Industrial X-ray detection manipulator

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to an industrial X-ray detection manipulator which comprises a hollow fixing seat, an automatic detection mechanism, a pipeline clamping mechanism, a detection direction adjusting mechanism, a detection state regulating and controlling mechanism, a single detection angle confirming mechanism, a circumferential rotation angle in-place feedback mechanism and a PLC (programmable logic controller). According to the invention, a to-be-detected pipeline can be rapidly clamped and fixed, the to-be-detected pipeline can be comprehensively detected, when the to-be-detected pipeline is clamped, the diameter of the to-be-detected pipeline can be synchronously detected and fed back, and the detection distance of a ray tube and a detector relative to the pipeline can be automatically regulated and controlled based on the diameter of the pipeline; the working power of the ray tube is regulated and controlled, the rotation detection angle of the ray tube and the detector each time can be automatically adjusted based on the diameter of the to-be-detected pipeline, and the larger the diameter of the pipeline is, the smaller the single rotation detection angle is.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to an industrial X-ray detection manipulator. Background Art

[0002] Industrial X-ray testing is a non-destructive testing technology widely used in the industrial field. X-rays have the ability to penetrate matter. When X-rays penetrate an object, the absorption and scattering degree of X-rays are different due to the different factors such as density, thickness and atomic number in different parts of the object. For example, high-density areas in metals (such as inclusions in castings) absorb more X-rays than low-density areas (such as normal metal matrices). After being attenuated by the object, the X-rays are irradiated onto the detector, which converts the X-ray signals into electrical signals or digital signals, which are then processed and reconstructed by a computer to display an image of the interior of the object.

[0003] At present, when performing X-ray inspection on pipelines, in order to ensure the comprehensiveness of the inspection, the staff needs to constantly adjust the position of the inspection equipment to meet the inspection needs. Such operation is not only inefficient, but also prone to incomplete inspection problems. The installation positions of the X-ray tube and the detector in the inspection equipment are fixed, but for pipelines with larger diameters, in order to be able to completely cover the cross-section of the pipeline, the distance between the X-ray tube and the detector needs to be increased accordingly to avoid the occurrence of blind spots in the inspection. In the process of driving the X-ray tube and the detector to rotate on the outer surface of the pipeline for comprehensive inspection, because the larger the diameter of the pipeline, the longer the circumference, in order to comprehensively inspect all parts of the pipeline in the circumferential direction, for large-diameter pipelines, each rotation angle needs to be relatively small, so as to ensure that there is a sufficiently fine distribution of inspection points on the circumference to avoid missing defects. The current fixed-angle rotation adjustment obviously cannot meet the use requirements well. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial X-ray detection manipulator in view of the above problems.

[0005] To achieve the above object, the present invention adopts the following technical solution: an industrial X-ray detection manipulator, including a hollow fixed seat, and also including: An automatic detection mechanism, fixedly mounted on the hollow fixing seat; A pipe clamping mechanism is fixedly mounted on the hollow fixing seat and is located inside the automatic detection mechanism; A detection orientation adjustment mechanism is installed in the hollow fixing seat and connected to the pipe clamping mechanism; A detection state regulating mechanism is arranged inside the pipe clamping mechanism and is transmission-connected to the pipe clamping mechanism; A single detection angle confirmation mechanism is fixedly installed in the hollow fixing seat and is transmission-connected with the detection azimuth adjustment mechanism; A circular rotation angle in-position feedback mechanism is fixedly installed between the hollow fixing seat and the detection azimuth adjustment mechanism; The PLC controller is fixedly mounted on the outer wall of the hollow fixing seat and is respectively electrically connected to the automatic detection mechanism, the pipe clamping mechanism, the detection orientation adjustment mechanism, the detection state control mechanism, the single detection angle confirmation mechanism and the circular rotation angle in-position feedback mechanism.

[0006] In the above-mentioned industrial X-ray detection manipulator, the automatic detection mechanism includes four electric slide rails symmetrically fixedly installed on the upper end of the hollow fixed seat, the upper ends of the sliders in the two electric slide rails on the same side are fixedly connected to the same support shell, and the opposite sides of the two support shells are set as open structures. A rotating screw is rotatably connected in the support shell, and a rotating motor for driving the rotating screw to rotate is fixedly installed on the outer wall of the support shell. The rod wall of the rotating screw is threadedly sleeved with a lifting block, and the two lifting blocks are respectively fixedly installed with a ray tube and a detector at the opposite ends.

[0007] In the above-mentioned industrial X-ray detection manipulator, the pipe clamping mechanism includes a rotating circular shell, and a plurality of adjusting screws arranged in a ring-shaped distribution are equidistantly rotatably connected to the upper side of the inner wall of the rotating circular shell. An adjusting motor is fixedly installed at the middle position of the upper end of the rotating circular shell, and the lower end output end of the adjusting motor extends into the rotating circular shell, and is rotatably connected to the plurality of adjusting screws through a bevel gear assembly. An adjusting seat is threadedly sleeved on the rod wall of the adjusting screw, and the upper end of the adjusting seat extends out of the upper end of the rotating circular shell through a strip opening opened at the upper end of the rotating circular shell, and a rubber clamping block is fixedly connected to the upper end of the adjusting seat, and a pressure sensor is embedded in the side wall of the rubber clamping block.

[0008] In the above-mentioned industrial X-ray detection manipulator, the detection orientation adjustment mechanism includes a support shaft rotatably connected to the inner side of the hollow fixed seat, the upper end of the support shaft passes through the upper end of the hollow fixed seat, and is fixedly connected to the lower end of the pipe clamping mechanism, and a motor drive assembly for driving the support shaft to rotate is fixedly installed at the bottom of the inner wall of the hollow fixed seat.

[0009] In the above-mentioned industrial X-ray detection manipulator, the detection state control mechanism includes a side plate fixedly mounted on the bottom of the inner wall of the rotating circular shell, and a control resistor rod is fixedly connected to the side plate and the rotating circular shell on the opposite side. One of the side walls of the adjustment seat is provided with a sleeve hole sleeved outside the control resistor rod, and a control conductive contact electrically in contact with the control resistor rod is fixedly mounted on the inner wall of the corresponding sleeve hole, and a trigger switch is fixedly mounted on the lower end of the adjustment seat, and a control screw is also rotatably connected to the side plate and the rotating circular shell on the opposite side. A control motor for driving the control screw to rotate is fixedly mounted on the outer wall of the side plate, and a trigger protrusion is threadedly sleeved on the rod wall of the control screw, and the trigger protrusion is arranged corresponding to the position of the trigger switch.

[0010] In the above-mentioned industrial X-ray detection manipulator, the single detection angle confirmation mechanism includes a synchronous sleeve rotatably connected to the top of the inner wall of the hollow fixed seat, the synchronous sleeve is sleeved outside the support shaft, the inner wall of the synchronous sleeve is fixedly sleeved with a connecting electromagnetic plate of an annular structure, the shaft wall of the support shaft is fixedly sleeved with a connecting permanent magnet plate that is contacted with the connecting electromagnetic plate, the upper end outer wall of the synchronous sleeve is fixedly sleeved with an outer expansion ring plate, the upper end of the outer expansion ring plate and the top of the inner wall of the hollow fixed seat are fixedly provided with a torsion spring sleeved outside the synchronous sleeve, the outer wall of the synchronous sleeve is fixedly connected with an extension rod, the end of the extension rod away from the synchronous sleeve is fixedly connected with an arc-shaped external rack, the bottom of the inner wall of the hollow fixed seat is fixedly provided with a confirmation shell, the The inner wall of the confirmation shell is rotatably connected with a transmission screw, the upper end of the transmission screw penetrates through the upper end of the confirmation shell and is fixedly connected with a transmission gear meshing with the arc-shaped outer rack, the rod wall of the transmission screw is threadedly sleeved with a pressing plate, the inner wall of the confirmation shell is fixedly provided with a plurality of guide slide bars which are arranged side by side and parallel to the transmission screw, a lifting plate is slidably sleeved outside the plurality of guide slide bars, a confirmation switch which is arranged corresponding to the position of the pressing plate is fixedly provided on the upper end of the lifting plate, a plurality of downward pressure springs which are sleeved outside the guide slide bars are fixedly connected between the upper end of the lifting plate and the top of the inner wall of the confirmation shell, a feedback permanent magnet plate is fixedly provided on the lower end of the lifting plate, and a feedback electromagnetic plate which is arranged opposite to the feedback permanent magnet plate is fixedly provided on the bottom of the inner wall of the confirmation shell.

[0011] In the above-mentioned industrial X-ray detection manipulator, the circular rotation angle in-position feedback mechanism includes an in-position switch fixedly mounted at the bottom of the inner wall of the hollow fixed seat, the shaft wall of the support shaft is fixedly connected with a positioning rod of an L-shaped structure, and the lower end of the positioning rod is fixedly connected with an arc-shaped pressing block arranged corresponding to the position of the in-position switch.

[0012] In the above-mentioned industrial X-ray detection manipulator, a limiting sliding block is fixedly mounted on the outer wall of the lifting block, and a limiting sliding groove matching and slidingly connected with the limiting sliding block is opened on the inner wall of the supporting shell.

[0013] Compared with the prior art, the present invention has the following beneficial effects: Through the hollow fixing seat, automatic detection mechanism and pipe clamping mechanism, the pipe to be inspected can be quickly clamped and fixed, and a comprehensive detection operation can be performed on the pipe to be inspected, thereby achieving high-quality defect detection of the pipe to be inspected.

[0014] By setting up the detection state control mechanism and the automatic detection mechanism, when the pipeline to be detected is clamped, the diameter of the pipeline to be detected can be detected and fed back synchronously, and the detection distance of the ray tube and the detector relative to the pipeline can be automatically adjusted based on the diameter of the pipeline, and the working power of the ray tube can be adjusted. The larger the pipeline diameter, the larger the detection distance of the ray tube and the detector relative to the pipeline, thereby ensuring that the X-rays emitted by the ray tube can completely cover the cross-section of the pipeline, ensuring that the X-rays can penetrate the entire pipeline wall thickness at a suitable angle to avoid detection blind spots, and simultaneously improving the working power of the ray tube to ensure that the rays can effectively penetrate the pipeline at a large distance, thereby ensuring the detection quality.

[0015] By setting up the detection azimuth adjustment mechanism, the single detection angle confirmation mechanism and the circular rotation angle in-position feedback mechanism, the rotation detection angle of the ray tube and the detector can be automatically adjusted each time based on the diameter of the pipeline to be detected. The larger the pipeline diameter, the smaller the single rotation detection angle. Because the larger the pipeline diameter, the longer its circumference. Reducing the single rotation detection angle can ensure that there is a sufficiently fine distribution of detection points on the circumference to avoid missing defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view cross-sectional structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the automatic detection mechanism of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the pipe clamping mechanism of the present invention; Figure 4 It is a front view cross-sectional structural schematic diagram of the pipe clamping mechanism of the present invention; Figure 5 It is a structural schematic diagram of the detection azimuth adjustment mechanism of the present invention; Figure 6 It is a schematic cross-sectional structural diagram of the detection state regulating mechanism of the present invention; Figure 7 It is a structural schematic diagram of a single detection angle confirmation mechanism of the present invention; Figure 8 yes Figure 7 The schematic diagram of the cross-sectional structure of the confirmation shell; Fig. 9 yes Figure 7 Schematic diagram of the three-dimensional structure of the middle arc outer rack; Fig.10 It is a structural schematic diagram of the circular rotation angle in-position feedback mechanism of the present invention.

[0017] In the figure: 1 hollow fixed seat, 2 automatic detection mechanism, 21 electric slide rail, 22 support shell, 23 rotating screw, 24 rotating motor, 25 lifting block, 26 ray tube, 27 detector, 3 pipe clamping mechanism, 31 rotating round shell, 32 adjusting screw, 33 adjusting motor, 34 bevel gear assembly, 35 adjusting seat, 36 strip opening, 37 rubber clamping block, 38 pressure sensor, 4 detection azimuth adjustment mechanism, 41 support shaft, 42 motor drive assembly, 5 detection state control mechanism, 51 side plate, 52 control resistance rod, 53 control conductive contact piece, 54 trigger switch, 55 control screw rod, 56 regulating motor, 57 triggering bump, 6 single detection angle confirmation mechanism, 61 synchronous sleeve, 62 connecting electromagnetic plate, 63 connecting permanent magnet plate, 64 outer expansion ring plate, 65 torsion spring, 66 extension rod, 67 arc-shaped outer rack, 68 confirmation shell, 69 transmission screw, 610 transmission gear, 611 pressing plate, 612 guide slide bar, 613 lifting plate, 614 confirmation switch, 615 pressing spring, 616 feedback permanent magnet plate, 617 feedback electromagnetic plate, 7 circular rotation angle in-position feedback mechanism, 71 in-position switch, 72 positioning rod, 73 arc-shaped pressing block, 8PLC controller. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] like Figure 1-Figure 10 As shown, an industrial X-ray detection manipulator includes a hollow fixed seat 1 and also includes: The automatic detection mechanism 2 is fixedly mounted on the hollow fixed seat 1. The automatic detection mechanism 2 includes four electric slide rails 21 symmetrically fixedly mounted on the upper end of the hollow fixed seat 1. The upper ends of the sliders in the two electric slide rails 21 on the same side are fixedly connected to the same support shell 22. The opposite sides of the two support shells 22 are both set as open structures. A rotating screw 23 is rotatably connected in the support shell 22. A rotating motor 24 for driving the rotating screw 23 to rotate is fixedly mounted on the outer wall of the support shell 22. A lifting block 25 is threadedly sleeved on the rod wall of the rotating screw 23. A ray tube 26 and a detector 27 are respectively fixedly mounted on the opposite ends of the two lifting blocks 25. A limit slider is fixedly mounted on the outer wall of the lifting block 25. A limit slide groove matching and slidingly connected with the limit slider is opened on the inner wall of the support shell 22. Comprehensive detection operations can be performed on the pipeline to be detected, so as to achieve high-quality defect detection of the pipeline to be detected.

[0020] The pipe clamping mechanism 3 is fixedly mounted on the hollow fixing seat 1 and is located on the inner side of the automatic detection mechanism 2. The pipe clamping mechanism 3 includes a rotating circular shell 31. A plurality of adjusting screws 32 arranged in an annular distribution are equidistantly rotatably connected to the upper side of the inner wall of the rotating circular shell 31. An adjusting motor 33 is fixedly mounted at the middle position of the upper end of the rotating circular shell 31. The lower end output end of the adjusting motor 33 extends through the rotating circular shell 31 and is rotatably connected to the plurality of adjusting screws 32 through a bevel gear assembly 34. An adjusting seat 35 is threadedly sleeved on the rod wall of the adjusting screw 32. The upper end of the adjusting seat 35 extends through the upper end of the rotating circular shell 31 through a strip opening 36 opened at the upper end of the rotating circular shell 31. A rubber clamping block 37 is fixedly connected to the upper end of the adjusting seat 35. A pressure sensor 38 is embedded in the side wall of the rubber clamping block 37, which can quickly clamp and fix the pipeline to be detected.

[0021] The detection orientation adjustment mechanism 4 is installed in the hollow fixed seat 1 and is connected to the pipe clamping mechanism 3. The detection orientation adjustment mechanism 4 includes a support shaft 41 rotatably connected to the inner side of the hollow fixed seat 1. The upper end of the support shaft 41 passes through the upper end of the hollow fixed seat 1 and is fixedly connected to the lower end of the pipe clamping mechanism 3. A motor drive assembly 42 for driving the support shaft 41 to rotate is fixedly installed at the bottom of the inner wall of the hollow fixed seat 1. The rotation detection angle of each time of the ray tube 26 and the detector 27 can be automatically adjusted based on the diameter of the pipeline to be detected. The larger the diameter of the pipeline, the smaller the single rotation detection angle.

[0022] The detection state regulating mechanism 5 is arranged on the inner side of the pipe clamping mechanism 3 and is transmission-connected with the pipe clamping mechanism 3. The detection state regulating mechanism 5 comprises a side plate 51 fixedly arranged on the bottom of the inner wall of the rotating shell 31. A regulating resistor rod 52 is fixedly connected to the side opposite to the side plate 51 and the rotating shell 31. A sleeve hole is provided on the side wall of one of the regulating seats 35 and is sleeved on the outside of the regulating resistor rod 52. A regulating conductive contact piece 53 which is in electrical contact with the regulating resistor rod 52 is fixedly arranged on the inner wall of the corresponding sleeve hole. A trigger switch 54 is fixedly arranged on the lower end of the regulating seat 35. A regulating screw 55 is also rotationally connected to the side opposite to the side plate 51 and the rotating shell 31. A regulating motor 56 for driving the regulating screw 55 to rotate is fixedly arranged on the outer wall of the side plate 51. A trigger protrusion 57 is threadedly sleeved on the rod wall of the regulating screw 55. The trigger protrusion 57 is arranged corresponding to the position of the trigger switch 54, and can convert the pipeline diameter into an electric control and resistance signal to automatically regulate the detection state, thereby ensuring the stable progress of the detection work.

[0023] The single detection angle confirmation mechanism 6 is fixedly installed in the hollow fixed seat 1 and is transmission-connected with the detection azimuth adjustment mechanism 4. The single detection angle confirmation mechanism 6 includes a synchronous sleeve 61 rotatably connected to the top of the inner wall of the hollow fixed seat 1. The synchronous sleeve 61 is sleeved outside the support shaft 41. The inner wall of the synchronous sleeve 61 is fixedly sleeved with a connecting electromagnetic plate 62 of an annular structure. The shaft wall of the support shaft 41 is fixedly sleeved with a connecting permanent magnetic plate 63 that is in contact with the connecting electromagnetic plate 62. The upper outer wall of the synchronous sleeve 61 An outer expansion ring plate 64 is fixedly sleeved, and a torsion spring 65 sleeved outside the synchronization sleeve 61 is fixedly installed on the upper end of the outer expansion ring plate 64 and the top of the inner wall of the hollow fixed seat 1. An extension rod 66 is fixedly connected to the outer wall of the synchronization sleeve 61, and an arc-shaped outer rack 67 is fixedly connected to the end of the extension rod 66 away from the synchronization sleeve 61. A confirmation shell 68 is fixedly installed at the bottom of the inner wall of the hollow fixed seat 1. A transmission screw 69 is rotatably connected to the inner wall of the confirmation shell 68, and the upper end of the transmission screw 69 penetrates and extends out of the confirmation shell 68. The upper end of the housing 68 is fixedly connected with a transmission gear 610 meshing with the arc-shaped outer rack 67, the rod wall of the transmission screw 69 is threadedly sleeved with a pressing plate 611, and the inner wall of the confirmation housing 68 is fixedly provided with a plurality of guide slide bars 612 arranged side by side and parallel to the transmission screw 69, and a lifting plate 613 is slidably sleeved outside the plurality of guide slide bars 612, and a confirmation switch 614 corresponding to the position of the pressing plate 611 is fixedly provided on the upper end of the lifting plate 613, and the upper end of the lifting plate 613 and the confirmation housing 68 are fixedly provided with a confirmation switch 614 corresponding to the position of the pressing plate 611. A plurality of downward pressure springs 615 sleeved on the outside of the guide slide bar 612 are fixedly connected between the tops of the inner walls, a feedback permanent magnet plate 616 is fixedly installed on the lower end of the lifting plate 613, and a feedback electromagnetic plate 617 arranged opposite to the feedback permanent magnet plate 616 is fixedly installed on the bottom of the inner wall of the confirmation shell 68. The larger the diameter of the pipeline, the smaller the single rotation detection angle. Because the larger the diameter of the pipeline, the longer its circumference. Reducing the single rotation detection angle can ensure that there is a sufficiently fine distribution of detection points on the circumference to avoid missing defects.

[0024] The circular rotation angle in-position feedback mechanism 7 is fixedly installed between the hollow fixed seat 1 and the detection azimuth adjustment mechanism 4. The circular rotation angle in-position feedback mechanism 7 includes an in-position switch 71 fixedly installed at the bottom of the inner wall of the hollow fixed seat 1. The shaft wall of the support shaft 41 is fixedly connected with a positioning rod 72 with an L-shaped structure. The lower end of the positioning rod 72 is fixedly connected with an arc-shaped pressing block 73 arranged corresponding to the position of the in-position switch 71.

[0025] The PLC controller 8 is fixedly mounted on the outer wall of the hollow fixing seat 1, and is electrically connected to the automatic detection mechanism 2, the pipe clamping mechanism 3, the detection orientation adjustment mechanism 4, the detection state control mechanism 5, the single detection angle confirmation mechanism 6 and the circular rotation angle in-position feedback mechanism 7 respectively.

[0026] The operating principle of the present invention is described as follows: first, the pipeline to be tested is placed at the center of the upper end of the hollow fixing seat 1, and the PLC controller 8 controls the adjustment motor 33 to move. The adjustment motor 33 drives multiple adjustment screws 32 to rotate synchronously through the bevel gear assembly 34, and then drives multiple adjustment seats 35 to drive the rubber clamping block 37 to move toward the pipeline through the threaded sleeve effect of the adjustment screw 32 and the adjustment seat 35, until the rubber clamping block 37 contacts the outer wall of the pipeline, and when the pressure value of the pipeline by the pressure sensor 38 on the side wall of the rubber clamping block 37 increases to a preset level, the PLC controller 8 controls the adjustment motor 33 to stop moving, thereby completing the stable clamping of the pipeline; At the beginning, the support shell 22 is located on the inner side of the electric slide rail 21, so that the support block is located closest to the pipeline. After the pipeline is fixed, the PLC controller 8 controls the regulating motor 56 and the electric slide rail 21 to move synchronously. The regulating motor 56 drives the regulating screw 55 to rotate, and the triggering protrusion 57 is driven to move synchronously through the threaded sleeve effect of the regulating screw 55 and the triggering protrusion 57. At this time, the electric slide rail 21 will also move the support shell 22 away from the pipeline. The moving speed ratio of the triggering protrusion 57 and the support shell 22 is 1:5. Specifically, when the diameter of the pipeline to be detected is larger, the trigger switch at the lower end of the transmission seat is The greater the distance between the trigger convex block 54 and the trigger convex block 57, the longer the interval time that the trigger convex block 57 needs to move and press on the trigger switch 54. After the trigger convex block 57 presses on the trigger switch 54, the PLC controller 8 controls the motor 56 and the electric slide rail 21 to stop moving synchronously, thereby making the electric slide rail 21 move a greater distance, making the detection distance between the ray tube 26 and the detector 27 greater from the pipeline to be detected, thereby ensuring that the X-rays emitted by the ray tube 26 can completely cover the cross section of the pipeline, ensuring that the X-rays can penetrate the entire pipeline wall thickness at a suitable angle, and avoiding the occurrence of a detection blind area; When the diameter of the pipeline to be detected is larger, the adjustment seat 35 drives the adjustment conductive contact piece 53 to slide on the adjustment resistor rod 52 to a smaller distance, thereby making the access resistance of the adjustment resistor rod 52 smaller, and the adjustment conductive contact piece 53 and the adjustment resistor rod 52 are connected in series to the power supply circuit of the ray tube 26, thereby increasing the tube current of the ray tube 26. The tube current refers to the intensity of the electron flow from the cathode to the anode in the ray tube 26. The larger the tube current, the more electrons hit the anode target per unit time, and the more X-ray photons are generated, thereby increasing the power of the ray tube 26, ensuring that the rays can effectively penetrate the pipeline at a larger distance, thereby ensuring the detection quality; The regulating conductive contact piece 53 and the regulating resistor rod 52 are also connected in series to the power supply circuit of the feedback electromagnetic plate 617. When the diameter of the pipeline to be detected is larger, the access resistance value of the regulating resistor rod 52 is smaller, the power supply current of the feedback electromagnetic plate 617 is larger, and the feedback electromagnetic plate 617 is energized to generate a larger magnetism that is the same as the feedback permanent magnet plate 616, thereby driving the lifting plate 613 to move up along the guide slide bar 612 to overcome the elastic force of the downward pressing spring 615. The distance is larger, and the confirmation switch 614 at the upper end of the lifting plate 613 is smaller than the pressing plate 611. When the ray tube 26 and the detector 27 are aligned with the pipeline to be detected, the distance between the lifting plate 613 and the pressing plate 611 is smaller. After one position is completely detected, the PLC controller 8 controls the motor drive assembly 42 to drive the support shaft 41 to rotate, and then drives the pipeline to be detected to rotate through the pipeline clamping mechanism 3, so that the pipeline to be detected is adjusted relative to the ray tube 26 and the detector 27, and the detection work of the next position is carried out. When the support shaft 41 drives the pipeline to rotate, the PLC controller 8 controls the power supply device to supply power to the connection electromagnetic plate 62, and the connection electromagnetic plate 62 is energized to generate a magnetic field opposite to the connection permanent magnetic plate 63, so that the connection electromagnetic plate 62 and the connection permanent magnetic plate 63 are stably connected together, so that the support shaft 41 rotates. When the synchronous sleeve 61 moves, it drives the synchronous sleeve 61 to rotate synchronously, and in this process, the torsion spring 65 is rotated and squeezed. The synchronous sleeve 61 drives the arc-shaped outer rack 67 to move through the extension rod 66, and the transmission screw 69 is driven to rotate synchronously through the meshing action of the arc-shaped outer rack 67 and the transmission gear 610. Then, the threaded sleeve connection of the transmission screw 69 and the pressing plate 611 makes the pressing plate 611 move in the confirmation shell 68 until the pressing plate 611 presses on the confirmation switch 614. Then, the PLC controller 8 controls the motor drive assembly 42 to stop the action, and the position of the pipeline to be detected is limited and locked. Specifically, when The larger the diameter of the pipeline, the smaller the distance between the confirmation switch 614 at the upper end of the lifting plate 613 and the pressing plate 611. The smaller the rotation angle of the support shaft 41, the smaller the pressing plate 611 can be pressed on the confirmation switch 614, so that the rotation angle of the pipeline to be detected is smaller. The rotation detection angle of the ray tube 26 and the detector 27 can be automatically adjusted each time based on the diameter of the pipeline to be detected. The larger the diameter of the pipeline, the smaller the single rotation detection angle. Because the larger the diameter of the pipeline, the longer its circumference. Reducing the single rotation detection angle can ensure that there is a sufficiently fine distribution of detection points on the circumference to avoid missing defects. At the same time, after the confirmation switch 614 is pressed and triggered, the PLC controller 8 controls the power supply device to cut off the power supply to the electromagnetic plate 62, thereby disconnecting the synchronous sleeve 61 from the support shaft 41. Under the action of the torsion spring 65, the synchronous sleeve 61 drives the arc-shaped outer rack 67 to reset and move, thereby driving the transmission screw 69 to reverse, so that the pressing plate 611 is reset to the initial position, waiting for the next azimuth adjustment test; When the support shaft 41 drives the pipeline to be inspected to rotate one circle, the positioning rod 72 outside the support shaft 41 will drive the arc-shaped pressing block 73 to press on the in-place switch 71 again, indicating that the pipeline to be inspected has been inspected in a circumferential direction. At this time, the PLC controller 8 controls the rotation motor 24 to operate, and the rotation motor 24 drives the rotating screw 23 to rotate. Through the threaded connection between the rotating screw 23 and the lifting block 25, the lifting block 25 drives the X-ray tube 26 and the detector 27 to move downward, so that the X-ray tube 26 and the detector 27 move to the next inspection position on the pipeline to be inspected, realizing automatic and continuous inspection work, and effectively improving the inspection efficiency. It should be noted that the obscured part of the bottom of the pipeline to be inspected can be pre-inspected or subsequently uniformly inspected to avoid the problem of obstruction affecting the inspection effect and causing inaccurate inspection.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial X-ray inspection manipulator, comprising a hollow fixed seat (1), characterized in that: Also includes: An automatic detection mechanism (2) is fixedly mounted on the hollow fixing seat (1); A pipe clamping mechanism (3) is fixedly mounted on the hollow fixing seat (1) and is located inside the automatic detection mechanism (2); A detection orientation adjustment mechanism (4) is installed in the hollow fixing seat (1) and connected to the pipe clamping mechanism (3); A detection state regulating mechanism (5) is arranged on the inner side of the pipe clamping mechanism (3) and is transmission-connected to the pipe clamping mechanism (3); A single detection angle confirmation mechanism (6) is fixedly mounted in the hollow fixing seat (1) and is transmission-connected to the detection orientation adjustment mechanism (4); A circular rotation angle in-position feedback mechanism (7) is fixedly mounted between the hollow fixing seat (1) and the detection azimuth adjustment mechanism (4); The PLC controller (8) is fixedly mounted on the outer wall of the hollow fixing seat (1), and is electrically connected to the automatic detection mechanism (2), the pipe clamping mechanism (3), the detection orientation adjustment mechanism (4), the detection state control mechanism (5), the single detection angle confirmation mechanism (6), and the circular rotation angle in-position feedback mechanism (7).

2. An industrial X-ray detection manipulator according to claim 1, characterized in that: The automatic detection mechanism (2) comprises four electric slide rails (21) symmetrically fixedly mounted on the upper end of the hollow fixed seat (1); the upper ends of the sliders in the two electric slide rails (21) on the same side are fixedly connected to the same support shell (22); the two support shells (22) have opening structures on opposite sides; a rotating screw rod (23) is rotatably connected in the support shell (22); a rotating motor (24) for driving the rotating screw rod (23) to rotate is fixedly mounted on the outer wall of the support shell (22); a lifting block (25) is threadedly sleeved on the rod wall of the rotating screw rod (23); and a ray tube (26) and a detector (27) are fixedly mounted on opposite ends of the two lifting blocks (25).

3. The industrial X-ray detection manipulator according to claim 1, characterized in that: The pipe clamping mechanism (3) comprises a rotating circular shell (31), the inner wall upper side of which is equidistantly rotatably connected to a plurality of adjusting screws (32) arranged in an annular distribution, an adjusting motor (33) is fixedly mounted at the middle position of the upper end of the rotating circular shell (31), the lower output end of the adjusting motor (33) extends through the rotating circular shell (31) and is rotatably connected to the plurality of adjusting screws (32) via a bevel gear assembly (34), an adjusting seat (35) is threadedly sleeved on the rod wall of the adjusting screw (32), the upper end of the adjusting seat (35) extends through the upper end of the rotating circular shell (31) through a strip-shaped opening (36) provided at the upper end of the rotating circular shell (31), a rubber clamping block (37) is fixedly connected to the upper end of the adjusting seat (35), and a pressure sensor (38) is embedded in the side wall of the rubber clamping block (37).

4. The industrial X-ray detection manipulator according to claim 1, characterized in that: The detection orientation adjustment mechanism (4) comprises a support shaft (41) rotatably connected to the inner side of the hollow fixing seat (1); the upper end of the support shaft (41) passes through the upper end of the hollow fixing seat (1) and is fixedly connected to the lower end of the pipe clamping mechanism (3); and a motor drive assembly (42) for driving the support shaft (41) to rotate is fixedly mounted on the bottom of the inner wall of the hollow fixing seat (1).

5. The industrial X-ray detection manipulator according to claim 3, characterized in that: The detection state control mechanism (5) comprises a side plate (51) fixedly mounted on the bottom of the inner wall of the rotating shell (31); a control resistor rod (52) is fixedly connected to the side opposite to the rotating shell (31); a sleeve hole is formed on the side wall of one of the adjustment seats (35) and sleeved outside the control resistor rod (52); and a control conductive contact piece (53) is fixedly mounted on the inner wall of the corresponding sleeve hole and electrically contacting the control resistor rod (52); a trigger switch (54) is fixedly mounted on the lower end of the adjustment seat (35); a control screw rod (55) is also rotatably connected to the side opposite to the rotating shell (31); a control motor (56) for driving the control screw rod (55) to rotate is fixedly mounted on the outer wall of the side plate (51); a trigger protrusion (57) is threadedly sleeved on the rod wall of the control screw rod (55); and the trigger protrusion (57) is arranged corresponding to the position of the trigger switch (54).

6. The industrial X-ray detection manipulator according to claim 4, characterized in that: The single detection angle confirmation mechanism (6) comprises a synchronous sleeve (61) rotatably connected to the top of the inner wall of the hollow fixed seat (1), the synchronous sleeve (61) being sleeved outside the support shaft (41), the inner wall of the synchronous sleeve (61) being fixedly sleeved with a connecting electromagnetic plate (62) of an annular structure, the shaft wall of the support shaft (41) being fixedly sleeved with a connecting permanent magnetic plate (63) arranged in contact with the connecting electromagnetic plate (62), and the upper outer wall of the synchronous sleeve (61) being fixedly sleeved with an outer expansion ring plate (64). A torsion spring (65) sleeved outside the synchronous sleeve (61) is fixedly mounted on the upper end of the outer expansion ring plate (64) and the top of the inner wall of the hollow fixed seat (1); an extension rod (66) is fixedly connected to the outer wall of the synchronous sleeve (61); an arc-shaped outer rack (67) is fixedly connected to one end of the extension rod (66) away from the synchronous sleeve (61); a confirmation shell (68) is fixedly mounted on the bottom of the inner wall of the hollow fixed seat (1); and a transmission screw (69) is rotatably connected to the inner wall of the confirmation shell (68). The upper end of the transmission screw (69) extends through the upper end of the confirmation shell (68) and is fixedly connected to a transmission gear (610) meshing with the arc-shaped outer rack (67). The rod wall of the transmission screw (69) is threadedly sleeved with a pressing plate (611). The inner wall of the confirmation shell (68) is fixedly provided with a plurality of guide slide bars (612) arranged side by side and parallel to the transmission screw (69). The plurality of guide slide bars (612) are slidably sleeved with a lifting plate (613) outside. The lifting plate (613) A confirmation switch (614) is fixedly mounted on the upper end of the lifting plate (613) and is arranged corresponding to the position of the pressing plate (611); a plurality of downward pressing springs (615) are fixedly connected between the upper end of the lifting plate (613) and the top of the inner wall of the confirmation shell (68) and are sleeved outside the guide slide bar (612); a feedback permanent magnet plate (616) is fixedly mounted on the lower end of the lifting plate (613); and a feedback electromagnetic plate (617) is fixedly mounted on the bottom of the inner wall of the confirmation shell (68) and is arranged opposite to the feedback permanent magnet plate (616).

7. The industrial X-ray detection manipulator according to claim 4, characterized in that: The circular rotation angle in-position feedback mechanism (7) comprises an in-position switch (71) fixedly mounted on the bottom of the inner wall of the hollow fixing seat (1); the shaft wall of the support shaft (41) is fixedly connected to a positioning rod (72) with an L-shaped structure; the lower end of the positioning rod (72) is fixedly connected to an arc-shaped pressing block (73) arranged corresponding to the position of the in-position switch (71).

8. The industrial X-ray detection manipulator according to claim 2, characterized in that: A limiting sliding block is fixedly mounted on the outer wall of the lifting block (25), and a limiting sliding groove matching and slidingly connected with the limiting sliding block is provided on the inner wall of the supporting shell (22).

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