Multi-modal radiological detection apparatus

Abstract

The present application relates to a kind of multi-mode ray detection device, belong to the field of ray nondestructive testing, solve the problem that existing technology cannot carry out single-wall transmission in the detection process and source probe cannot be linked in the detection process of rotary body workpiece.The detection device includes: ray machine stand, ray machine, workpiece turntable, large detector, large detector stand, small detector cantilever, small detector and motion controller;Motion controller is used to control the position of ray machine, large detector and small detector, and the pitch angle of ray machine and large detector, so that in the detection process, the source probe is linked, the central beam of the ray emitted by ray machine is always perpendicular to the surface of large detector / small detector and passes through the center point of large detector / small detector.Single-wall transmission detection and source probe linkage of rotary body workpiece are realized.

Description

Technical Field

[0001] This invention relates to the field of radiographic nondestructive testing technology, and in particular to a multi-mode radiographic testing device. Background Technology

[0002] Non-destructive testing (NDT) is an indispensable tool in industrial development and, to a certain extent, reflects a country's level of industrial development. X-ray inspection technology, as a conventional NDT method, has been applied in industrial fields for nearly a century. In the early stages and in some current industrial sectors (such as military manufacturing), X-ray inspection typically relies on photographic film. This method suffers from problems such as long inspection cycles, low efficiency, high costs, and environmental pollution from waste liquid generated during darkroom processing, making it unsuitable for the development trends of NDT in the information age.

[0003] Currently, X-ray digital imaging inspection solutions typically involve placing the workpiece on a stage positioned between the X-ray machine and the detector to achieve radiographic imaging of the workpiece. For rotating workpieces, according to the aforementioned radiographic layout, X-rays need to penetrate both walls of the rotating workpiece to reach the detector for imaging. This results in an image that is an overlay of two layers of wall thickness information, leading to decreased image contrast, sensitivity, and spatial resolution. Furthermore, it becomes impossible to determine whether the defect image is on the front or rear wall.

[0004] Meanwhile, in existing technologies, the alignment of the X-ray source and detector is manually completed by the operator, which is not only difficult and time-consuming, but also cannot guarantee the alignment accuracy.

[0005] Therefore, there is an urgent need for a detection device that can perform single-wall radiography on rotating workpieces, and can also achieve linkage between the X-ray machine and the detector. Summary of the Invention

[0006] Based on the above analysis, the present invention aims to provide a multi-mode X-ray inspection device to solve the problems of existing technologies that cannot perform single-wall X-ray inspection on rotating workpieces and that source and probe cannot be linked.

[0007] This invention provides a multi-mode X-ray inspection device, which includes: an X-ray machine column, an X-ray machine, a workpiece turntable, a large detector, a large detector column, a small detector cantilever, a small detector, and a motion controller;

[0008] The X-ray machine column and the large detector column are located on both sides of the workpiece turntable;

[0009] The X-ray machine can be mounted on the X-ray machine column in an adjustable position and can slide up and down along the X-ray machine column.

[0010] The large detector can be mounted on the large detector column in an adjustable position and can slide up and down along the large detector column.

[0011] The workpiece to be tested is placed on the workpiece turntable;

[0012] The small detector cantilever is vertically fixed to the X-ray machine column. The small detector is installed on the small detector cantilever and can move up, down, left, and right along the small detector cantilever. The small detector can penetrate into the interior of the workpiece to be inspected for inspection.

[0013] The motion controller is used to control the position of the X-ray machine, the large detector, and the small detector, as well as the pitch angle of the X-ray machine and the large detector, so as to achieve source-detector linkage during the detection process and keep the central beam of the X-ray machine perpendicular to the surface of the large detector / small detector and passing through the center point of the large detector / small detector.

[0014] Based on further improvements to the above-mentioned detection device, the detection device also includes first to fifth motion actuators and first to fifth motion mechanisms;

[0015] The motion controller controls the movement of the first motion mechanism through the first motion actuator, thereby driving the X-ray machine to move up and down;

[0016] The motion controller controls the movement of the second motion mechanism through the second motion actuator, thereby driving the X-ray machine to pitch and rotate.

[0017] The motion controller controls the movement of the third motion mechanism through the third motion actuator, thereby driving the large detector to move left and right;

[0018] The motion controller controls the movement of the fourth motion mechanism through the fourth motion actuator, thereby driving the large detector to move up and down;

[0019] The motion controller controls the movement of the fifth motion mechanism through the fifth motion actuator, thereby driving the large detector to pitch and rotate.

[0020] Based on further improvements to the above-mentioned detection device, the first motion actuator includes a first servo driver and a first servo motor; the first motion mechanism includes a first slide rail and a first slider; the first slide rail is disposed on the X-ray machine column, and the first slider is connected to the first servo motor and can slide up and down along the first slide rail;

[0021] The second motion actuator includes a second servo driver and a second servo motor; the second motion mechanism includes a ray end support mechanism, a ray end crank arm connecting rod, an inner bearing ring, and an outer bearing ring; one end of the ray end support mechanism is fixedly connected to the first slider, and the other end is fixedly connected to the outer bearing ring; one end of the ray end crank arm connecting rod is connected to the second servo motor, and the other end is fixedly connected to the inner bearing ring; the inner bearing ring is rotatable relative to the outer bearing ring, the ray machine is mounted on the inner bearing ring and fixedly connected to the inner bearing ring, and pitches and rotates under the drive of the second servo motor.

[0022] Based on further improvements to the above-mentioned detection device, the detection device also includes an equipment base, on which the X-ray machine column, the large detector column, and the workpiece turntable are all mounted.

[0023] Based on further improvements to the above-mentioned detection device, the third motion actuator includes a third servo driver and a third servo motor; the third motion mechanism includes a third slide rail and a third slider, the third slide rail being arranged on the equipment base along the line connecting the X-ray machine column and the large detector column; the third slider being connected to the third servo motor and being able to move left and right along the third slide rail; the large detector column being arranged on the third slider;

[0024] The fourth motion actuator includes a fourth servo driver and a fourth servo motor; the fourth motion mechanism includes a fourth slide rail and a fourth slider; the fourth slide rail is mounted on the large detector column, and the fourth slider is connected to the fourth servo motor and can slide up and down along the fourth slide rail;

[0025] The fifth motion actuator includes a fifth servo driver and a fifth servo motor; the fifth motion mechanism includes a large detector end support mechanism, a large detector end crank arm connecting rod, and a connecting block; one end of the large detector end support mechanism is fixedly connected to the fourth slider, and the other end is rotatably connected to the connecting block; one end of the large detector end crank arm connecting rod is connected to the fifth servo motor, and the other end is fixedly connected to the connecting block; the large detector is fixedly connected to the connecting block and pitches and rotates under the drive of the fifth servo motor.

[0026] Based on further improvements to the above-mentioned detection device, the motion controller is used to issue control commands to the first to fifth servo drives, and the first to fifth servo drives drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands; the first to fifth servo motors are also used to send their respective positions to the motion controller through their respective servo drives.

[0027] Based on further improvements to the aforementioned detection device, the motion controller achieves linkage between the X-ray machine and the large detector in the following manner:

[0028] When the focal length F of the X-ray machine can be changed, the motion controller automatically calculates the position and pitch angle of the X-ray machine based on the position of the large detector, the pitch angle, and the horizontal distance between the large detector and the X-ray machine.

[0029] SZ = DZ - DX·tan(DP);

[0030] SP = DP;

[0031] Alternatively, the motion controller can automatically calculate the position and pitch angle of the large detector based on the horizontal distance between the large detector and the X-ray machine, the position of the X-ray machine, and the pitch angle.

[0032] DZ = SZ + DX·tan(SP);

[0033] DP = SP;

[0034] Wherein, DX represents the horizontal distance between the center point of the large detector and the focal point of the X-ray machine, DZ represents the vertical distance between the center point of the large detector and the horizontal plane where the workpiece turntable is located, DP represents the pitch angle of the large detector, SZ represents the vertical distance between the focal point of the X-ray machine and the horizontal plane where the workpiece turntable is located, and SP represents the pitch angle of the X-ray machine.

[0035] Based on further improvements to the aforementioned detection device, the motion controller achieves linkage between the X-ray machine and the large detector in the following manner:

[0036] When the focal length F of the X-ray machine remains constant, the motion controller automatically calculates the position, elevation angle, and horizontal distance between the X-ray machine and the large detector based on the position and elevation angle of the large detector.

[0037] SZ = DZ - F·sin(DP);

[0038] SP = DP;

[0039] DX = F·cos(DP);

[0040] Alternatively, the motion controller can automatically calculate the position, pitch angle, and horizontal distance between the large detector and the X-ray machine based on the position, pitch angle, and focal length of the X-ray machine.

[0041] DZ = SZ + F·sin(SP);

[0042] DP = SP;

[0043] DX = F·cos(SP);

[0044]

[0045] Wherein, DX represents the horizontal distance between the center point of the large detector and the focal point of the X-ray machine, DZ represents the vertical distance between the center point of the large detector and the horizontal plane where the workpiece turntable is located, DP represents the pitch angle of the large detector, SZ represents the vertical distance between the focal point of the X-ray machine and the horizontal plane where the workpiece turntable is located, and SP represents the pitch angle of the X-ray machine.

[0046] Based on further improvements to the above-mentioned detection device, the detection device also includes a sixth motion actuator, a seventh motion actuator, a sixth motion mechanism, and a seventh motion mechanism;

[0047] The motion controller controls the movement of the sixth motion mechanism through the sixth motion actuator, thereby driving the small detector to move left and right;

[0048] The motion controller controls the movement of the seventh motion mechanism through the seventh motion actuator, thereby driving the small detector to move up and down.

[0049] Based on further improvements to the above-mentioned detection device, the sixth motion actuator includes a sixth servo driver and a sixth servo motor; the sixth motion mechanism includes a sixth slide rail and a sixth slider; the sixth slide rail is disposed on the small detector cantilever, and the sixth slider is connected to the sixth servo motor and can move left and right along the sixth slide rail;

[0050] The seventh motion actuator includes a seventh servo driver and a seventh servo motor; the seventh motion mechanism includes a telescopic rod; the telescopic rod is disposed on the sixth slider, and the small detector is disposed at the lower end of the telescopic rod; the telescopic rod is connected to the seventh servo motor and extends and retracts under the drive of the seventh servo motor, thereby driving the small detector to move up and down;

[0051] The motion controller is used to send control commands to the sixth and seventh servo drives. The sixth and seventh servo drives drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands. The sixth and seventh servo motors are also used to send their respective positions to the motion controller through their respective servo drives.

[0052] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0053] 1. By using a small detector to penetrate deep into the interior of the workpiece to be inspected, single-wall radiographic imaging of a rotating workpiece is achieved.

[0054] 2. The positions of the X-ray machine, large detector, and small detector, as well as the pitch angle of the X-ray machine and large detector, are controlled by the motion controller, so that source and detector linkage can be achieved during the detection process.

[0055] 3. By combining a X-ray machine, a large detector, and a small detector, different detectors can be selected for inspection according to different types of workpieces to be inspected, and two detectors can share a single X-ray machine.

[0056] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0057] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0058] Figure 1 This is one of the structural schematic diagrams of a multi-mode X-ray detection device provided in an embodiment of the present invention;

[0059] Figure 2 This is one of the schematic diagrams of a multi-mode X-ray detection device provided in an embodiment of the present invention;

[0060] Figure 3 This is a second schematic diagram of the operation of a multi-mode X-ray detection device provided in an embodiment of the present invention;

[0061] Figure 4 This is a second schematic diagram of the structure of a multi-mode X-ray detection device provided in an embodiment of the present invention;

[0062] Figure 5 This is the third schematic diagram of a multi-mode X-ray detection device provided in an embodiment of the present invention;

[0063] Figure 6 This is a schematic diagram of the structure of the second motion mechanism provided in an embodiment of the present invention;

[0064] Figure 7 This is a schematic diagram of the fifth motion mechanism provided in an embodiment of the present invention.

[0065] Figure label:

[0066] 1-X ...

[0067] 4-Large detector; 5-Large detector support column; 6-Small detector cantilever;

[0068] 7-Small detector; 8-Workpiece to be inspected; 9-First slide rail;

[0069] 10-First slider; 11-Ray end support mechanism; 12-Ray end crank arm connecting rod;

[0070] 13-Bearing inner ring; 14-Bearing outer ring; 15-Second servo motor;

[0071] 16-Equipment base; 17-Third slide rail; 18-Third slider;

[0072] 19-Fourth slide rail; 20-Fourth slider; 21-Large detector end support mechanism;

[0073] 22-Large detector end curved arm connecting rod; 23-Connecting block; 24-Fifth servo motor;

[0074] 25 - Sixth slide rail; 26 - Sixth slider; 27 - Telescopic rod. Detailed Implementation

[0075] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0076] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0077] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Specifically, the terms "first position" and "second position" refer to two distinct positions. Moreover, "above," "over," and "on top of" the first feature in relation to the second feature include situations where the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "under," and "beneath" the first feature in relation to the second feature include situations where the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0078] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0079] A specific embodiment of the present invention discloses a multi-mode X-ray detection device, such as... Figure 1 As shown.

[0080] The detection device includes: X-ray machine column 1, X-ray machine 2, workpiece turntable 3, large detector 4, large detector column 5, small detector cantilever 6, small detector 7, and motion controller.

[0081] The X-ray machine column 1 and the large detector column 5 are located on both sides of the workpiece turntable 3;

[0082] The X-ray machine 2 can be mounted on the X-ray machine column 1 in an adjustable position and can slide up and down along the X-ray machine column 1; it can be understood that the X-ray machine 2 can be tilted, rotated and moved up and down relative to the X-ray machine column 1.

[0083] The large detector 4 can be mounted on the large detector column 5 in an adjustable position and can slide up and down along the large detector column 5.

[0084] The workpiece to be tested is placed on the workpiece turntable 3;

[0085] The small detector cantilever 6 is vertically fixed to the X-ray machine column 1. The small detector 7 is installed on the small detector cantilever 6 and can move up, down, left, and right along the small detector cantilever 6. The small detector 7 can penetrate into the interior of the workpiece to be inspected for inspection.

[0086] The motion controller is used to control the positions of the X-ray machine 2, the large detector 4, and the small detector 7, as well as the pitch angle of the X-ray machine 2 and the large detector 4, so as to achieve source-detector linkage during the detection process and keep the central beam of the X-ray emitted by the X-ray machine 2 perpendicular to the surface of the large detector 4 / small detector 7 and passing through the center point of the large detector 4 / small detector 7.

[0087] Specifically, the detection device has two detection modes: a large detector detection mode and a small detector detection mode.

[0088] When implementing, such as Figure 2In the large detector detection mode, the workpiece 8 to be inspected is placed on the workpiece turntable 3, and the large detector 4 and X-ray machine 2 are used to perform radiographic imaging of the workpiece 8. In the large detector detection mode, the X-ray machine can move up and down and rotate in pitch, while the large detector can move up, down, left and right and rotate in pitch.

[0089] By moving the X-ray machine 2 up and down, rotating it in pitch, and moving the large detector 4 up and down and rotating it in pitch, source-detector linkage is achieved during the detection process. This ensures that the central beam of X-ray emitted by the X-ray machine 2 is always perpendicular to the surface of the large detector 4 and passes through its center point. It's worth noting that source-detector linkage means that after the position of the X-ray machine 2 or the large detector 4 changes, the corresponding large detector 4 or the X-ray machine 2 also changes accordingly, moving to the designated position so that the central beam of X-ray emitted by the X-ray machine 2 is always perpendicular to the surface of the large detector 4 and passes through its center point. The position of the X-ray machine 2 or the large detector 4 can be changed manually or automatically through a motion controller.

[0090] like Figure 3 In the small detector detection mode, the workpiece 8 to be inspected is placed on the workpiece turntable 3, and the small detector 7 and the X-ray machine 2 are used to perform radiographic imaging of the workpiece 8. In the small detector detection mode, the X-ray machine only needs to move up and down, without tilting or rotating, while the small detector can move up, down, left, and right.

[0091] By moving the small detector 7 up and down, it penetrates deeper into the workpiece 8 for inspection. Then, by moving the X-ray machine 2 up and down, source and detector linkage is achieved during the inspection process, ensuring that the central beam of the X-ray emitted by the X-ray machine 2 remains perpendicular to the surface of the small detector 7 and passes through its center point. Simultaneously, by moving the small detector 7 left and right, the distance between the X-ray machine 2 and the small detector 7 can be adjusted, thereby regulating the radiographic focal length and magnification ratio.

[0092] By combining the small detector 7 and the X-ray machine 2, single-wall radiography of the workpiece 8 to be inspected is achieved, which improves the contrast sensitivity and spatial resolution of the image received by the small detector 7, and enables accurate determination of whether the defect image on the image is on the front wall or the back wall.

[0093] Compared with existing technologies, the multi-mode X-ray inspection device provided in this embodiment achieves single-wall radiography of the workpiece to be inspected by combining a small detector and an X-ray machine. This improves the contrast sensitivity and spatial resolution of the image received by the small detector, enabling accurate determination of whether the defect image is on the front or rear wall. Furthermore, by combining a large detector and an X-ray machine, full-coverage inspection of large-sized workpieces is achieved, reducing the number of scanning imaging operations and increasing the field of view of a single scan. At the same time, the large and small detectors can share a single X-ray machine, improving the efficiency of the X-ray machine.

[0094] Furthermore, such as Figure 4 As shown, the detection device also includes first to fifth motion actuators and first to fifth motion mechanisms;

[0095] The motion controller controls the movement of the first motion mechanism through the first motion actuator, thereby driving the X-ray machine to move up and down;

[0096] The motion controller controls the movement of the second motion mechanism through the second motion actuator, thereby driving the X-ray machine to pitch and rotate.

[0097] The motion controller controls the movement of the third motion mechanism through the third motion actuator, thereby driving the large detector to move left and right;

[0098] The motion controller controls the movement of the fourth motion mechanism through the fourth motion actuator, thereby driving the large detector to move up and down;

[0099] The motion controller controls the movement of the fifth motion mechanism through the fifth motion actuator, thereby driving the large detector to pitch and rotate.

[0100] During implementation, after the X-ray machine moves to a certain position, the motion controller controls the third motion mechanism to move the large detector left and right, the fourth motion mechanism to move the large detector up and down, and / or the fifth motion mechanism to rotate the large detector pitch, through the third motion actuator, the fourth motion actuator, and / or the fifth motion actuator, respectively. This enables source and detector linkage during the detection process, ensuring that the central beam of X-rays emitted by the X-ray machine is always perpendicular to the surface of the large detector and passes through the center point of the large detector.

[0101] Alternatively, after the large detector moves to a certain position, the motion controller controls the first motion mechanism to move the X-ray machine up and down and / or the second motion mechanism to rotate the X-ray machine up and down through the first motion actuator and / or the second motion actuator, respectively, so that the source and detector are linked during the detection process, and the central beam of the X-ray emitted by the X-ray machine is always perpendicular to the surface of the large detector and passes through the center point of the large detector.

[0102] Preferably, such as Figure 5As shown, the first motion actuator includes a first servo driver and a first servo motor; the first motion mechanism includes a first slide rail 9 and a first slider 10; the first slide rail 9 is disposed on the X-ray machine column 1, and the first slider 10 is connected to the first servo motor and can slide up and down along the first slide rail 9. It can be understood that the first servo driver drives the first servo motor, causing the first slider 10 in the first motion mechanism to slide up and down on the first slide rail 9.

[0103] like Figure 6 As shown, the second motion actuator includes a second servo driver and a second servo motor 15; the second motion mechanism includes a ray end support mechanism 11, a ray end crank arm connecting rod 12, an inner bearing ring 13, and an outer bearing ring 14; one end of the ray end support mechanism 11 is fixedly connected to the first slider 10, and the other end is fixedly connected to the outer bearing ring 14; one end of the ray end crank arm connecting rod 12 is connected to the second servo motor 15, and the other end is fixedly connected to the inner bearing ring 13; the inner bearing ring 13 can rotate relative to the outer bearing ring 14, and the ray machine 2 is disposed inside the inner bearing ring and fixedly connected to the inner bearing ring 13, and pitches and rotates under the drive of the second servo motor 15. It can be understood that the second servo driver drives the second servo motor 15, drives the ray end crank arm connecting rod 12, further drives the rotation of the inner bearing ring 13, and simultaneously cooperates with the ray end support mechanism 11 fixedly connected to the outer bearing ring 14, causing the ray machine 2 fixedly connected to the inner bearing ring 13 to pitch and rotate.

[0104] Preferably, such as Figure 5 As shown, the detection device also includes an equipment base 16, on which the X-ray machine column 1, the large detector column 5, and the workpiece turntable 3 are all mounted. It can be understood that by simultaneously mounting the X-ray machine column 1, the large detector column 5, and the workpiece on the equipment base, when a large-scale movement of the detection device is required, only the equipment base needs to be moved, thus providing mobility for the detection device.

[0105] Preferably, such as Figure 5As shown, the third motion actuator includes a third servo driver and a third servo motor; the third motion mechanism includes a third slide rail 17 and a third slider 18. The third slide rail 17 is arranged on the equipment base 16 along the line connecting the X-ray machine column 1 and the large detector column 5; the third slider 18 is connected to the third servo motor and can move left and right along the third slide rail 17; the large detector column 5 is arranged on the third slider 17. It can be understood that the third servo driver drives the third servo motor, causing the third slider 18 to move left and right along the third slide rail 17. Since the large detector column 5 is arranged on the third slider 17, it can further move left and right.

[0106] like Figure 5 As shown, the fourth motion actuator includes a fourth servo driver and a fourth servo motor; the fourth motion mechanism includes a fourth slide rail 19 and a fourth slider 20; the fourth slide rail 19 is disposed on the large detector column 5, and the fourth slider 20 is connected to the fourth servo motor and can slide up and down along the fourth slide rail 19; it can be understood that the fourth servo driver drives the fourth servo motor, causing the fourth slider 20 to slide up and down on the fourth slide rail 19.

[0107] like Figure 7 As shown, the fifth motion actuator includes a fifth servo driver and a fifth servo motor 24; the fifth motion mechanism includes a large detector end support mechanism 21, a large detector end crank arm connecting rod 22, and a connecting block 23; one end of the large detector end support mechanism 21 is fixedly connected to the fourth slider 20, and the other end is rotatably connected to the connecting block 23; one end of the large detector end crank arm connecting rod 22 is connected to the fifth servo motor, and the other end is fixedly connected to the connecting block 23; the large detector 4 is fixedly connected to the connecting block 23 and pitches and rotates under the drive of the fifth servo motor. It can be understood that the fifth servo driver drives the fifth servo motor 24, which in turn drives the large detector end crank arm connecting rod 22 and the connecting block 23, causing the large detector 4, which is fixedly connected to the connecting block 23, to pitch and rotate; simultaneously, the large detector end support mechanism 21 is fixedly connected to the fourth slider 20, and when the fourth slider 20 moves up and down the large detector column 5, it drives the large detector 4 to move up and down.

[0108] Preferably, the motion controller is used to issue control commands to the first to fifth servo drivers, and the first to fifth servo drivers drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands; the first to fifth servo motors are also used to send their respective positions to the motion controller through their respective servo drivers.

[0109] Understandably, the motion controller can determine the positions of the X-ray machine, the large detector, and the small detector, as well as the pitch angles of the X-ray machine and the large detector, based on the positions of each servo motor, and achieve source detection linkage based on the aforementioned positions and pitch angles.

[0110] During implementation, after the X-ray machine moves to a certain position, the motion controller sends control commands to the third, fourth, and / or fifth servo drives. According to the control commands, the third, fourth, and / or fifth servo drives drive their respective servo motors to move their respective motion mechanisms to the designated positions, so as to achieve source-detector linkage during the detection process and keep the central beam of X-rays emitted by the X-ray machine perpendicular to the surface of the large detector and passing through the center point of the large detector.

[0111] Alternatively, after the large detector moves to a certain position, the motion controller sends a control command to the first servo driver and / or the second servo driver. According to the control command, the first servo driver and / or the second servo driver drive their respective servo motors to move their respective motion mechanisms to the designated position, so that source and detector linkage is achieved during the detection process, and the central beam of the X-ray machine is always perpendicular to the surface of the large detector and passes through the center point of the large detector.

[0112] Compared with the prior art, the multi-mode X-ray detection device provided in this embodiment has a motion controller that receives control commands through the first to fifth servo drivers respectively, and drives its respective servo motors to drive its respective motion mechanism according to the control commands, so that the X-ray machine or large detector moves to the designated position. During the detection process, the independent operation of each motion axis of the X-ray machine or large detector is guaranteed, which improves the accuracy of the detection process.

[0113] Furthermore, the motion controller achieves the linkage between the X-ray machine and the large detector in the following manner:

[0114] When the focal length F of the X-ray machine can be changed, the motion controller automatically calculates the position and pitch angle of the X-ray machine based on the position of the large detector, the pitch angle, and the horizontal distance between the large detector and the X-ray machine.

[0115] SZ = DZ - DX·tan(DP);

[0116] SP = DP;

[0117] Alternatively, the motion controller can automatically calculate the position and pitch angle of the large detector based on the horizontal distance between the large detector and the X-ray machine, the position of the X-ray machine, and the pitch angle.

[0118] DZ = SZ + DX·tan(SP);

[0119] DP = SP;

[0120] Wherein, DX represents the horizontal distance between the center point of the large detector and the focal point of the X-ray machine, DZ represents the vertical distance between the center point of the large detector and the horizontal plane where the workpiece turntable is located, DP represents the pitch angle of the large detector, SZ represents the vertical distance between the focal point of the X-ray machine and the horizontal plane where the workpiece turntable is located, and SP represents the pitch angle of the X-ray machine.

[0121] Furthermore, the motion controller achieves the linkage between the X-ray machine and the large detector in the following manner:

[0122] When the focal length F of the X-ray machine remains constant, the motion controller automatically calculates the position and elevation angle of the X-ray machine, as well as the horizontal distance between the large detector and the X-ray machine, based on the position of the large detector, the elevation angle, and the focal length of the X-ray machine.

[0123] SZ = DZ - F·sin(DP);

[0124] SP = DP;

[0125] DX = F·cos(DP);

[0126]

[0127] Alternatively, the motion controller can automatically calculate the position, pitch angle, and horizontal distance between the large detector and the X-ray machine based on the position, pitch angle, and focal length of the X-ray machine.

[0128] DZ = SZ + F·sin(SP);

[0129] DP = SP;

[0130] DX = F·cos(SP);

[0131]

[0132] Wherein, DX represents the horizontal distance between the center point of the large detector and the focal point of the X-ray machine, DZ represents the vertical distance between the center point of the large detector and the horizontal plane where the workpiece turntable is located, DP represents the pitch angle of the large detector, SZ represents the vertical distance between the focal point of the X-ray machine and the horizontal plane where the workpiece turntable is located, and SP represents the pitch angle of the X-ray machine.

[0133] In practice, when the focal length F of the X-ray machine can be changed, the motion controller automatically calculates the position and pitch angle of the X-ray machine based on the position of the large detector, the pitch angle, and the horizontal distance between the large detector and the X-ray machine. Alternatively, the motion controller automatically calculates the position and pitch angle of the large detector based on the horizontal distance between the large detector and the X-ray machine, the position of the X-ray machine, and the pitch angle.

[0134] When the focal length F of the X-ray machine remains constant, the motion controller automatically calculates the position, elevation angle, and horizontal distance between the X-ray machine and the large detector based on the position and elevation angle of the large detector. Alternatively, the motion controller automatically calculates the position, elevation angle, and horizontal distance between the large detector and the X-ray machine based on the position, elevation angle, and focal length of the X-ray machine.

[0135] Compared with the prior art, the multi-mode X-ray detection device provided in this embodiment can accurately calculate the position and elevation angle of the X-ray machine based on the changed position and elevation angle of the large detector, whether the focal length F of the X-ray machine has changed or not, or accurately calculate the position and elevation angle of the large detector based on the position and elevation angle of the X-ray machine, thereby improving the automation of the detection process.

[0136] Furthermore, such as Figure 4 As shown, the detection device further includes a sixth motion actuator, a seventh motion actuator, a sixth motion mechanism, and a seventh motion mechanism;

[0137] The motion controller controls the movement of the sixth motion mechanism through the sixth motion actuator, thereby driving the small detector to move left and right;

[0138] The motion controller controls the movement of the seventh motion mechanism through the seventh motion actuator, thereby driving the small detector to move up and down.

[0139] Preferably, such as Figure 5 As shown, the sixth motion actuator includes a sixth servo driver and a sixth servo motor; the sixth motion mechanism includes a sixth slide rail and a sixth slider; the sixth slide rail is disposed on the small detector cantilever, and the sixth slider is connected to the sixth servo motor and can move left and right along the sixth slide rail;

[0140] The seventh motion actuator includes a seventh servo driver and a seventh servo motor; the seventh motion mechanism includes a telescopic rod 27; the telescopic rod 27 is disposed on the sixth slider 26, and the small detector 7 is disposed at the lower end of the telescopic rod 27; the telescopic rod 27 is connected to the seventh servo motor and extends and retracts under the drive of the seventh servo motor, thereby driving the small detector 7 to move up and down;

[0141] The motion controller is used to send control commands to the sixth and seventh servo drives. The sixth and seventh servo drives drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands. The sixth and seventh servo motors are also used to send their respective positions to the motion controller through their respective servo drives.

[0142] During implementation, after the position of the X-ray machine changes, the motion controller sends control commands to the sixth and seventh servo drives. The sixth and seventh servo drives then drive the sixth and seventh servo motors according to the control commands to move the sixth and seventh motion mechanisms to the designated positions, thereby achieving source-detector linkage during the detection process and ensuring that the central beam of the X-ray emitted by the X-ray machine is always perpendicular to the surface of the small detector.

[0143] Specifically, the motion controller can achieve linkage by acquiring the position DZ1 of the small detector and the position SZ of the X-ray machine; DZ1 represents the vertical distance from the center point of the small detector to the horizontal plane where the workpiece turntable is located;

[0144] When the position of the X-ray machine changes, DZ1 = SZ.

[0145] Alternatively, when the position of the small detector changes, SZ = DZ1.

[0146] Those skilled in the art will understand that all or part of the processes implemented by the motion controller in the above embodiments can be accomplished by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0147] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-mode X-ray detection device, characterized in that, The testing device includes: a X-ray machine column, a X-ray machine, a workpiece turntable, a large detector, a large detector column, a small detector cantilever, a small detector, and a motion controller; the testing device also includes an equipment base, on which the X-ray machine column, the large detector column, and the workpiece turntable are all mounted; The X-ray machine column and the large detector column are located on both sides of the workpiece turntable; The X-ray machine can be mounted on the X-ray machine column in an adjustable position and can slide up and down along the X-ray machine column. The large detector can be mounted on the large detector column in an adjustable position and can slide up and down along the large detector column. The workpiece to be tested is placed on the workpiece turntable; The small detector cantilever is vertically fixed to the X-ray machine column. The small detector is installed on the small detector cantilever and can move up, down, left, and right along the small detector cantilever. The small detector can penetrate into the interior of the workpiece to be inspected for inspection. The motion controller is used to control the position of the X-ray machine, the large detector and the small detector, as well as the pitch angle of the X-ray machine and the large detector, so as to achieve source-detector linkage during the detection process and keep the central beam of the X-ray machine always perpendicular to the surface of the large detector / small detector and passing through the center point of the large detector / small detector. The detection device includes a large detector detection mode and a small detector detection mode. In the large detector detection mode, the workpiece to be detected is placed on the workpiece turntable, and the large detector and X-ray machine are used to perform radiographic imaging on the workpiece. The X-ray machine can move up and down and rotate in pitch, while the large detector can move up and down, left and right and rotate in pitch. In the small detector detection mode, the workpiece to be detected is placed on the workpiece turntable, and the small detector and X-ray machine are used to perform radiographic imaging on the workpiece. The X-ray machine moves up and down, while the small detector moves up and down, left and right. In the large detector detection mode, the motion controller realizes the linkage between the X-ray machine and the large detector in the following way: when the focal length F of the X-ray machine can be changed, the motion controller automatically calculates the position and pitch angle of the X-ray machine based on the position and pitch angle of the large detector and the horizontal distance between the large detector and the X-ray machine: SZ=DZ-DX·tan(DP), SP=DP; Alternatively, the motion controller can automatically calculate the position and pitch angle of the large detector based on the horizontal distance between the large detector and the X-ray machine, the position of the X-ray machine, and the pitch angle: DZ = SZ + DX·tan(SP), DP = SP; When the focal length F of the X-ray machine remains constant, the motion controller automatically calculates the position, pitch angle and horizontal distance between the X-ray machine and the large detector based on the position and pitch angle of the large detector: SZ = DZ - F·sin(DP), SP = DP, DX = F·cos(DP). Alternatively, the motion controller automatically calculates the position, elevation angle, and horizontal distance between the large detector and the ray machine based on the position, elevation angle, and focal length of the ray machine: DZ = SZ + F·sin(SP), DP = SP, DX = F·cos(SP). Wherein, DX represents the horizontal distance between the center point of the large detector and the focal point of the X-ray machine, DZ represents the vertical distance between the center point of the large detector and the horizontal plane where the workpiece turntable is located, DP represents the pitch angle of the large detector, SZ represents the vertical distance between the focal point of the X-ray machine and the horizontal plane where the workpiece turntable is located, and SP represents the pitch angle of the X-ray machine. In the small detector detection mode, when the position of the X-ray machine changes, DZ1 = SZ; or, when the position of the small detector changes, SZ = DZ1; where DZ1 represents the vertical distance between the center point of the small detector and the horizontal plane where the workpiece turntable is located.

2. The detection device according to claim 1, characterized in that, The detection device further includes first to fifth motion actuators and first to fifth motion mechanisms; The motion controller controls the movement of the first motion mechanism through the first motion actuator, thereby driving the X-ray machine to move up and down; The motion controller controls the movement of the second motion mechanism through the second motion actuator, thereby driving the X-ray machine to pitch and rotate. The motion controller controls the movement of the third motion mechanism through the third motion actuator, thereby driving the large detector to move left and right; The motion controller controls the movement of the fourth motion mechanism through the fourth motion actuator, thereby driving the large detector to move up and down; The motion controller controls the movement of the fifth motion mechanism through the fifth motion actuator, thereby driving the large detector to pitch and rotate.

3. The detection device according to claim 2, characterized in that, The first motion actuator includes a first servo driver and a first servo motor; the first motion mechanism includes a first slide rail and a first slider; the first slide rail is disposed on the X-ray machine column, and the first slider is connected to the first servo motor and can slide up and down along the first slide rail; The second motion actuator includes a second servo driver and a second servo motor; the second motion mechanism includes a ray end support mechanism, a ray end crank arm connecting rod, an inner bearing ring, and an outer bearing ring; one end of the ray end support mechanism is fixedly connected to the first slider, and the other end is fixedly connected to the outer bearing ring; one end of the ray end crank arm connecting rod is connected to the second servo motor, and the other end is fixedly connected to the inner bearing ring; the inner bearing ring is rotatable relative to the outer bearing ring, the ray machine is mounted on the inner bearing ring and fixedly connected to the inner bearing ring, and pitches and rotates under the drive of the second servo motor.

4. The detection device according to claim 2, characterized in that, The third motion actuator includes a third servo driver and a third servo motor; the third motion mechanism includes a third slide rail and a third slider, the third slide rail being arranged on the equipment base along the line connecting the X-ray machine column and the large detector column; the third slider being connected to the third servo motor and being able to move left and right along the third slide rail; the large detector column being arranged on the third slider; The fourth motion actuator includes a fourth servo driver and a fourth servo motor; the fourth motion mechanism includes a fourth slide rail and a fourth slider; the fourth slide rail is mounted on the large detector column, and the fourth slider is connected to the fourth servo motor and can slide up and down along the fourth slide rail; The fifth motion actuator includes a fifth servo driver and a fifth servo motor; the fifth motion mechanism includes a large detector end support mechanism, a large detector end crank arm connecting rod, and a connecting block; one end of the large detector end support mechanism is fixedly connected to the fourth slider, and the other end is rotatably connected to the connecting block; one end of the large detector end crank arm connecting rod is connected to the fifth servo motor, and the other end is fixedly connected to the connecting block; the large detector is fixedly connected to the connecting block and pitches and rotates under the drive of the fifth servo motor.

5. The detection device according to claim 3 or 4, characterized in that, The motion controller is used to issue control commands to the first to fifth servo drivers. The first to fifth servo drivers drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands. The first to fifth servo motors are also used to send their respective positions to the motion controller through their respective servo drivers.

6. The detection device according to claim 1, characterized in that, The detection device further includes a sixth motion actuator, a seventh motion actuator, a sixth motion mechanism, and a seventh motion mechanism; The motion controller controls the movement of the sixth motion mechanism through the sixth motion actuator, thereby driving the small detector to move left and right; The motion controller controls the movement of the seventh motion mechanism through the seventh motion actuator, thereby driving the small detector to move up and down.

7. The detection device according to claim 6, characterized in that, The sixth motion actuator includes a sixth servo driver and a sixth servo motor; the sixth motion mechanism includes a sixth slide rail and a sixth slider; the sixth slide rail is mounted on the small detector cantilever, and the sixth slider is connected to the sixth servo motor and can move left and right along the sixth slide rail; The seventh motion actuator includes a seventh servo driver and a seventh servo motor; the seventh motion mechanism includes a telescopic rod; the telescopic rod is disposed on the sixth slider, and the small detector is disposed at the lower end of the telescopic rod; the telescopic rod is connected to the seventh servo motor and extends and retracts under the drive of the seventh servo motor, thereby driving the small detector to move up and down; The motion controller is used to send control commands to the sixth and seventh servo drives. The sixth and seventh servo drives drive their respective servo motors to move their respective motion mechanisms to a designated position according to the control commands. The sixth and seventh servo motors are also used to send their respective positions to the motion controller through their respective servo drives.

Images