A cold cathode CT circular scanning walking nondestructive testing intelligent robot

Abstract

The present invention belongs to the technical field of pipeline inspection robots, and in particular, relates to a cold cathode CT annular scanning walking nondestructive inspection intelligent robot, including a support platform and a controller installed on the side wall of the support platform, and also includes: two roller conveyor assemblies, the two roller conveyor assemblies are respectively installed on the two side walls of the support platform, and the roller conveyor assemblies are used to convey polyethylene pipes; a movable platform is arranged above the support platform, and the support platform is equipped with a driving mechanism, and the driving mechanism is used to drive the movable platform to move along the support platform, and the end face of the movable platform is equipped with an X-ray source. The present invention can automatically perform nondestructive scanning inspection on the annular hot-melt interface of polyethylene pipes, realize automatic defect recognition and report generation of welds, multi-angle spatial imaging and re-display of defects, and efficient and accurate detection, and can heat the interface to assist in accurate defect recognition.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection robots, and in particular relates to a cold cathode CT annular scanning walking nondestructive detection intelligent robot. Background Art

[0002] Polyethylene pipes are widely used in many fields. The welding quality at their interfaces is directly related to the overall safety and reliability of the pipeline system. If there are defects in the interface welding, such as pores and lack of fusion, it is easy to cause leakage and other safety accidents in subsequent use, causing economic losses and even endangering personal safety. Therefore, in order to ensure the stable operation of the pipeline, it is particularly important to detect the polyethylene pipe interface.

[0003] At present, there are certain limitations in the detection methods for polyethylene pipe joints. Traditional detection mainly adopts mechanical methods, such as dimension measuring instruments, etc. There are also non-destructive detection methods using X-rays, which have high detection efficiency and high precision, and can quickly detect internal defects of polyethylene pipe hot-melt joints. For example, a pipeline weld detection robot based on X-ray non-destructive testing is disclosed in patent announcement number CN216759913U;

[0004] Traditional detection methods have many disadvantages in the detection of polyethylene hot-melt joints. On the one hand, most traditional detection methods can only achieve two-dimensional imaging and cannot intuitively present the spatial form of defects, which makes it difficult to accurately judge the severity of defects. On the other hand, some detection methods are not only cumbersome and inefficient in operation, but also lack accuracy in identifying minor defects, especially polyethylene hot-melt joints. Due to their cooling and shrinkage characteristics, internal defects such as pores and cracks may overlap during the shrinkage process, which further increases the difficulty of non-destructive detection, resulting in traditional detection technology being prone to missed detection and unable to meet the needs of high-quality detection of polyethylene pipe interfaces. Summary of the invention

[0005] The purpose of the present invention is to provide a cold cathode CT circular scanning walking nondestructive testing intelligent robot in view of the above problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A cold cathode CT circular scanning walking nondestructive testing intelligent robot, including a support platform and a controller installed on the side wall of the support platform, and also includes:

[0007] Two roller conveying assemblies are respectively installed on two side walls of the support platform, and the roller conveying assemblies are used to convey the polyethylene pipe;

[0008] A movable table is arranged above the supporting table, the supporting table is equipped with a driving mechanism, the driving mechanism is used to drive the movable table to move along the supporting table, and an X-ray source is installed on the end surface of the movable table;

[0009] Two support frames are arranged above the support platform, a detection gap is arranged between the two support frames, a moving seat is arranged above one of the support platforms, and a synchronous transmission component is installed on the driving mechanism, and the moving seat is driven to move synchronously with the movable platform through the synchronous transmission component, at least three DR detectors are installed on the side wall of the moving seat, and the positions and deflection angles of the three DR detectors are different, and are used to receive rays emitted by the X-ray source;

[0010] Multiple clamping units are evenly distributed on the inner sides of the two support frames and are used to clamp and fix the polyethylene pipe;

[0011] The heating unit is arranged below the detection gap and is used for heating the hot-melt joint of the polyethylene pipe.

[0012] Preferably, the driving mechanism includes steel rails fixedly mounted on both sides of the end surface of the support platform, the movable platform is slidably arranged between the two steel rails, a first screw transmission assembly is provided inside the two steel rails, and the two first screw transmission assemblies jointly drive the movable platform to move along the two steel rails, the two first screw transmission assemblies are transmission-connected by a first belt transmission assembly, a driving motor is fixedly mounted on the end of one of the steel rails, and the driving end of the driving motor is transmission-connected to the first screw transmission assembly on the same side, and the driving motor is electrically connected to the controller.

[0013] Preferably, the synchronous transmission assembly includes a connecting block fixedly mounted on the bottom of the movable seat, a mounting groove is provided on the top of the support frame on the same side as the connecting block, and a second screw transmission assembly is installed inside the mounting groove, the second screw transmission assembly is used to drive the connecting block to move along the mounting groove, and the second screw transmission assembly is connected to the first screw transmission assembly on the same side through a second belt transmission assembly.

[0014] Preferably, each of the clamping units includes two side blocks, and the two side blocks can be detachably installed on the bottom of the corresponding support frame, the side walls of the two side blocks are fixedly plugged with a clamping electromagnetic suction rod, and the telescopic end of the clamping electromagnetic suction rod is installed with a clamping block, the clamping electromagnetic suction rod is electrically connected to the controller, and the side walls of each of the clamping blocks are installed with a heat-sensitive component.

[0015] Preferably, the heating unit includes a translation plate arranged above the detection gap, and the translation plate is slidably arranged on the top of the two support frames, the end face of the translation plate is fixedly plugged with a vertical push electric push rod, and the telescopic end of the vertical push electric push rod is installed with an arc-shaped inner plate, the interior of the arc-shaped inner plate is provided with an arc-shaped cavity, and the interior of the arc-shaped cavity is fixedly installed with multiple groups of insulating blocks, and two insulating blocks in the same group are commonly fixedly plugged with electric heating rods, the telescopic end of the vertical push electric push rod is installed with a rotating assembly, and is connected to the arc-shaped inner plate through the rotating assembly, the vertical push electric push rod and each electric heating rod are electrically connected to the controller, the translation plate is installed with a jet cleaning mechanism, and the jet cleaning mechanism is communicated with the interior of the arc-shaped cavity, and the translation plate and the moving seat are jointly installed with a pushing rod.

[0016] Preferably, the thermal sensing component includes an arc-shaped portion integrally formed on the side wall of the clamping block, and the arc-shaped portion is arranged on the side of the clamping block close to the side stop block, the arc-shaped inner wall of the arc-shaped portion is provided with an arc-shaped groove, and the groove of the arc-shaped groove is fixedly installed with an arc-shaped thermal conductive insulating plate, and the side wall of the arc-shaped thermal conductive insulating plate located on one side inside the arc-shaped groove is fixedly installed with an arc-shaped thermal sensing element, and the two arc-shaped thermal sensing elements are connected in series with the measuring circuit of the controller.

[0017] Preferably, the rotating assembly includes an arc-shaped outer plate sleeved on the outside of the arc-shaped inner plate, a plurality of sliders are fixedly mounted on the outer wall of the arc-shaped inner plate, a plurality of arc-shaped grooves matching the sliders are opened on the inner wall of the arc-shaped outer plate, a driving motor is mounted on the outer wall of the arc-shaped outer plate, and a moving gear is mounted on the output end of the driving motor, an arc-shaped gear is fixedly mounted on the end of the arc-shaped inner plate, and the arc-shaped gear is meshed with the moving gear, and the driving motor is electrically connected to the controller.

[0018] Preferably, the jet cleaning mechanism includes an air pump fixedly mounted on the end surface of the translation plate, an air outlet hose is installed at the air outlet end of the air pump, and the air outlet hose is connected with the interior of the arc-shaped cavity, a plurality of jet holes are opened on the inner cavity wall of the arc-shaped cavity, and the aperture of the air inlet end of each jet hole is larger than the aperture of the air outlet end, a removable dust filter is installed at the air suction end of the air pump, and the air pump is electrically connected to the controller.

[0019] Compared with the existing technology, the advantages of a cold cathode CT circular scanning walking non-destructive testing intelligent robot are:

[0020] Through the cooperation of the support table, controller, roller conveyor assembly, movable table, driving mechanism, X-ray source, support frame, detection gap, movable seat, synchronous transmission assembly and at least three DR detectors with different positions and deflection angles, the annular hot-melt interface of the polyethylene pipe can be automatically scanned by non-destructive testing. The non-destructive testing method can first realize automatic defect recognition of the weld and generate a report, and can also perform multi-angle spatial imaging data collection and reproduction display for specific defects, thereby completing the entire weld detection work efficiently and accurately.

[0021] By setting up multiple clamping units, the polyethylene pipe can be quickly clamped and fixed to ensure the stability of the polyethylene pipe during inspection, so as to avoid micro-deflection of the polyethylene pipe during defect detection and subsequent construction of a three-dimensional image, which will affect the inspection effect.

[0022] Through the set heating unit, the interface of the polyethylene pipe can be properly heated in advance when inspecting it. Based on the principle of thermal expansion, the degree of opening of defects such as pores and gaps can be made larger before non-destructive testing of the interface, which can facilitate the subsequent accurate identification of defects, assist in improving the accuracy of non-destructive testing, and reduce the possibility of missing defects. Secondly, in conjunction with the set jet cleaning mechanism, foreign matter that may be attached to the outer surface of the pipe interface can be blown away, so as to avoid the impact of foreign matter on the accuracy of X-ray interface weld detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0024] Figure 2 The invention provides a cold cathode CT circular scanning walking nondestructive testing intelligent robot. Figure 1 A magnified view of the structure of part A;

[0025] Figure 3 It is a structural schematic diagram of a driving mechanism of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0026] Figure 4 It is a structural schematic diagram of a clamping unit of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0027] Figure 5 It is a side view structural schematic diagram of a translation stage of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0028] Figure 6It is a schematic diagram of the connection structure of the arc-shaped inner plate and the arc-shaped outer plate of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0029] Figure 7 It is a structural schematic diagram of a heat-sensing component of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention;

[0030] Figure 8 The invention provides a cold cathode CT circular scanning walking nondestructive testing intelligent robot. Figure 4 A magnified view of the structure of part B;

[0031] Fig. 9 It is a structural schematic diagram of a rotating component of a cold cathode CT circular scanning walking non-destructive testing intelligent robot provided by the present invention.

[0032] In the figure: 1 support table, 2 controller, 3 roller conveyor assembly, 4 movable table, 5 drive mechanism, 51 rail bar, 52 first screw transmission assembly, 53 drive motor, 54 first belt transmission assembly, 6 X-ray source, 7 support frame, 8 detection gap, 9 moving seat, 10 synchronous transmission assembly, 101 connecting block, 102 mounting groove, 103 second screw transmission assembly, 104 second belt transmission assembly, 11 DR detector, 12 clamping unit, 121 side block, 122 clamping electromagnetic suction rod, 123 clamping block, 13 heating unit, 13 1 translation plate, 132 vertical push electric push rod, 133 arc-shaped inner plate, 134 arc-shaped cavity, 135 insulation block, 136 electric heating rod, 137 push rod, 14 heat-sensing component, 141 arc-shaped part, 142 arc-shaped groove, 143 arc-shaped heat-conducting insulation plate, 144 arc-shaped heat-sensing element, 15 rotation component, 151 arc-shaped outer plate, 152 slider, 153 arc-shaped slide groove, 154 drive motor, 155 moving gear, 156 arc-shaped gear, 16 jet cleaning mechanism, 161 air pump, 162 air outlet hose, 163 jet hole, 164 dust filter. DETAILED DESCRIPTION

[0033] 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.

[0034] like Figure 1-Figure 9As shown, a cold cathode CT annular scanning walking non-destructive testing intelligent robot includes a support platform 1 and a controller 2 installed on the side wall of the support platform 1, and also includes: two roller conveying assemblies 3, the two roller conveying assemblies 3 are respectively installed on the two side walls of the support platform 1, the roller conveying assemblies 3 are used to convey polyethylene pipes, a movable platform 4 is arranged above the support platform 1, the support platform 1 is installed with a driving mechanism 5, the driving mechanism 5 is used to drive the movable platform 4 to move along the support platform 1, the end surface of the movable platform 4 is installed with an X-ray source 6, the driving mechanism 5 includes a fixed installation at the end of the support platform 1 There are steel rails 51 on both sides of the surface, and the movable platform 4 is slidably set between the two steel rails 51. The interior of the two steel rails 51 is provided with a first screw transmission assembly 52, and the two first screw transmission assemblies 52 jointly drive the movable platform 4 to move along the two steel rails 51. The two first screw transmission assemblies 52 are connected to each other through a first belt transmission assembly 54. A driving motor 53 is fixedly installed at the end of one of the steel rails 51, and the driving end of the driving motor 53 is connected to the first screw transmission assembly 52 on the same side, and the driving motor 53 is electrically connected to the controller 2.

[0035] The two support frames 7 are both arranged above the support platform 1, and a detection gap 8 is arranged between the two support frames 7. A moving seat 9 is arranged above one of the support platforms 1, and a synchronous transmission component 10 is installed on the driving mechanism 5, and the moving seat 9 is driven to move synchronously with the movable platform 4 through the synchronous transmission component 10. At least three DR detectors 11 are installed on the side wall of the moving seat 9. The positions and deflection angles of the three DR detectors 11 are different, and they are used to receive the rays emitted by the X-ray source 6. The synchronous transmission component 10 includes a connecting block 101 fixedly installed at the bottom of the moving seat 9, and a mounting groove 102 is opened on the top of the support frame 7 on the same side as the connecting block 101, and the mounting groove 10 2 is installed with a second screw transmission assembly 103, the second screw transmission assembly 103 is used to drive the connecting block 101 to move along the installation groove 102, the second screw transmission assembly 103 is connected to the first screw transmission assembly 52 on the same side through a second belt transmission assembly 104, the first screw transmission assembly 52 and the second screw transmission assembly 103 both include components such as a screw, a screw nut, and a bearing. When the screw rotates, the movable platform 4 or the connecting block 101 can be driven to move through the screw nut. This is an existing mature technology, so it will not be described here. The first belt transmission assembly 54 and the second belt transmission assembly 104 both include components such as a transmission belt and a pulley.

[0036] A plurality of clamping units 12 are evenly distributed on the inner sides of the two support frames 7 and are used to clamp and fix the polyethylene pipe. Each clamping unit 12 includes two side blocks 121, and the two side blocks 121 can be detachably installed at the bottom of the corresponding support frame 7. The side walls of the two side blocks 121 are fixedly plugged with a clamping electromagnetic suction rod 122, and a clamping block 123 is installed at the telescopic end of the clamping electromagnetic suction rod 122. The clamping electromagnetic suction rod 122 is electrically connected to the controller 2, and the side walls of each clamping block 123 are installed with a heat-sensing component 14. The clamping electromagnetic suction rod 122 includes a fixed cylinder, a movable rod, an electromagnetic component, an iron core, an elastic element and other components. When the electromagnetic component is energized, a magnetic attraction force on the iron core is generated, and the iron core will drive the movable rod to move synchronously toward the electromagnetic component.

[0037] The heating unit 13 is arranged below the detection gap 8 and is used to heat the hot-melt interface of the polyethylene pipe. The heating unit 13 includes a translation plate 131 arranged above the detection gap 8. The translation plate 131 is slidably arranged on the top of the two support frames 7. The end surface of the translation plate 131 is fixedly plugged with a vertical push electric push rod 132, and the telescopic end of the vertical push electric push rod 132 is installed with an arc-shaped inner plate 133. The arc-shaped inner plate 133 is provided with an arc-shaped cavity 134 inside, and multiple groups of insulating blocks 135 are fixedly installed inside the arc cavity 134, and two insulating blocks 135 in the same group are fixed together. An electric heating rod 136 is plugged in, and a rotating component 15 is installed at the telescopic end of the vertical push electric push rod 132, and is connected to the arc-shaped inner plate 133 through the rotating component 15. The vertical push electric push rod 132 and each electric heating rod 136 are electrically connected to the controller 2. The translation plate 131 is installed with a jet cleaning mechanism 16, and the jet cleaning mechanism 16 is connected to the interior of the arc-shaped cavity 134. The translation plate 131 and the moving seat 9 are jointly installed with a pushing rod 137. The controller 2 can control the current of the power supply circuit of the electric heating rod 136, thereby adjusting the maximum heating temperature of the electric heating rod 136.

[0038] The thermal sensing component 14 includes an arc portion 141 integrally formed on the side wall of the clamping block 123, and the arc portion 141 is arranged on the side of the clamping block 123 close to the side stopper 121, an arc groove 142 is opened on the arc inner wall of the arc portion 141, and an arc-shaped thermal conductive insulating plate 143 is fixedly installed at the notch of the arc groove 142, and an arc-shaped thermal sensing element 144 is fixedly installed on the side wall of the arc-shaped thermal conductive insulating plate 143 located on one side inside the arc groove 142, and the two arc-shaped thermal sensing elements 144 are connected in series with the measuring circuit of the controller 2. Within a certain temperature range, the resistance of the arc-shaped thermal sensing element 144 itself decreases synchronously with the increase of temperature.

[0039] The rotating assembly 15 includes an arc-shaped outer plate 151 sleeved on the outside of the arc-shaped inner plate 133, a plurality of sliders 152 are fixedly installed on the outer wall of the arc-shaped inner plate 133, a plurality of arc-shaped grooves 153 matching the sliders 152 are opened on the inner wall of the arc-shaped outer plate 151, a driving motor 154 is installed on the outer wall of the arc-shaped outer plate 151, and a moving gear 155 is installed on the output end of the driving motor 154, an arc-shaped gear 156 is fixedly installed on the end of the arc-shaped inner plate 133, and the arc-shaped gear 156 is meshed with the moving gear 155, the driving motor 154 is electrically connected to the controller 2, and the driving motor 154 can be driven forward and reversely through different circuits.

[0040] The jet cleaning mechanism 16 includes an air pump 161 fixedly mounted on the end surface of the translation plate 131, an air outlet hose 162 is installed at the air outlet end of the air pump 161, and the air outlet hose 162 is connected to the interior of the arc-shaped cavity 134, a plurality of jet holes 163 are opened on the inner wall of the arc-shaped cavity 134, and the aperture of the air inlet end of each jet hole 163 is larger than the aperture of the air outlet end, a detachable dust filter 164 is installed at the air intake end of the air pump 161, the air pump 161 is electrically connected to the controller 2, and the dust filter 164 can intercept dust in the air through its own filter element.

[0041] The operating principle of the present invention is described as follows: insert each polyethylene tube to be tested from the top of the roller conveyor assembly 3 on one side (the roller conveyor assembly 3 includes rollers, conveyor belts, bearings, roller shafts, servo motors and other components), move the polyethylene tube to between the corresponding side block 121 and the clamping block 123, and make the hot melt interface of the polyethylene tube directly below the detection gap 8, plug multiple polyethylene tubes to be tested at one time, and then start the controller 2;

[0042] The controller 2 will control each clamping electromagnetic suction rod 122 to work (the clamping electromagnetic suction rod 122 includes components such as a fixed cylinder, a movable rod, an electromagnetic part, an iron core, and an elastic element. When the electromagnetic part is energized, a magnetic attraction force is generated on the iron core, and the iron core drives the movable rod to move synchronously toward the electromagnetic part). Each clamping electromagnetic suction rod 122 can drive each clamping block 123 to move to one side of the side block 121 on the same side, so that the polyethylene tube can be clamped between the side block 121 and the clamping block 123. Subsequently, the controller 2 controls the vertical push electric push rod 132 to work at a fixed time. The vertical push electric push rod 132 can drive the arc inner plate 133 to move down to the polyurethane through the arc outer plate 151. The outside of the hot-melt interface of the ethylene pipe (the distance between the arc inner plate 133 and the outer surface of the hot-melt interface is about 3 cm), then the controller 2 starts each electric heating rod 136, and starts the air pump 161 at the same time, the air pump 161 can inhale the external air through the dust filter 164, the dust filter 164 can filter and intercept the dust in the air through its own filter element, the filtered air is transported to the inside of the arc cavity 134 by the air pump 161 through the air outlet hose 162, and the electric heating rod 136 can heat the air (the heating temperature can be appropriately adjusted according to the specific material of the polyethylene pipe, generally at 80℃±3℃), The heated hot air is ejected to the surface of the polyethylene pipe interface through each jet hole 163. At the same time, the controller 2 controls the driving motor 154 to work at a fixed time. The driving motor 154 will first drive the arc gear 156 through the moving gear 155 to drive the arc inner plate 133 to rotate slowly and evenly along the inner wall of the arc outer plate 151. During the rotation of the arc inner plate 133, the hot air will be ejected to the hot melt interface through each jet hole 163, so that the hot melt interface can be heated. Under the action of heat, the pores and gaps that may exist inside it will expand and open due to the effect of thermal expansion, thereby improving the accuracy of subsequent X-ray detection of pipeline interface defects. , thereby increasing the degree of opening of defects such as pores and gaps. Secondly, since the aperture of the air inlet of the jet hole 163 is larger than the aperture of the air outlet, the jetted airflow speed is fast. Under the action of the jetted airflow, dust and other impurities on the surface of the polyethylene pipe interface will be blown away, and dust and other impurities will be avoided as much as possible to affect the accuracy of subsequent X-ray detection of pipe interface defects. After the drive motor 154 works for 1 minute, the controller 2 controls the drive motor 154 to stop working, and after waiting for 3 seconds, controls the drive motor 154 to drive in the reverse direction to rotate the arc inner plate 133, and after the arc inner plate 133 moves back and resets, the controller 2 controls the drive motor 154 to stop working;

[0043] After the hot melt interface of the polyethylene tube is heated, the heat will be conducted through the polyethylene tube to the arc-shaped heat-conducting insulating plate 143 on the side wall of the clamping block 123, so that the temperature of the two arc-shaped heat-sensitive elements 144 can be increased, thereby reducing the resistance of the two arc-shaped heat-sensitive elements 144. At this time, the controller 2 detects that the current intensity of the connection circuit with the two arc-shaped heat-sensitive elements 144 becomes larger. When the interface of the polyethylene tube is fully heated, the temperature conducted to the arc-shaped heat-sensitive element 144 will be sufficient. At this time, the controller 2 detects that the current intensity of the connection circuit with the two arc-shaped heat-sensitive elements 144 reaches a threshold value (the threshold value can be set according to the material of the polyethylene tube to be detected, for example, reaching 0. 5A), the measuring circuit of the controller 2 will feed back an electrical signal to the control circuit of the controller 2, at which point the controller 2 controls the air pump 161 and the electric heating rod 136 to stop working, and controls the vertical electric push rod 132 to drive the arc outer plate 151 and the arc inner plate 133 to move upward and reset, and then starts the detection work (since the materials of the polyethylene pipes are the same, but due to the limitations of the processing technology, the various components inside are not completely evenly distributed, so the thermal conductivity of the polyethylene pipes may be different. By performing temperature detection on both sides of the pipe interface and automatically stopping the heating of the pipe interface when the conducted temperature is sufficient, it can ensure that the pipe interface is fully heated and avoid excessive heating of the pipe interface);

[0044] When the controller 2 starts the detection work, the controller 2 will control the driving motor 53 to work. The driving motor 53 can drive the screw of the first screw transmission assembly 52 on the same side to rotate. With the cooperation of the first belt transmission assembly 54, the screw of the first screw transmission assembly 52 on the other side also rotates synchronously, so that the movable table 4 can be driven to drive the X-ray source 6 to move. At the same time, under the transmission action of the second belt transmission assembly 104, the screw of the second screw transmission assembly 103 will also rotate synchronously. Therefore, the movable seat 9 at this time will drive each DR detector 11 to move synchronously with the X-ray source 6. Initially, the movable table 4 is located on the side of the polyethylene tube closest to the X-ray source 6. At this time, the arc-shaped outer plate 151 and the arc-shaped inner plate 133 are located directly above the polyethylene tube. , and the controller 2 controls the first screw drive assembly 52 to work for 7 seconds at the initial operation, so that the X-ray source 6 moves to the lower side of the polyethylene pipe. Subsequently, the controller 2 controls the first screw drive assembly 52 to work once every 3 seconds, and the single operation time is 2 seconds, so that the X-ray source 6 and the DR detector 11 can "go and stop" at the pipe interface. When the drive motor 53 stops working, the controller 2 controls the X-ray source 6 to emit X-rays, and the X-rays are projected to each DR detector 11 through the hot-melt interface of the polyethylene pipe. The X-rays have strong penetrating ability. When the X-ray beam emitted by the X-ray source 6 penetrates the hot-melt joint of the polyethylene pipe, the X-rays will be due to defects such as pores, inclusions, cracks, etc. in the joint weld due to different substances inside The X-rays will change due to the different absorption and attenuation degrees. For normal polyethylene materials, X-rays will penetrate according to a certain attenuation law. For defective parts, such as pores, since there is air inside the pores, the absorption of air to X-rays is much less than that of polyethylene, so the attenuation degree of the rays becomes smaller when passing through the pores. For other defects such as inclusions, if the atomic number of the included material is different from that of polyethylene, the absorption and attenuation of X-rays will also be different, which changes the intensity distribution of X-rays after penetration. The DR detector 11 will convert the intensity information of the X-rays into electrical signals (the DR detector 11 includes a scintillator and a photoelectric conversion device. The scintillator can convert the energy of X-ray photons into visible light photons, and then the photoelectric conversion device such as a photodiode converts the visible light photons into electrical signals). The electrons are converted into electrical signals), and after being amplified, digitized, and other processing, these electrical signals can form a digital image that can reflect the X-ray intensity distribution. According to the changes in the intensity of different positions after the X-rays penetrate the weld, in the digital image generated by the DR detector 11, the normal area and the defective area will present different grayscale values. The normal polyethylene area may present a relatively uniform grayscale, while the pore defective area will appear as a brighter area on the image due to the small ray attenuation, and the defective area with strong ray absorption ability such as inclusions will appear as a darker area. The controller 2 sends the data to the computer, and the corresponding image information will be displayed on the computer monitor. According to the image information, it can be judged whether the polyethylene pipe has defects and what kind of defects exist.And generate a defect data report, and in the process of testing a single polyethylene tube, since the translation plate 131 and the moving seat 9 are connected by the push rod 137, the translation plate 131 and the moving seat 9 move synchronously. When the current polyethylene tube is tested, the translation plate 131 moves to the top of the next polyethylene tube (a plurality of position detection switches can be set on the end surface of the support table 1. After the movable table 4 is tested and set, the position detection switch will output an electrical signal to the controller 2). The controller 2 will control the vertical push electric push rod 132 to perform timing work again, and repeat the above steps to preheat the next polyethylene pipe to be tested by the X-ray and DR detector 11, and then continue to repeat the above steps to test the hot melt interface of the next polyethylene tube until all polyethylene tubes are tested;

[0045] After each polyethylene pipe is inspected, the external computer will report the defect data to generate a data report. After the personnel selects the defect of a certain pipe through the computer, the computer will send a command to the controller 2. At this time, the controller 2 will control the drive motor 53 to work, so that the movable table 4 moves to the position corresponding to the selected polyethylene pipe. Then, the X-ray source 6 and the DR detector 11 will change the angle according to the scanning method required by the computer's 3D software. For example, by rotating the X-ray source 6 or the DR detector 11, or rotating both in coordination, the defect is irradiated with X-rays from different angles such as the main position and the side position. At each angle, when the X-ray penetrates the pipe weld, the intensity distribution of the radiation received by the detector is different due to the different absorption and attenuation characteristics of the defect and normal tissue. Taking a weld with pores inside as an example, when irradiated from the front, the pores appear as a brighter area on the image. When irradiated from the side, the path and method of the radiation passing through the pores change, and the intensity of the radiation received by the detector changes again. The shape of this area The characteristics such as the grayscale value also change accordingly. After collecting the X-ray image data from multiple angles, data preprocessing must be performed first, which includes operations such as denoising and normalization of the image. The preprocessed multi-angle data are processed using a specific 3D reconstruction algorithm. According to the geometric relationship between the ray source, the detector and the object to be inspected, and the projection path of the ray inside the object at different angles, the grayscale value or density value of each three-dimensional pixel inside the object is calculated. Through the 3D reconstruction algorithm, the information in the images at different angles is integrated to determine the position, shape and size of the defect in three-dimensional space. For example, according to the position information of the defect in each angle image and the angle information of the ray, the spatial coordinates of the defect in the pipeline weld can be calculated. According to the grayscale change and shape change of the defect area at different angles, the three-dimensional shape of the defect can be reconstructed, such as judging whether a defect is a spherical pore or an irregular inclusion. In this way, complete 3D image information can be generated to provide the inspector with an intuitive defect image containing a spatial position relationship.

[0046] Among them, the imaging software of the DR detector 11 during initial detection and the 3D imaging software are opposed to each other and do not interfere with each other. The two can use separate computer hardware. The connection between the movable table 4 and the X-ray source 6 can be provided with a height adjustment structure. For example, the installation height of the X-ray source 6 can be adjusted by a screw. The appropriate height can be selected according to different polyethylene pipes, and an adjustable angle rotating structure is respectively installed at the bottom of the X-ray source 6 and the connection between the DR detector 11 and the movable seat 9. The rotating structure is driven by a motor and controlled by the controller 2. The angles of the X-ray source 6 and the DR detector 11 can be adjusted according to the detection requirements. The X-ray source 6 uses a cold cathode as an electron emission source to generate X-rays.

[0047] 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. A cold cathode CT circular scanning walking non-destructive testing intelligent robot, comprising a support platform (1) and a controller (2) mounted on a side wall of the support platform (1), characterized in that: Also includes: Two roller conveying assemblies (3) are respectively mounted on two side walls of the support platform (1), and the roller conveying assemblies (3) are used to convey the polyethylene pipe; A movable table (4) is arranged above the support table (1); the support table (1) is provided with a driving mechanism (5), the driving mechanism (5) is used to drive the movable table (4) to move along the support table (1); an X-ray source (6) is installed on the end surface of the movable table (4); Two support frames (7) are both arranged above the support platform (1), a detection gap (8) is provided between the two support frames (7), a moving seat (9) is provided above one of the support platforms (1), and a driving mechanism (5) is provided with a synchronous transmission component (10), and the moving seat (9) is driven to move synchronously with the movable platform (4) through the synchronous transmission component (10), and at least three DR detectors (11) are installed on the side wall of the moving seat (9), and the positions and deflection angles of the three DR detectors (11) are different, and are used to receive rays emitted by the X-ray source (6); A plurality of clamping units (12) are evenly distributed on the inner sides of the two support frames (7) and are used to clamp and fix the polyethylene pipe; A heating unit (13) is disposed below the detection gap (8) and is used to heat the hot-melt joint of the polyethylene tube; Each of the clamping units (12) comprises two side blocks (121), and the two side blocks (121) can be detachably mounted on the bottom of the corresponding support frame (7), the side walls of the two side blocks (121) are fixedly plugged with a clamping electromagnetic suction rod (122), and the telescopic end of the clamping electromagnetic suction rod (122) is mounted with a clamping block (123), the clamping electromagnetic suction rod (122) is electrically connected to the controller (2), and the side walls of each of the clamping blocks (123) are mounted with a heat-sensing component (14); The heating unit (13) comprises a translation plate (131) arranged above the detection gap (8), the translation plate (131) being slidably arranged on the top of the two support frames (7), a vertical push electric push rod (132) being fixedly inserted at the end surface of the translation plate (131), and a curved inner plate (133) being installed at the telescopic end of the vertical push electric push rod (132), an arc-shaped cavity (134) being provided inside the arc-shaped inner plate (133), and a plurality of groups of insulating blocks (135) being fixedly installed inside the arc-shaped cavity (134), and two insulating blocks (135) in the same group A heating rod (136) is fixedly connected together, a rotating assembly (15) is installed at the telescopic end of the vertical electric push rod (132), and is connected to the arc-shaped inner plate (133) through the rotating assembly (15), the vertical electric push rod (132) and each heating rod (136) are electrically connected to the controller (2), the translation plate (131) is installed with a jet cleaning mechanism (16), and the jet cleaning mechanism (16) is connected to the inside of the arc-shaped cavity (134), and the translation plate (131) and the movable seat (9) are jointly installed with a push rod (137); The heat-sensing component (14) comprises an arc-shaped portion (141) integrally formed and arranged on the side wall of the clamping block (123), and the arc-shaped portion (141) is arranged on a side of the clamping block (123) close to the side stopper (121); an arc-shaped groove (142) is formed on the arc-shaped inner wall of the arc-shaped portion (141), and an arc-shaped heat-conducting insulating plate (143) is fixedly installed at the groove of the arc-shaped groove (142); an arc-shaped heat-sensing element (144) is fixedly installed on the side wall of the arc-shaped heat-conducting insulating plate (143) located inside the arc-shaped groove (142), and two arc-shaped heat-sensing elements (144) are connected in series with the measurement circuit of the controller (2); The jet cleaning mechanism (16) comprises an air pump (161) fixedly mounted on the end surface of the translation plate (131); an air outlet hose (162) is mounted on the air outlet end of the air pump (161); the air outlet hose (162) is connected to the interior of the arc-shaped cavity (134); a plurality of jet holes (163) are formed on the inner wall of the arc-shaped cavity (134); the aperture of the air inlet end of each jet hole (163) is larger than the aperture of the air outlet end; a detachable dust filter (164) is mounted on the air intake end of the air pump (161); and the air pump (161) is electrically connected to the controller (2).

2. The cold cathode CT circular scanning walking nondestructive testing intelligent robot according to claim 1, characterized in that: The driving mechanism (5) comprises steel rails (51) fixedly mounted on both sides of the end surface of the support platform (1); the movable platform (4) is slidably arranged between the two steel rails (51); a first screw drive assembly (52) is arranged inside the two steel rails (51); and the two first screw drive assemblies (52) jointly drive the movable platform (4) to move along the two steel rails (51); the two first screw drive assemblies (52) are connected in transmission via a first belt drive assembly (54); a driving motor (53) is fixedly mounted on the end of one of the steel rails (51); and the driving end of the driving motor (53) is connected in transmission to the first screw drive assembly (52) on the same side; and the driving motor (53) is electrically connected to the controller (2).

3. The cold cathode CT circular scanning walking nondestructive testing intelligent robot according to claim 2, characterized in that: The synchronous transmission assembly (10) comprises a connecting block (101) fixedly mounted on the bottom of the movable seat (9); a mounting groove (102) is provided on the top of the support frame (7) on the same side as the connecting block (101); a second screw transmission assembly (103) is installed inside the mounting groove (102); the second screw transmission assembly (103) is used to drive the connecting block (101) to move along the mounting groove (102); the second screw transmission assembly (103) is connected to the first screw transmission assembly (52) on the same side through a second belt transmission assembly (104).

4. The cold cathode CT circular scanning walking nondestructive testing intelligent robot according to claim 1, characterized in that: The rotating assembly (15) comprises an arc-shaped outer plate (151) sleeved on the outer side of the arc-shaped inner plate (133); a plurality of sliders (152) are fixedly mounted on the outer side wall of the arc-shaped inner plate (133); a plurality of arc-shaped sliding grooves (153) matching the sliders (152) are provided on the inner wall of the arc-shaped outer plate (151); a driving motor (154) is mounted on the outer side wall of the arc-shaped outer plate (151); a moving gear (155) is mounted on the output end of the driving motor (154); an arc-shaped gear (156) is fixedly mounted on the end of the arc-shaped inner plate (133); the arc-shaped gear (156) is meshed with the moving gear (155); and the driving motor (154) is electrically connected to the controller (2).

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