position of the split type conveying roller paths. The system console is arranged outside the detection room. After the system console feeds back and summarizes each information, it sends a driving control command to drive the split type conveying roller paths and the lifting and rotating path in sequence to convey the straight weld steel pipe to be detected into the detection room and then jack it up for adjustment and positioning. Then, it synchronously drives the walking imager crawler and the mobile lifting ray machine device to carry the X-ray machine and the imager to perform real-time synchronous detection on the straight weld at the bottom of the steel pipe.

[0006] Among them, the crawler fixing frame includes: an upper fixing frame, a lifting driving device, an automatic wire winding device, a crawler guiding and positioning column, and a compression pushing spring. The lifting driving device is installed on the fixing frame. The automatic wire winding device is installed on the lifting nut of the lifting driving device. The crawler guiding and positioning column is fixed at the front end of the automatic wire winding device. One end of the crawler pushing spring is fixed on the crawler guiding and positioning column. By controlling the transmission to adjust the height of the lifting nut, the height of the walking imager crawler fixed on the crawler guiding and positioning column is adjusted.

[0007] Among them, the crawler guiding and positioning column is in the shape of a conical column and cooperates with the crawler guiding and positioning block installed on the upper surface of the crawler frame to effectively lock the crawler and guide and position the crawler.

[0008] Among them, the automatic wire winding device adopts a motor-driven wire winding wheel structure, which cooperates with the movement of the walking imager crawler 2 to wind and unwind the dragging protection transmission cable on the crawler frame.

[0009] Among them, the compression pushing spring is made of spring steel with moderate elasticity, and is compressed and extended under the control of the winding and unwinding of the automatic wire winding device 13 to push the crawler.

[0010] The walking imager for climbing the vehicle includes: a driving walking device, a vehicle climbing guiding and positioning block, a dragging and protecting transmission cable, a vehicle climbing frame, and a camera sensor. The driving walking device of the vehicle climbing is driven by 6 wheels installed on the vehicle climbing frame through a driving motor. A vehicle climbing guiding and positioning block is installed on the upper surface of the vehicle climbing frame, which cooperates with the vehicle climbing guiding and positioning column to effectively guide and position the vehicle climbing. A dragging and protecting transmission cable is installed on the vehicle climbing frame, which cooperates with the automatic cable winding device to effectively wind and unwind the cable. An X-ray imager device is provided inside the vehicle climbing frame. A camera sensor is installed at the front end of the vehicle climbing frame to effectively observe the internal weld situation and sense the pipe end position, and timely control to stop the vehicle climbing from advancing.

[0011] The mobile lifting X-ray machine device includes: a high-voltage controller, a transverse moving bottom plate, an X-ray machine lifting device, an X-ray machine mounting fixture, and a transverse driving device. The high-voltage controller is fixedly installed on the transverse moving bottom plate. The X-ray machine lifting device is installed on the transverse moving bottom plate. An X-ray machine mounting fixture is installed on the X-ray machine lifting device to fixedly install the X-ray machine, and the X-ray penetration focal length is effectively adjusted by adjusting the lifting height. The transverse driving device is fixed on the transverse moving bottom plate;

[0012] Among them, the mobile lifting X-ray machine device is driven by a gear-rack structure, with a mobile guiding rail and a driving guiding rack provided below, and a transverse driving motor and a gear installed above. Through the rotation of the motor, the gear-rack transmission is driven, so as to drive the mobile lifting X-ray machine device to move horizontally along the fixed track, and cooperate with the movement of the vehicle climbing to realize synchronous imaging detection.

[0013] The split-type conveying roller table includes: a conical roller table, a driving motor reducer, and a roller table side bracket. The two sides of the conical roller table are fixed on the roller table side bracket through bearing seats, and the conical roller table is driven to work by the driving motor reducer installed on the roller table side bracket.

[0014] Among them, the installation method of the two separate conical roller tables of the split-type conveying roller table is: symmetrically distributed along the center line of the detected steel pipe line, and installed on the ground of the detection and flaw detection room in a way that they face each other and there is a gap in the middle, with a penetration gap left in the middle.

[0015] The number of split-type conveying roller tables set in the detection and flaw detection room according to the standard length of the detected steel pipe is: 3 groups are evenly set in the front and back, or 4 groups are evenly set, or 5 groups are evenly set.

[0016] The split-type lifting and rotating track includes: a rotating roller table, a rotating driving motor reducer, and a hydraulic cylinder device. The hydraulic cylinder device is fixed on the ground in the detection and flaw detection room. The rotating roller table is fixed on the connecting plate above the hydraulic cylinder device through a bearing seat. The rotating driving motor reducer is fixedly installed on the connecting plate above the hydraulic cylinder device and connected to the rotating roller table to drive the roller table to rotate.

[0017] The installation method of the two separate rotating roller paths of the split-type lifting and rotating path is as follows: They are symmetrically distributed along the center line of the detected steel pipe line, installed on the floor of the detection and flaw detection room in a way that they face each other and there is a gap in the middle, with a radiographic gap left in the middle.

[0018] The number of split-type lifting and rotating paths set in the detection and flaw detection room according to the standard length of the detected steel pipe is: 2 groups are evenly set in the front and back, or 3 groups are evenly set, or 4 are evenly set.

[0019] The system control console is the control center of the linkage detection system, equipped with components such as a motion control card, an operation panel, an X-ray digital imaging system controller, a sensor receiving control element, a hydraulic station control unit, and an alarm prompt element, and is responsible for all system controls such as information synthesis and feedback, information processing, program operation, and drive control of the entire system.

[0020] The detection method of the linkage type straight weld steel pipe X-ray digital flat panel detection device is characterized in that:

[0021] The first step, the preparation stage: According to the detected steel pipe model, the system control console issues a drive command to adjust the crawler fixed frame carrying the walking imager crawler to the initial position. At the same time, drive the mobile lifting ray machine device to the initial position. The system control console opens the protective lead door of the detection and flaw detection room.

[0022] The second step, the pipe feeding stage: The system control console sends a drive command to control the simultaneous rotation of the split-type conveying roller path in the detection and flaw detection room and the standard conveying roller path outside the detection and flaw detection room, and conveys the straight weld steel pipe to be detected on the standard conveying roller path outside the detection and flaw detection room into the detection room. The system control console controls the stop of the split-type conveying roller path in the room according to the position signal sent by the photoelectric sensor to control the stop position of the steel pipe, so that the front end of the steel pipe is aligned with the center position of the ray machine window. The system control console drives the protective lead door to close. Make the vehicle body part of the walking imager crawler on the crawler fixed frame enter the fixed position at the front end of the steel pipe.

[0023] The third step, the stage of jacking, rotating and positioning the weld: The system control console sends a drive command to drive the jacking hydraulic cylinders in the split-type lifting and rotating path to jack up synchronously, jack up the detected steel pipe line. At the same time, the system control console drives the rotating roller path to rotate, thereby rotating the steel pipe. The system control console sends a drive command to move the crawler fixed frame carrying the imager crawler to the lower edge of the end of the steel pipe, and observes the weld position through the internal weld observation camera installed on the crawler frame, and rotates the straight weld of the steel pipe to the lowermost end. Start the automatic wire winding device to rotate forward and pay out the wire. The imager crawler is pushed by the crawler push spring and is pushed to the corresponding position of the lower edge of the inner end weld of the steel pipe and the ray window.

[0024] Step 4, X-ray focusing and positioning stage: The system console sends a driving command, the ray imaging starts the focusing operation, controls and adjusts the operation of the ray machine lifting device of the moving and lifting ray machine device, adjusts the position up and down, and adjusts the focal length position to achieve the best effect.

[0025] Step 5, linked X-ray imaging stage: The system console synchronously drives the crawler driving and walking device for the walking imager to climb the vehicle and the lateral driving device of the moving and lifting ray machine device to work, so that the imager and the X-ray machine carried respectively are synchronously linked relative to the steel pipe. While the crawler moves, the automatic wire winding device of the crawler fixing frame rotates forward, cooperates with the synchronous transmission control cable, and at the same time the system console starts the X-ray machine and the imager respectively. The X-ray penetrates the weld at the lower end of the straight weld steel pipe from bottom to top and is imaged and detected by the imager.

[0026] Step 6, detection end stage: When the walking imager crawls to the tail end of the steel pipe inside the steel pipe, the movement of the imager crawler and the ray machine is automatically detected and stopped through sensors such as observation cameras, the ray is turned off, and the detection process is completed.

[0027] Step 7, detection finishing stage: The system console sends a driving command, the imager crawler and the moving and lifting ray machine device return to the initial position. While the crawler moves, the automatic wire winding device of the crawler fixing frame rotates in the reverse direction to tow the crawler back. The crawler is automatically guided and positioned through the cooperation of the guiding positioning block installed on the crawler frame and the elliptical conical crawler guiding positioning column on the crawler fixing frame 1, and the compression push spring drags the crawler onto the guiding positioning column. The lifting hydraulic cylinder in the split type lifting and rotating track is driven to descend synchronously, and the straight weld steel pipe is placed on the split type conveying roller track. After opening the lead door, the split type conveying roller track inside the detection and flaw detection room and the standard conveying roller track outside the detection and flaw detection room are controlled to rotate reversely at the same time, and the detected straight weld steel pipe is conveyed to the outside of the detection room to complete the current detection process.

[0028] Advantages of the present invention: The present invention overcomes many defects of the traditional detection method for straight weld steel pipes, greatly saves the length space of the detection room, which is only about half of the length of the traditional method. The imager crawler is pushed into the steel pipe and walks along the straight weld in cooperation with the ray machine for detection, thereby greatly improving the detection accuracy, safety and stability, and increasing the detection small pipe diameter range. Moreover, the mechanical transmission structure is simple and reliable, greatly saving the protection cost and equipment cost. And because the ray machine is installed on the ground and the high-voltage cable is short, it has the advantages of convenient and simple equipment maintenance, high detection sensitivity, high detection stability and high efficiency. The present invention promotes the further development of the non-destructive detection technology for straight weld steel pipes. It can be widely applied to the field of X-ray non-destructive detection and has broad development space. Description of the Drawings

[0029] Figure 1 is the front view of the present invention;

[0030] Figure 2 is Figure 1 the front view of the car climbing fixing frame in

[0031] Figure 3 is Figure 1 the side view of the car climbing fixing frame in

[0032] Figure 4 is Figure 1 the front view of the walking imager car climbing and mobile lifting ray machine device in

[0033] Figure 5 is Figure 1 the side view of the walking imager car climbing and mobile lifting ray machine device in

[0034] Figure 6 is Figure 1 the front view of the split-type conveying roller table in

[0035] Figure 7 is Figure 1 the front view of the lifting and rotating track in

[0036] Figure 8 is Figure 1 the side view of the lifting and rotating track in

[0037] Figure 9 is the program flow block diagram of the detection method;

[0038] In the figure: 1 car climbing fixing frame, 2 walking imager car climbing, 3 mobile lifting ray machine device, 4 split-type conveying roller table, 5 lifting and rotating track, 6 system console. 11 on the fixing frame, 12 lifting drive device, 13 automatic wire winding device, 14 car climbing guiding and positioning column, 15 compression and pushing spring, 21 driving walking device, 22 car climbing guiding and positioning block, 23 dragging and protecting transmission cable, 24 car climbing frame, 25 camera sensor, 31 high-voltage controller, 32 lateral moving bottom plate, 33 ray machine lifting device, 34 ray machine mounting fixture, 35 lateral driving device, 41 conical roller table, 42 driving motor reducer, 43 roller table side bracket, 51 rotating roller table, 52 rotating drive motor reducer, 53 hydraulic cylinder device. Detailed implementation manner

[0039] Such as Figures 1 - 8A linked straight-weld steel pipe X-ray digital flat panel detection device is characterized by comprising: a crawler fixing frame 1, a walking imager crawler 2, a mobile lifting ray machine device 3, a split-type conveying roller path 4, a lifting and rotating path 5, and a system console 6. The crawler fixing frame 1 is arranged at the rear end of the detection chamber. The front end of the crawler fixing frame 1 is connected with the walking imager crawler 2. The mobile lifting ray machine device 3 is arranged on the ground track in the middle of the detection chamber and can move forward. The split-type conveying roller paths 4 are spaced and distributed on the ground in the center of the detection chamber. The lifting and rotating path 5 is placed in the middle position of the split-type conveying roller paths 4. The system console 6 is arranged outside the detection chamber. After feedback and summary of various information through the system console 6, drive control commands are sent to drive the split-type conveying roller paths 4 and the lifting and rotating path 5 successively to convey the straight-weld steel pipe to be detected into the detection chamber, then lift and adjust the positioning. Then, the walking imager crawler 2 and the mobile lifting ray machine device 3 are synchronously driven to carry the X-ray machine and the imager to perform real-time synchronous detection on the straight weld at the bottom of the steel pipe.

[0040] The crawler fixing frame 1 includes: an upper fixing frame 11, a lifting drive device 12, an automatic wire winding device 13, a crawler guiding and positioning column 14, and a compression pushing spring 15. The lifting drive device 12 is installed on the fixing frame 11. The automatic wire winding device 13 is installed on the lifting nut of the lifting drive device 12. The crawler guiding and positioning column 14 is fixed at the front end of the automatic wire winding device 13. One end of the crawler pushing spring 15 is fixed on the crawler guiding and positioning column 14. By controlling the transmission to adjust the height of the lifting nut, the height of the walking imager crawler 2 fixed on the crawler guiding and positioning column 14 is adjusted.

[0041] The crawler guiding and positioning column 14 is in the shape of a conical column and cooperates with the crawler guiding and positioning block 22 installed on the upper surface of the crawler frame 24 to effectively lock and guide and position the crawler.

[0042] The automatic wire winding device 13 drives the wire winding wheel through a motor to cooperate with the movement of the walking imager crawler 2 to wind and unwind the dragging protection transmission cable 23 on the crawler frame 24. The compression pushing spring 15 has a moderate elasticity and is compressed and extended under the control of the winding and unwinding of the automatic wire winding device 13 to push the crawler.

[0043] The walking imager vehicle climber 2 includes: a driving walking device 21, a vehicle climber guiding and positioning block 22, a dragging and protecting transmission cable 23, a vehicle climber frame 24, and a camera sensor 25. The driving walking device 21 of the vehicle climber is driven by six wheels mounted on the vehicle climber frame 24 through a driving motor. The vehicle climber guiding and positioning block 22 is installed on the upper surface of the vehicle climber frame 24 and cooperates with the vehicle climber guiding and positioning column 14 to effectively guide and position the vehicle climber. The dragging and protecting transmission cable 23 is installed on the vehicle climber frame 24 and cooperates with the automatic cable winding device 13 to effectively wind and unwind the cable. An X-ray imager device is provided inside the vehicle climber frame 24. The camera sensor 25 is installed at the front end of the vehicle climber frame 24 to effectively observe the internal weld condition and sense the pipe end position, and timely control the vehicle climber to stop advancing.

[0044] The mobile lifting X-ray machine device 3 includes: a high-voltage controller 31, a horizontal moving bottom plate 32, an X-ray machine lifting device 33, an X-ray machine mounting fixture 34, and a horizontal driving device 35. The high-voltage controller 31 is fixedly installed on the horizontal moving bottom plate 32. The X-ray machine lifting device 33 is installed on the horizontal moving bottom plate 32. The X-ray machine mounting fixture 34 is installed on the X-ray machine lifting device 33 to fixedly install the X-ray machine, and the X-ray penetration focal length is effectively adjusted by adjusting the lifting height. The horizontal driving device 35 is fixed on the horizontal moving bottom plate 32;

[0045] Among them, the mobile lifting X-ray machine device 3 is driven by a gear-rack structure, with a mobile guiding rail and a driving guiding rack provided below, and a horizontal driving motor and a gear installed above. By the rotation of the motor, the gear-rack transmission is driven, so as to drive the mobile lifting X-ray machine device 3 to move horizontally along the fixed track, and cooperate with the movement of the vehicle climber 2 to realize synchronous imaging detection.

[0046] The split-type conveying roller table 4 includes: a conical roller table 41, a driving motor reducer 42, and a roller table side bracket 43. The two sides of the conical roller table 41 are fixed on the roller table side bracket 43 through bearing seats, and the conical roller table works by the driving motor reducer 42 installed on the roller table side bracket 43.

[0047] The installation method of the two separate conical roller tables of the split-type conveying roller table 4 is: symmetrically distributed along the center line of the detected steel pipe line, and installed on the ground of the detection and flaw detection room in a way that they face each other and there is a space in the middle, with a penetration gap left in the middle.

[0048] The number of split-type conveying roller tables 4 set in the detection and flaw detection room according to the standard length of the detected steel pipe is: 3 groups are evenly set in the front and back, or 4 groups are evenly set, or 5 groups are evenly set.

[0049] The split-type lifting and rotating track 5 includes: a rotating roller track 51, a rotating drive motor reducer 52, and a hydraulic cylinder device 53. The hydraulic cylinder device 53 is fixed on the ground in the inspection and flaw detection room. The rotating roller track 51 is fixed on the connecting plate above the hydraulic cylinder device 53 through a bearing seat. The rotating drive motor reducer 52 is fixedly installed on the connecting plate above the hydraulic cylinder device 53 and connected to the rotating roller track 51 to drive the roller track to rotate.

[0050] The installation method of the two separate rotating roller tracks of the split-type lifting and rotating track 5 is as follows: symmetrically distributed along the center line of the inspection steel pipeline, and installed on the ground of the inspection and flaw detection room in a way that they face each other and there is a gap in the middle, with a radiographic gap left in the middle.

[0051] The number of split-type lifting and rotating tracks 5 set in the inspection and flaw detection room according to the standard length of the inspection steel pipe is: 2 groups evenly arranged front and back, or 3 groups evenly arranged, or 4 groups evenly arranged.

[0052] The hydraulic cylinder device 53 uses hydraulic cylinders of the same diameter and the same standard, and synchronously jacks up the lifting and rotating roller track according to the existing standard hydraulic synchronization technology to perform the work of rotating and positioning the weld seam.

[0053] The system console 6 is the control center of the linkage detection system, and is equipped with components such as a motion control card, an operation panel, an X-ray digital imaging system controller, a sensor receiving control element, a hydraulic station control unit, and an alarm prompt element, and is responsible for all system controls such as information synthesis feedback, information processing, program operation, and drive control of the entire system.

[0054] The system console 6 adopts the X-ray spiral weld steel pipe detection system console with the existing control system device model XYD-160, and orderly controls the crawler fixing frame 1, the walking imager crawler 2, the mobile lifting ray machine device 3, the split-type conveying roller track 4, and the lifting and rotating track 5 and other parts to act in sequence, so as to realize the stable detection of straight weld steel pipes. Among them, the hydraulic control unit is composed of the existing formed WMCA type electro-hydraulic servo digital closed-loop controller technology and the formed hydraulic synchronization control system, which is an existing technology.

[0055] The detection method of the linkage type straight weld steel pipe X-ray digital flat panel detection device is characterized in that:

[0056] In the first step, the preparation stage: according to the detection steel pipe model, the system console 6 issues a drive command to adjust the crawler fixing frame 1 carrying the walking imager crawler 2 to the initial position. At the same time, drive the mobile lifting ray machine device 3 to the initial position. The system console 6 opens the protective lead door of the inspection and flaw detection room.

[0057] Step 2, pipe feeding stage: The system console 6 sends a driving command to control the simultaneous rotation of the split conveyor roller path 4 inside the inspection and flaw detection room and the standard conveyor roller path outside the inspection and flaw detection room, and conveys the straight weld pipe to be detected on the standard conveyor roller path outside the inspection and flaw detection room into the inspection room. The system console 6 controls the stop rotation of the split conveyor roller path 4 inside the room according to the position signal sent by the photoelectric sensor to control the stop position of the steel pipe, so that the front end of the steel pipe is aligned with the center position of the ray machine window. The system console 6 drives the protective lead door to close, and makes the vehicle body part of the walking imager crawler 2 on the crawler fixing frame 1 enter the fixed position at the front end of the steel pipe.

[0058] Step 3, jacking and rotating to position the weld stage: The system console 6 sends a driving command to drive the synchronous jacking of the jacking hydraulic cylinders in the split lifting and rotating path 5 to jack up the steel pipe line to be detected. At the same time, the system console 6 drives the rotating roller path to rotate, thereby rotating the steel pipe. The system console 6 sends a driving command to move the crawler fixing frame 1 carrying the imager crawler 2 to the lower edge of the end of the steel pipe, and observes the weld position through the internal weld observation camera 25 installed on the crawler frame 24 to rotate the straight weld of the steel pipe to the lowermost end. Start the automatic wire winding device 13 to rotate forward and pay out the wire. The imager crawler 2 is pushed by the crawler pushing spring 15 and is pushed to the corresponding position of the lower edge of the inner end of the steel pipe and the ray window.

[0059] Step 4, X-ray focusing and positioning stage: The system console 6 sends a driving command, the ray imaging starts the focusing work, and controls the adjustment of the ray machine lifting device 33 of the moving lifting ray machine device 3 to work, adjusts the position up and down, and adjusts the focal length position to achieve the best effect.

[0060] Step 5, linked X-ray imaging stage: The system console 6 synchronously drives the crawler driving and walking device 21 of the walking imager crawler 2 and the lateral driving device 35 of the moving lifting ray machine device 3 to work, so that the imagers and X-ray machines carried respectively are synchronously linked relative to the steel pipe. While the crawler 2 moves, the automatic wire winding device 13 of the crawler fixing frame 1 rotates forward and works, cooperating with the synchronous conveying control cable. At the same time, the system console 6 starts the X-ray machine and the imager to work respectively. The X-ray penetrates the weld at the lower end of the straight weld steel pipe from bottom to top and is imaged and detected by the imager.

[0061] Step 6, detection end stage: When the walking imager crawler 2 walks to the tail end of the steel pipe inside the steel pipe, the movement of the imager crawler 2 and the ray machine is automatically detected and stopped through sensors such as the observation camera, the ray is turned off, and the detection process is completed.

[0062] Step 7, detection and finishing stage: The system console 6 sends a driving command, the imager car 2 and the mobile lifting ray machine device 3 retract to the initial position. While the car 2 moves, the automatic wire winding device 13 of the car fixing frame 1 rotates in the reverse direction to tow back the car 2. Through the cooperation between the guiding and positioning block installed on the car frame 24 and the elliptical conical car guiding and positioning column 14 on the car fixing frame 1 for automatic guiding and positioning, the compression push spring 15 drags the car 2 onto the guiding and positioning column 14. The lifting hydraulic cylinders in the split type lifting and rotating track 5 are synchronously lowered, and the straight seam steel pipe is placed on the split type conveying roller track 4. After opening the lead door, control the reverse rotation of the split type conveying roller track 4 inside the detection and flaw detection room and the standard conveying roller track outside the detection and flaw detection room at the same time to convey the detected straight seam steel pipe outside the detection room, completing the current detection process.

Claims

1. A linkage type X-ray digital flat panel inspection device for straight welded steel pipes, characterized in that: The split-type conveying roller path includes: a conical roller path, a driving motor reducer, and a roller path side bracket. The two sides of the conical roller path are fixed on the roller path side bracket through bearing seats, and the conical roller path is driven to work by the driving motor reducer installed on the roller path side bracket; The split-type lifting and rotating path includes: a rotating roller path, a rotating driving motor reducer, and a hydraulic cylinder device. The hydraulic cylinder device is fixed on the ground in the inspection and flaw detection room. The rotating roller path is fixed on the connecting plate above the hydraulic cylinder device through a bearing seat. The rotating driving motor reducer is fixedly installed on the connecting plate above the hydraulic cylinder device and is connected to the rotating roller path to drive the roller path to rotate; Among them, the installation method of the two separate conical roller paths of the split-type conveying roller path is: symmetrically distributed along the center line of the inspected steel pipe line, and installed on the ground of the inspection and flaw detection room in a way that they face each other and leave a space in the middle, with a radiographic gap left in the middle; Among them, the installation method of the two separate rotating roller paths of the split-type lifting and rotating path is: symmetrically distributed along the center line of the inspected steel pipe line, and installed on the ground of the inspection and flaw detection room in a way that they face each other and leave a space in the middle, with a radiographic gap left in the middle.

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