Device and method for detecting galvanizing thickness of hot-dip galvanized pipe

Abstract

The invention relates to the technical field of industrial product quality detection, and discloses a device and method for detecting the galvanizing thickness of a hot-dip galvanized pipe, and the device comprises a thickness gauge, the two sides of the thickness gauge are provided with clamping supports, the side surfaces of the clamping supports are provided with a plurality of swing arms, the tail ends of the swing arms are provided with electrically-driven Mecanum wheels, and the Mecanum wheels clamp the galvanized pipe together. Compared with the prior art, the self-adaptive centering and clamping device has the advantages that self-adaptive centering and clamping of galvanized pipes with different pipe diameters are achieved through the swing arms and the Mecanum wheel clamping mechanisms which can be adjusted synchronously, the galvanized pipes are directly driven to achieve rotation and translation two-degree-of-freedom movement in the centering and clamping state by means of the motion characteristics of the Mecanum wheels, and the self-adaptive centering and clamping device is suitable for large-scale popularization and application. Through the linkage structure of the follow-up roller, the displacement ring and the detector support, the real-time position compensation of the detector is realized, and the situations that fluorescence signals are not stably received and the detection precision is reduced are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial product quality detection, in particular to a galvanizing thickness detection device and method for hot galvanized pipe. BACKGROUND

[0002] Currently, the galvanizing thickness of hot galvanized pipe is usually measured by a handheld portable thickness gauge after the galvanized pipe is polished and cleaned. Since the galvanizing thickness produced by hot galvanizing cannot be completely uniform, multiple point thickness measurement is usually required to obtain accurate thickness data. However, the existing measurement method does not have the ability to measure multiple points, and manual multiple point thickness measurement significantly reduces the measurement speed and affects the work efficiency.

[0003] Common non-destructive thickness measurement principles include magnetic thickness measurement and X-ray fluorescence thickness measurement. However, when measuring the thickness of pipe components, the curvature of the pipe itself affects the external magnetic field during magnetic thickness measurement and the X-ray irradiation position during X-ray fluorescence thickness measurement. Generally, the greater the curvature of the pipe, the greater the interference with the measurement accuracy, which requires the thickness gauge to be aligned with the pipe axis as much as possible during measurement. However, manual measurement cannot completely meet the above measurement requirements. SUMMARY

[0004] The technical problem to be solved by the present application is that the existing equipment cannot perform multiple point thickness measurement and cannot perform centering thickness measurement. The present application provides a galvanizing thickness detection device and method for hot galvanized pipe.

[0005] To solve the above technical problems, the technical solution provided by the present application is as follows: a galvanizing thickness detection device and method for hot galvanized pipe, including a thickness gauge, clamping brackets are provided on both sides of the thickness gauge, multiple swing arms are provided on the side surface of the clamping brackets, a motor-driven Mecanum wheel is provided at the end of the swing arm, and the Mecanum wheels jointly clamp the galvanized pipe.

[0006] A guide rod is provided inside the thickness gauge, a shifter ring is slidably arranged on the guide rod, follower rollers are provided on both sides of the shifter ring, a spring sleeve extends to the shifter ring inside the thickness gauge, the follower rollers extend to the outside of the thickness gauge and abut against the surface of the galvanized pipe, and a fluorescence detector is provided inside the thickness gauge and can slide with the follower rollers.

[0007] Further, a light transmission port is provided on the side surface of the thickness gauge, an objective lens is provided outside the light transmission port, the light transmission port is located at the center between the follower rollers, and the light transmission port is arranged towards the axis of the galvanized pipe clamped by the Mecanum wheels.

[0008] Further, the thickness gauge is internally provided with an X-ray tube, the emitting end of the X-ray tube is provided with a ray collimator, the emitting end of the ray collimator is provided with a spectroscope table, the side surface of the spectroscope table is provided with a limiting guide rod, the detector support is slidably connected with the limiting guide rod, the two sides of the detector support are fixedly connected with the variable position ring, the fluorescence detector is arranged in the middle part of the detector support, the center of the spectroscope table is provided with a coaxial hole, and the ray collimator and the coaxial hole are homodirectional with the light transmission port.

[0009] Further, the light transmission port is provided with a light supplement lamp around, the end of the spectroscope table is provided with a spectroscope, the side surface of the spectroscope table is provided with a CCD module, the direction of the CCD module is perpendicular to the direction of the coaxial hole, and the spectroscope and the coaxial hole have a 45° included angle.

[0010] Further, the outer side of the clamping support is rotatably provided with an adjusting ring, a plurality of limiting follow-up rollers are arranged around the side surface of the clamping support to clamp the adjusting ring, the inner side of the adjusting ring is provided with an internal tooth ring, the side surface of the clamping support is provided with a clamping motor, and the output end of the clamping motor is power-connected with a gear meshing with the internal tooth ring.

[0011] Further, a plurality of swing arm shafts are arranged around the side surface of the clamping support, the swing arms are rotatably connected with the swing arm shafts, a plurality of inclined sliding grooves are arranged around the adjusting ring, and the sliding rods matched with the sliding grooves are arranged on the side surface of the swing arms.

[0012] Further, the side surface of the clamping support is provided with a feeding port, and the adjusting ring is provided with a notch matched with the feeding port.

[0013] Further, the end of the swing arm is provided with a servo motor, the Macpherson wheels are power-connected with the output end of the servo motor, and among the plurality of Macpherson wheels, a pair of Macpherson wheels installed on the swing arms opposite to each other are chiral symmetry.

[0014] A galvanizing thickness detection method for hot galvanizing pipes adopts the hot galvanizing pipe galvanizing thickness detection device and cooperates with an existing steel pipe feeding machine, the steel pipe feeding machine sends the galvanizing pipe to be detected into the hot galvanizing pipe galvanizing thickness detection device through the feeding port, and the method comprises the following steps: S1: the galvanizing pipe is sent into the feeding port, the clamping motor is controlled to rotate the adjusting ring, the swing arm swings inward, the Macpherson wheel is attached to the surface of the galvanizing pipe, and the clamping of the galvanizing pipe is completed.

[0015] S2: the X-ray tube is started to emit X-rays to the galvanizing pipe, the iron atoms in the galvanizing pipe emit fluorescence after being excited, and the fluorescence detector receives the fluorescence and records the fluorescence energy intensity.

[0016] S3: Turn off the X-ray tube and start the fill light to irradiate the galvanized pipe surface, the reflection of the galvanized pipe surface passes through the light splitter to form an image on the CCD module, and each servo motor is controlled respectively to make the Mecanum wheel rotate in the same direction, so that the galvanized pipe rotates around its own axis, and the rotation angle is determined by comparing the images received by the CCD module.

[0017] S4: After the rotation angle of the galvanized pipe, stop the servo motor and repeat S2, and X-ray excitation is performed on multiple points of the galvanized pipe in one rotation, and the fluorescence intensity is recorded.

[0018] S5: Control each servo motor respectively, make the opposite Mecanum wheel rotate in the opposite direction, make the galvanized pipe translate along its own axis, and determine the translation distance by comparing the images received by the CCD module.

[0019] S6: Repeat S2, S3 and S4, and perform X-ray excitation on multiple points of the galvanized pipe body for multiple times in one rotation, and record the fluorescence intensity.

[0020] Compared with the prior art, the present application has the following advantages: 1. By synchronously adjustable swing arm and Mecanum wheel clamping mechanism, self-adaptive centering clamping of galvanized pipes with different diameters is realized.

[0021] 2. By using the motion characteristics of the Mecanum wheel, the galvanized pipe is directly driven to realize self-rotation and translation in the centering clamping state, so that different points of the steel pipe are detected.

[0022] 3. By the linkage structure of the follow-up roller, the position ring and the detector support, real-time position compensation of the detector is realized, so that the fluorescence signal reception is stable and the detection accuracy is improved. DETAILED DESCRIPTION

[0023] Figure 1 is a structural schematic diagram of the present application.

[0024] Figure 2 is a structural schematic diagram of the adjusting ring of the present application.

[0025] Figure 3 is a structural schematic diagram of the swing arm of the present application.

[0026] Figure 4 is a structural schematic diagram of the light transmission port of the present application.

[0027] Figure 5 is a structural schematic diagram of the thickness gauge of the present application.

[0028] Figure 6 is a structural schematic diagram of the light splitter table of the present application.

[0029] Figure 7 is a structural schematic diagram of the detector support of the present application.

[0030] Figure 8 is the schematic diagram of the present application when clamping small-diameter steel pipes.

[0031] Figure 9 is the schematic diagram of the present application when clamping large-diameter steel pipes.

[0032] As shown in the figure: 1, thickness gauge, 2, clamping support, 3, swing arm shaft, 4, swing arm, 5, servo motor, 6, Mecanum wheel, 7, slide rod, 8, adjusting ring, 9, sliding groove, 10, limit follow-up roller, 11, gear, 12, inner tooth ring, 13, clamping motor, 14, inlet, 15, light transmission port, 16, light supplement lamp, 17, objective lens, 18, follow-up roller, 19, spring sleeve, 20, guide rod, 21, displacement ring, 22, X-ray tube, 23, ray collimator, 24, spectrometer table, 25, limit guide rod, 26, CCD module, 27, detector support, 28, fluorescence detector, 29, spectrometer, 30, coaxial hole. DETAILED DESCRIPTION

[0033] The present application will be further described in detail below with reference to the accompanying drawings.

[0034] The accompanying drawings Figure 1 , the accompanying drawings Figure 2 , and the accompanying drawings Figure 3 , a galvanized pipe galvanizing thickness detection device, including thickness gauge 1, both sides of the thickness gauge 1 is provided with clamping support 2, the clamping support 2 side is provided with a plurality of swing arms 4, the swing arms 4 end is provided with electrically driven Mecanum wheel 6, the Mecanum wheel 6 together clamps the galvanized pipe.

[0035] The accompanying drawings Figure 2 , and the accompanying drawings Figure 3 , the clamping support 2 outside is provided with adjusting ring 8, the clamping support 2 side is provided with a plurality of limit follow-up roller 10 clamping adjusting ring 8 around a week, the adjusting ring 8 inside is provided with inner tooth ring 12, the clamping support 2 side is provided with clamping motor 13, the clamping motor 13 output power is connected with gear 11 meshing with inner tooth ring 12.

[0036] The accompanying drawings Figure 2 , and the accompanying drawings Figure 3 , the clamping support 2 side is provided with a plurality of swing arm shaft 3 around a week, the swing arms 4 root is rotatably connected with the swing arm shaft 3, the adjusting ring 8 is provided with a plurality of inclined sliding grooves 9 around a week, the swing arms 4 middle side is provided with slide rod 7 matched with the sliding grooves 9.

[0037] By rotating the adjusting ring 8 through the clamping motor 13, the swing arm shaft 3 can be swung in the same direction, so that the Mecanum wheel 6 can be retracted or expanded to clamp or release the galvanized pipe.

[0038] The accompanying drawings Figure 2 , and the accompanying drawingsFigure 3 The clamping bracket 2 has a feed inlet 14 on its side, and the adjusting ring 8 has a notch that matches the feed inlet 14. The end of the swing arm 4 is equipped with a servo motor 5, and the Mecanum wheel 6 is poweredly connected to the output end of the servo motor 5. Among the multiple Mecanum wheels 6, a pair of Mecanum wheels 6 installed on the swing arms 4 that are facing each other are chiral symmetrical.

[0039] The above structure allows multiple Mecanum wheels 6 to uniformly rotate around the galvanized pipe from multiple directions to center and clamp it. On this basis, each Mecanum wheel 6 rotates in the same direction. In this state, the axial components of the oblique friction force generated by two Mecanum wheels 6 that are objects of each other cancel each other out, while the tangential components are superimposed to form a torque that causes the galvanized pipe to rotate around its own axis.

[0040] Conversely, by making the two Mecanum wheels 6 that are objects of each other rotate in opposite directions, the tangential component of the oblique friction force can cancel each other out, and the axial component can be superimposed, causing the galvanized pipe to translate along its own axis.

[0041] The above method enables the galvanized pipe to rotate or translate while being centered and clamped. Based on this, the thickness gauge 1 can measure the thickness at multiple locations on the outer wall of the galvanized pipe. Furthermore, after the measurement is completed, the control program can determine whether the galvanized pipe product is qualified based on the thickness measurement results. By placing receiving frames or steel pipe conveyors on both sides of the device, the Mecanum wheel 6 can be used to move qualified steel pipes to the qualified product discharge device on one side and move unqualified products to the defective product recycling device on the other side. The control software technology required for the above working method is relatively common and will not be described further in this application.

[0042] Combined with appendix Figure 4 The thickness gauge 1 has a light-transmitting port 15 on its side, and an objective lens 17 is provided outside the light-transmitting port 15. The light-transmitting port 15 is located at the center between the follower rollers 18 and is set towards the axis of the galvanized pipe held by the Mecanum wheel 6.

[0043] Combined with appendix Figure 5 and attached Figure 6 The thickness gauge 1 is equipped with an X-ray tube 22 inside. The emitting end of the X-ray tube 22 is equipped with a ray collimator 23. The emitting end of the ray collimator 23 is equipped with a beam splitter stage 24. The side of the beam splitter stage 24 is equipped with a limiting guide rod 25. The detector bracket 27 is slidably connected to the limiting guide rod 25. The fluorescence detector 28 is located in the middle of the detector bracket 27. The center of the beam splitter stage 24 is equipped with a coaxial hole 30. The ray collimator 23 and the coaxial hole 30 are in the same direction as the light transmission port 15.

[0044] Since this device is used to measure galvanized pipes with different outer diameters in actual use, and the actual outer diameter of galvanized pipes of the same specification may have certain tolerances, when the above-mentioned centering and clamping method is implemented, the distance between the outer wall of the galvanized pipe and the objective lens 17 will vary depending on the outer diameter. Since the working method of the thickness gauge 1 of this application is to use X-ray tube 22 to emit parallel X-rays to irradiate the galvanized pipe, causing the atoms on its outer wall to be excited by X-rays to produce fluorescence, and the depth of the iron layer in the galvanized pipe is determined by detecting the fluorescence energy intensity of iron atoms through fluorescence detector 28, thereby measuring the thickness of the galvanized layer. Since parallel X-rays can only excite atoms in a small area, when the outer diameter of the galvanized pipe changes, the position of the excitation area may shift, causing the iron atom fluorescence to be unable to be received by fluorescence detector 28. At the same time, the distance between the excitation area and fluorescence detector 28 will also change due to the different outer diameters of the galvanized pipe, thereby affecting the energy intensity of the iron atom fluorescence received by fluorescence detector 28, ultimately leading to a decrease in the accuracy of the measurement results.

[0045] Combined with appendix Figure 5 Appendix Figure 6 and attached Figure 7 The thickness gauge 1 is equipped with a guide rod 20 inside, and a displacement ring 21 is slidably mounted on the guide rod 20. Follower rollers 18 are provided on both sides of the displacement ring 21. A spring sleeve 19 is provided inside the thickness gauge 1 to extend the displacement ring 21, so that the follower rollers 18 extend to the outside of the thickness gauge 1 and abut against the surface of the galvanized pipe. The detector bracket 27 is fixedly connected to the displacement ring 21 on both sides.

[0046] Combined with appendix Figure 8 and attached Figure 9 The bolded line segment represents the optical path diagram. When the galvanized pipe is centered and clamped by the Mecanum wheel 6, the follower roller 18 remains pressed against the outer wall of the pipe under the pushing action of the spring sleeve 19. At this time, the displacement ring will move along the guide rod 20 as the outer diameter of the galvanized pipe changes, thereby driving the detector bracket 27 to move synchronously. Since the detector bracket 27 and the beam splitter stage 24 are connected by the limiting guide rod 25, and the fluorescence detector 28 is fixed in the middle of the detector bracket 27, this linkage structure ensures that the fluorescence detector 28 and the X-ray excited area of ​​the galvanized pipe always maintain a stable relative position. The displacement of the follower roller 18 will synchronously adjust the position of the detector bracket 27 through the displacement ring 21, ensuring that the fluorescence excited area is always within the detection range of the fluorescence detector 28. This mechanical compensation structure keeps the distance between the fluorescence detector 28 and the excited area constant, effectively avoiding detection errors caused by changes in pipe diameter.

[0047] Combined with appendix Figure 4 and attached Figure 6The light-transmitting port 15 is surrounded by a supplementary light lamp 16, the beam splitter stage 24 is provided with a beam splitter 29 at its end, and a CCD module 26 is provided on the side of the beam splitter stage 24. The CCD module 26 is oriented perpendicular to the direction of the coaxial hole 30, and there is a 45° angle between the beam splitter 29 and the coaxial hole 30.

[0048] The supplementary light 16 can provide illumination for the measurement area of ​​the galvanized pipe. The reflected light from the surface of the galvanized pipe is reflected by the beam splitter 29 to the CCD module 26 for imaging. When the galvanized pipe is rotated or translated, the control program of this device determines the rotation angle or translation distance of the galvanized pipe by continuously comparing the images acquired by the CCD module 26.

[0049] A method for detecting the zinc coating thickness of hot-dip galvanized pipes, employing the aforementioned hot-dip galvanized pipe zinc coating thickness detection device, and in conjunction with an existing steel pipe feeder, wherein the steel pipe feeder feeds the galvanized pipe to be tested into the hot-dip galvanized pipe zinc coating thickness detection device through the feed port 14, comprising the following steps: S1: Feed the galvanized pipe into the feed port 14, control the clamping motor 13 to make the adjusting ring 8 rotate, the swing arm 4 swings inward, and the Mecanum wheel 6 is in contact with the surface of the galvanized pipe to complete the clamping of the galvanized pipe.

[0050] S2: Start the X-ray tube 22 to emit X-rays to the galvanized tube. The iron atoms inside the galvanized tube are excited and emit fluorescence. The fluorescence detector 28 receives the fluorescence and records the fluorescence energy intensity.

[0051] S3: Turn off the X-ray tube 22 and turn on the supplementary light 16 to irradiate the surface of the galvanized pipe. The reflection from the surface of the galvanized pipe is imaged on the CCD module 26 through the beam splitter 29. Each servo motor 5 is controlled to make the Mecanum wheel 6 rotate in the same direction, so that the galvanized pipe rotates around its own axis. The rotation angle is determined by receiving and comparing the images through the CCD module 26.

[0052] S4: After the galvanized pipe rotates to the desired angle, stop the servo motor 5 and repeat S2. Excite multiple points around the galvanized pipe with X-rays and record the fluorescence intensity.

[0053] S5: Control each servo motor 5 to make the opposing Mecanum wheel 6 rotate in the opposite direction, so that the galvanized pipe translates along its own axis, and the translation distance is determined by receiving and comparing images through the CCD module 26.

[0054] S6: Repeat S2, S3 and S4 to perform multiple X-ray excitations around the galvanized pipe body at multiple points and record the fluorescence intensity.

[0055] After measuring the galvanized layer thickness using the above method, the pipe fittings can be judged as qualified based on the measurement results. The axial translation function of the Mecanum wheel 6 is used to move qualified products in one direction and unqualified products in another direction. A discharge conveyor or receiving frame is set at the qualified product location, and an unqualified product recycling device or corresponding receiving frame is set at the other direction. In this way, the galvanized pipes can be simply screened based on the galvanized layer thickness.

[0056] The present invention and its embodiments have been described above. This description is not restrictive, and the actual structure is not limited thereto. In conclusion, if those skilled in the art, inspired by this description, design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the scope of protection of this invention.

Claims

1. A device for detecting the galvanized thickness of a hot-dip galvanized pipe, comprising a thickness gauge (1), with clamping supports (2) on both sides of the thickness gauge (1), and multiple swing arms (4) on the sides of the clamping supports (2), each swing arm (4) having an electrically driven Mecanum wheel (6) at its end, the Mecanum wheel (6) clamping the galvanized pipe together, characterized in that: The thickness gauge (1) is equipped with a guide rod (20) inside, and a displacement ring (21) is slidably mounted on the guide rod (20). Follower rollers (18) are mounted on both sides of the displacement ring (21). The thickness gauge (1) is equipped with a spring sleeve (19) inside. The free end of the spring sleeve (19) extends the displacement ring (21), causing the follower rollers (18) to extend to the outside of the thickness gauge (1) and press against the surface of the galvanized pipe. The thickness gauge (1) is equipped with an X-ray emission assembly, a galvanized pipe movement detection assembly, and a fluorescence detector (28) that can slide with the follower rollers (18).

2. The hot-dip galvanized pipe zinc coating thickness detection device according to claim 1, characterized in that: The thickness gauge (1) has a light-transmitting port (15) on its side, and an objective lens (17) is provided outside the light-transmitting port (15). The light-transmitting port (15) is located at the center between the follower rollers (18) and is set towards the axis of the galvanized pipe held by the Mecanum wheel (6).

3. The hot-dip galvanized pipe zinc plating thickness detection device according to claim 2, characterized in that: The X-ray emitting assembly includes an X-ray tube (22) and a collimator (23). The collimator (23) is located at the emitting end of the X-ray tube (22). The emitting end of the collimator (23) is provided with a beam splitter stage (24). A limiting guide rod (25) is provided on the side of the beam splitter stage (24). The detector bracket (27) is slidably connected to the limiting guide rod (25). The two sides of the detector bracket (27) are fixedly connected to the displacement ring (21). The fluorescence detector (28) is located in the middle of the detector bracket (27). A coaxial hole (30) is provided in the center of the beam splitter stage (24). The collimator (23) and the coaxial hole (30) are in the same direction as the light transmission port (15).

4. The hot-dip galvanized pipe zinc plating thickness detection device according to claim 3, characterized in that: The galvanized pipe movement detection assembly includes a supplementary light (16), a CCD module (26), and a beam splitter (29). The supplementary light (16) is arranged around the outside of the light-transmitting port (15), the beam splitter (29) is arranged at the end of the beam splitter stage (24), and the CCD module (26) is arranged on the side of the beam splitter stage (24). The CCD module (26) is oriented perpendicular to the direction of the coaxial hole (30), and there is a 45° angle between the beam splitter (29) and the coaxial hole (30).

5. The hot-dip galvanized pipe zinc coating thickness detection device according to claim 1, characterized in that: The clamping bracket (2) has an adjustment ring (8) rotating on its outer side. Multiple limit follower rollers (10) are arranged around the side of the clamping bracket (2) to clamp the adjustment ring (8). An internal toothed ring (12) is provided on the inner side of the adjustment ring (8). A clamping motor (13) is provided on the side of the clamping bracket (2). A gear (11) meshing with the internal toothed ring (12) is provided at the output end of the clamping motor (13).

6. The hot-dip galvanized pipe zinc coating thickness detection device according to claim 5, characterized in that: The clamping bracket (2) has multiple swing arm shafts (3) around its side. The root of the swing arm (4) is rotatably connected to the swing arm shaft (3). The adjusting ring (8) has multiple inclined grooves (9) around its side. The middle side of the swing arm (4) has a sliding rod (7) that matches the groove (9).

7. The hot-dip galvanized pipe zinc coating thickness detection device according to claim 5, characterized in that: The clamping bracket (2) has a feed inlet (14) on its side, and the adjusting ring (8) has a notch that matches the feed inlet (14).

8. The hot-dip galvanized pipe zinc coating thickness detection device according to claim 1, characterized in that: The swing arm (4) is equipped with a servo motor (5) at its end. The Mecanum wheel (6) is powered by the output of the servo motor (5). Among the multiple Mecanum wheels (6), a pair of Mecanum wheels (6) installed on the swing arms (4) that are facing each other are chiral symmetrical.

9. A method for detecting the zinc coating thickness of hot-dip galvanized pipes, characterized in that: Using the hot-dip galvanized pipe galvanization thickness detection device according to any one of claims 1-8, and in conjunction with an existing steel pipe feeder, the steel pipe feeder feeds the galvanized pipe to be tested into the hot-dip galvanized pipe galvanization thickness detection device, comprising the following steps: S1: Send the galvanized pipe into the device, control the swing arm (4) to swing inward, and the Mecanum wheel (6) to fit against the surface of the galvanized pipe to complete the clamping of the galvanized pipe; S2: Start the X-ray emission assembly to emit X-rays to the galvanized pipe. The iron atoms inside the galvanized pipe are excited and emit fluorescence. The fluorescence detector (28) receives the fluorescence and records the fluorescence energy intensity. S3: Turn off the X-ray emission assembly and start the galvanized pipe movement detection assembly to detect the surface of the galvanized pipe. Control each Mecanum wheel (6) to rotate in the same direction so that the galvanized pipe rotates around its own axis. Determine the rotation angle through the galvanized pipe movement detection assembly. S4: After the galvanized pipe is rotated by an angle, stop rotating the Mecanum wheel (6) and repeat S2. Excite multiple points around the galvanized pipe with X-rays and record the fluorescence intensity. S5: Control each Mecanum wheel (6) separately, so that the opposing Mecanum wheels (6) rotate in the opposite direction, so that the galvanized pipe translates along its own axis, and the translation distance is determined by the galvanized pipe movement detection component; S6: Repeat S2, S3 and S4 to perform multiple X-ray excitations around the galvanized pipe body at multiple points and record the fluorescence intensity.

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