Pipeline weld radiographic testing sheet robot and single-wall transmission method

Abstract

This invention relates to the field of single-wall radiography technology, specifically to a radiographic inspection robot for pipe welds and a single-wall radiography method. The robot includes a chassis assembly, a radiographic placement device mounted on the chassis assembly, and a control system. The control system includes a control module and a vision perception module, a communication module, and a power supply module electrically connected to the control module. The communication module is connected to a remote control terminal. The chassis assembly includes a chassis frame, multiple sets of permanent magnet wheels, and multiple drive assemblies. The permanent magnet wheels are arranged along the length of the chassis frame and conform to the curved surface of the inner wall of the pipe being inspected. The drive assemblies are mounted on the chassis frame and are poweredly connected to the permanent magnet wheels one by one. The radiographic placement device consists of a pressing component and a drive source. A film is connected to the bottom of the pressing component, which is configured to drive the film to move vertically. This invention is suitable for operations on narrow-diameter pipes and can achieve precise film placement to ensure the detection sensitivity and imaging quality of single-wall radiography.

Description

Technical Field

[0001] This invention relates to the field of single-wall radiography technology, and more specifically, to a radiographic inspection robot for pipe welds and a single-wall radiography method. Background Technology

[0002] In industrial sectors such as energy, chemical industry, and urban construction, pipeline welding is a fundamental and critical process. To ensure the safe operation of pipelines, technicians need to conduct rigorous non-destructive testing on the welds, and radiographic testing is one of the most commonly used methods. Among them, single-wall radiography has higher detection sensitivity than double-wall radiography, and it can more clearly show the tiny defects inside the weld, making it the preferred radiographic technique.

[0003] In current practical inspection work, technicians typically use pipe crawlers to assist in the operation. These crawlers enter the pipe and move the X-ray source or imaging device to the predetermined weld position. For some pipes with larger diameters, existing crawlers can complete the inspection task well. Through remote control, the equipment can achieve radiographic arrangement with the imaging device inside and the X-ray machine outside, thus completing single-wall single-image radiography. However, existing inspection equipment still has the following shortcomings in practical applications: First, traditional crawlers are usually large in size, making it difficult for them to enter the interior of pipes with narrow inner diameters. Second, many workpieces to be inspected have sealed ends with only very small pipe seat openings. Currently used crawlers have complex structures and cannot enter the interior of workpieces through these tiny spaces.

[0004] Therefore, there is an urgent need for a small crawler that can move stably and accurately place substrates on the inner wall of a narrow-diameter pipe. Summary of the Invention

[0005] The purpose of this invention is to provide a radiographic inspection robot for pipe welds and a single-wall radiographic method to solve the technical problems mentioned in the background art.

[0006] This invention is achieved through the following technical solution: a pipe weld radiographic inspection robot, comprising a chassis assembly, a radiographic inspection device and a control system, wherein the radiographic inspection device and the control system are both mounted on the chassis assembly; The control system includes a control module, a vision perception module, a communication module, and a power supply module. The vision perception module, the communication module, and the power supply module are all electrically connected to the control module, and the communication module is communicatively connected to a remote control terminal. The chassis assembly includes a chassis frame, multiple sets of permanent magnet wheels and multiple drive assemblies. The multiple sets of permanent magnet wheels are arranged along the length of the chassis frame and fit against the curved surface of the inner wall of the pipe being inspected. The multiple drive assemblies are mounted on the chassis frame and are connected to the permanent magnet wheels one by one. The fabric assembly consists of a pressing member and a drive source connected to the pressing member. The bottom of the pressing member is connected to a substrate, which is configured to drive the substrate to move in a vertical direction.

[0007] According to a preferred embodiment, the pressing member is composed of a pressing frame and a rack, the lower end of the rack is connected to the pressing frame, and the driving source includes a first driving motor, which is located on one side above the pressing frame, and its output shaft is connected to a gear transmission component, which meshes with the rack.

[0008] According to a preferred embodiment, the pressing component further includes a guide block, the lower end of which is connected to the pressing frame, and the upper end of which is slidably engaged with the chassis frame.

[0009] According to a preferred embodiment, the chassis frame is formed by a front panel, a back panel, a first side panel, and a second side panel. The fabric patch device is located inside the chassis frame. The inner side of the first side panel and / or the second side panel is provided with a guide groove, and the upper end of the guide block is slidably engaged with the guide groove.

[0010] According to a preferred embodiment, a first motor fixing plate is provided between the first side plate and the second side plate. A first shaft hole is provided on the first motor fixing plate, and the output shaft of the first drive motor passes through the first shaft hole and is connected to the gear transmission component.

[0011] According to a preferred embodiment, a first groove is provided on the upper part of the first side plate and the second side plate, and both ends of the first motor fixing plate are embedded in the first groove. The upper part of the back plate is provided with a second recess, and the first drive motor is located in the second recess.

[0012] According to a preferred embodiment, a mounting bracket is provided on the outer side of the front panel, and the control system is mounted on the mounting bracket.

[0013] According to a preferred embodiment, the permanent magnet wheel is provided in two sets, and the two sets of permanent magnet wheels are respectively arranged at the front and rear ends of the chassis frame, and multiple drive assemblies are correspondingly connected to the front panel / back panel.

[0014] According to a preferred embodiment, the drive assembly includes a second drive motor, a second motor mounting plate, and a drive shaft. The second motor mounting plate is disposed on the output side of the second drive motor and is correspondingly connected to the front panel / back panel. A second shaft hole is provided on the second motor mounting plate. The output shaft of the second drive motor passes through the second shaft hole and is connected to the drive shaft. The permanent magnet wheel is sleeved on the drive shaft.

[0015] The present invention also provides a single-wall radiographic method, which uses the radiographic inspection robot for pipe welds as described above, and the method includes the following steps: The radiographic inspection of the entire weld is completed by placing a film on the inner wall of the pipe to be inspected using the film-laying robot at the location to be radiographed. The single-wall external radiographic method is used for the circumferential weld. One film is radiographed at a time. After each radiograph, the film-laying robot is controlled to move clockwise or counterclockwise along the weld to the next location to be radiographed and place a film there. Ten films are radiographed in ten sessions to complete the radiographic inspection of the entire weld.

[0016] The technical solution of the pipeline weld radiographic inspection film placement robot and single-wall radiography method provided by this invention has at least the following advantages and beneficial effects: The pipeline weld radiographic inspection film placement robot provided by this invention significantly reduces the size of the equipment through a compact chassis frame and a permanent magnet wheel drive design that can fit against the inner wall of the pipeline, enabling it to smoothly enter narrow inner diameter pipelines and confined spaces that are difficult for traditional crawlers to reach; at the same time, by using a vertically movable downward pressing film placement device, the precise placement and close fit of the film on the inner wall of the pipeline are achieved, effectively ensuring the detection sensitivity and imaging quality of single-wall radiography, and solving the technical problems of difficult entry of imaging devices and low positioning accuracy under complex working conditions. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the pipe weld radiographic inspection stripping robot provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the chassis frame provided in Embodiment 1 of the present invention; Figure 3 This is a disassembly diagram of the chassis frame provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the fabric sheet device provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the pressing component provided in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of film mounting provided in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the structure of the driving source provided in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the drive assembly provided in Embodiment 1 of the present invention; Figure 9 This is a disassembly diagram of the drive assembly provided in Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the operation of the pipe weld radiographic inspection stripping robot provided in Embodiment 2 of the present invention; Reference numerals: 100-Chassis assembly, 110-Chassis frame, 111-Front panel, 112-Back panel, 113-First side panel, 114-Second side panel, 115-Guide groove, 116-First motor mounting plate, 117-First slot, 118-Second slot, 120-Permanent magnet wheel, 130-Drive assembly, 131-Second drive motor, 132-Second motor mounting plate, 133-Drive shaft, 200-Paper-laying device, 210-Pressing component, 211-Pressing frame, 212-Rack, 213-Guide block, 220-Drive source, 221-First drive motor, 222-Gear transmission component, 300-Control system, 400-Backing film. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Example 1 This invention provides a radiographic inspection robot for pipe welds. Figure 1 This is a schematic diagram of the overall structure of the radiographic inspection robot for pipe welds. (See attached diagram) Figure 1 As shown, the pipe weld radiographic inspection robot consists of three parts: chassis assembly 100, radiographic inspection device 200, and control system 300.

[0020] The chassis assembly 100 is the mobile carrier of the entire robot, which includes a chassis frame 110, multiple sets of permanent magnet wheels 120 and multiple drive assemblies 130; Among them, the chassis frame 110 serves as the main frame of the chassis assembly 100, see [reference needed]. Figure 2 and Figure 3 As shown, the chassis frame 110 is formed by a front panel 111, a back panel 112, a first side panel 113, and a second side panel 114. The front panel 111, back panel 112, first side panel 113, and second side panel 114 are connected together by mechanical fastening to form an internal cavity for accommodating the fabric patch device 200 assembly. Specifically, the front panel 111 and back panel 112 are located at the front and rear ends of the chassis frame 110, respectively, while the first side panel 113 and second side panel 114 are located on the left and right sides of the chassis frame 110. In order to achieve a stable connection between the panels, connecting angle steel pieces, irregular connecting angle steel pieces, and auxiliary connecting angle steel pieces are provided at the corners where the panels meet, and they are fastened with matching bolts.

[0021] In addition, the inner surfaces of the first side plate 113 and the second side plate 114 are machined with guide grooves 115. The guide grooves 115 extend vertically and their openings face the interior of the chassis frame 110. The upper part of the first side plate 113 and the second side plate 114 is provided with a first recess 117, and the upper part of the back plate 112 is provided with a second recess 118. The outer side of the front panel 111 is equipped with a mounting bracket.

[0022] In some specific embodiments of this example, the chassis assembly 100 is equipped with two sets of permanent magnet wheels 120, which are respectively arranged at the front and rear of the chassis frame 110. The permanent magnet wheels 120 generate an adsorption force, enabling the robot to be firmly attached to the inner wall of the ferromagnetic pipe, thereby allowing the substrate 400 to be arranged in all directions on the inner wall of the pipe. In order to drive the permanent magnet wheels 120 to rotate, the chassis assembly 100 is provided with a plurality of drive assemblies 130, each drive assembly 130 including a second drive motor 131, a second motor fixing plate 132, and a drive shaft 133.

[0023] Specifically, see Figure 8 and Figure 9 As shown, the second motor mounting plate 132 is located on the output side of the second drive motor 131 and is fixedly connected to the front panel 111 or the back panel 112. The second motor mounting plate 132 has a second shaft hole, through which the output shaft of the second drive motor 131 passes and is connected to the drive shaft 133. The permanent magnet wheel 120 is sleeved on the drive shaft 133. In order to enable the permanent magnet wheel 120 to adapt to the curved surface of pipes of different diameters, the second motor mounting plate 132 is connected to the front panel 111 or the back panel 112 by a connecting angle steel piece. The connecting angle steel piece is provided with an adjustment hole. By adjusting the position of the matching bolt in the adjustment hole, the installation angle of the drive assembly 130 relative to the chassis frame 110 can be changed, thereby changing the included angle between the permanent magnet wheels 120 on the left and right sides, so that the permanent magnet wheel 120 can fit against the curved surface of the pipe wall.

[0024] To ensure structural stability after angle adjustment, a positioning groove with a depth of 0.5mm is machined in the area where the second motor fixing plate 132 contacts the connecting angle steel. The width and length of the positioning groove match the contact surface area of ​​the connecting angle steel. When the connecting angle steel is embedded in the positioning groove and tightened by bolts, it can effectively prevent the drive assembly 130 from rotating or loosening when the second drive motor 131 outputs high torque or the robot walks and vibrates.

[0025] The fabric assembly 200 is disposed within the cavity enclosed by the chassis frame 110, see [reference]. Figure 4 As shown, it consists of a pressing member 210 and a drive source 220 that is powered by the pressing member 210.

[0026] Among them, the pressing component 210 is a functional component that directly performs the fabric sheet movement, see [link / reference] Figure 5 As shown, it includes a pressing frame 211, a rack 212, and a guide block 213; the pressing frame 211 is located at the bottom of the fabric assembly 200, see [reference]. Figure 6 As shown, the bottom plane is used to place and fix the substrate 400. The rack 212 is vertically installed on the pressing frame 211, and the lower end of the rack 212 is fixedly connected to the pressing frame 211. The guide block 213 is installed in the lateral position of the pressing frame 211. When the pressing component 210 is installed in the chassis frame 110, the upper end of the guide block 213 extends into the guide groove 115 on the first side plate 113 or the second side plate 114. The guide block 213 and the guide groove 115 are in a sliding fit relationship. Through this structure, the pressing frame 211 is physically constrained by the guide groove 115 during the movement and can only move in the vertical direction. This can effectively prevent the substrate 400 from swinging or shifting laterally during the pressing or lifting process, and ensure the accurate arrangement position of the substrate 400.

[0027] In this embodiment, the driving source 220 of the pressing member 210 is a first drive motor 221 or a hydraulic mechanism, see [link to relevant documentation]. Figure 7 As shown, the preferred embodiment is the first drive motor 221, but no specific limitation is made here. In order to reasonably arrange the first drive motor 221 in the chassis frame 110, a first motor fixing plate 116 is provided between the first side plate 113 and the second side plate 114. The two ends of the first motor fixing plate 116 are respectively embedded in the first groove 117 on the upper part of the first side plate 113 and the second side plate 114, and the first drive motor 221 is embedded in the second groove 118 on the upper part of the back plate 112. A first shaft hole is provided on the first motor fixing plate 116, the output shaft of the first drive motor 221 passes through the first shaft hole, and a gear transmission component 222 is installed at the end of its shaft. The gear transmission component 222 meshes with the vertically arranged rack 212.

[0028] It should be noted that when the first drive motor 221 rotates, the rotational power is transmitted to the pressing member 210 through the meshing of the gear transmission member 222 and the rack 212. Depending on the direction of rotation of the first drive motor 221, the rack 212 drives the pressing frame 211 to run downward or upward along the guide groove 115. The pressing frame 211 also includes a pressing frame 211 intermediate member, which is fixed on the pressing frame 211 and is used to carry and support the rack 212, ensuring that the rack 212 will not disengage due to force during the transmission process.

[0029] The control system 300 is mounted on a mounting bracket on the outside of the front panel 111 of the chassis frame 110, and includes a control module, a vision perception module, a communication module, and a power supply module.

[0030] The visual perception module consists of a real-time monitoring camera, which is bolted to the front end of the chassis frame 110. The lens is aimed at the robot's forward direction and the working area of ​​the pressing component 210. Through this real-time monitoring camera, the operator can observe the robot's walking direction, identify weld markings, and monitor the real-time position of the pressing component 210 as well as the control of pressing and lifting. The communication module has remote communication capabilities and supports wireless signal transmission for establishing connections with external remote control terminals. The power supply module includes a battery pack to power the second drive motor 131 of the drive assembly 130, the first drive motor 221 of the fabrication device 200, the real-time monitoring camera, and various electronic components. The control module is the core processing unit, which is electrically connected to the vision perception module, communication module, and power supply module. It receives instructions from the remote control terminal and adjusts the speed of the second drive motor 131 through four-wheel differential control logic, thereby realizing the robot's forward and backward movement control and steering adjustment. At the same time, the control module also controls the start, stop, and reverse of the first drive motor 221, thereby realizing the downward and upward control of the fabrication device 200. The video signal captured by the real-time monitoring camera is transmitted to the remote control terminal in real time through the communication module, realizing the visual adjustment of off-site operations.

[0031] In summary, the pipe weld radiographic inspection film placement robot provided by this invention significantly reduces the size of the equipment through its compact chassis frame 110 and the drive design of permanent magnet wheels 120 that can conform to the inner wall of the pipe. This allows it to smoothly enter narrow-diameter pipes and confined spaces that are difficult for traditional crawlers to reach. At the same time, by utilizing the vertically movable downward-pressing film placement device 200, the precise placement and tight fit of the film 400 on the inner wall of the pipe are achieved, effectively ensuring the detection sensitivity and imaging quality of single-wall radiography, and solving the technical problems of difficult entry of imaging devices and low positioning accuracy under complex working conditions.

[0032] Example 2 This embodiment, based on the technical solution provided in Embodiment 1, provides a single-wall radiographic method. This single-wall radiographic method utilizes the pipe weld radiographic inspection robot provided in Embodiment 1, aiming to complete radiographic inspection in narrow-diameter pipe environments by leveraging the robot's small size to pass through obstacles. The specific steps are as follows: Before starting the operation, first adjust the tilt angle of the two drive assemblies 130 according to the specifications of the pipe being inspected, and lock them using the positioning slots, and fix the base plate 400 to the bottom of the pressure frame 211; further, see Figure 10As shown, the fabric robot is placed inside the pipe. The magnetic force of the permanent magnet wheel 120 allows the robot to adhere stably to the pipe wall. An operator outside the pipe sends a walking command via a remote control terminal. The control module receives the command and drives the permanent magnet wheel 120 to rotate. During this process, the operator observes the inside of the pipe through real-time monitoring footage from the camera, controlling the robot to move to the circumferential weld to be radiographed, and confirming that the robot's axis coincides with the weld position. After confirming the position, a pressing command is sent. The first drive motor 221 drives the gear transmission component 222 to rotate, driving the rack 212 to move downwards. The pressing frame 211, guided by the guide block 213 and the guide groove 115, moves vertically downwards to stably press the film 400. Furthermore, the X-ray source is tightly pressed against the weld seam on the inner wall of the inspected pipe. Then, using a X-ray source located outside the pipe, the weld seam is irradiated with X-rays using a single-wall external X-ray method. After irradiation, an upward command is sent, and the first drive motor 221 rotates in the opposite direction, causing the downward pressure frame 211 to lift upwards. The robot is then controlled by a four-wheel differential speed control function to move clockwise or counterclockwise along the circumference of the weld seam to the next area to be irradiated. In a preferred embodiment of this invention, the length of the entire weld seam is divided into ten irradiation areas. After the robot moves to the next irradiation area, the actions of placing the film, pressing down, irradiating, and resetting are repeated. This process is repeated ten times using ten films 400, ultimately completing the X-ray inspection of the entire circumferential weld seam.

[0033] The single-wall radiography method in this embodiment has the same effect and technical effect as the embodiment of the pipe weld radiographic inspection robot, and will not be repeated here.

[0034] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A radiographic inspection robot for pipe weld seams, characterized in that, It includes a chassis assembly (100), a fabric patch device (200), and a control system (300), wherein the fabric patch device (200) and the control system (300) are both mounted on the chassis assembly (100); The control system (300) includes a control module, a vision perception module, a communication module, and a power supply module. The vision perception module, the communication module, and the power supply module are all electrically connected to the control module. The communication module is communicatively connected to a remote control terminal. The chassis assembly (100) includes a chassis frame (110), multiple sets of permanent magnet wheels (120) and multiple drive assemblies (130). The multiple sets of permanent magnet wheels (120) are arranged along the length of the chassis frame (110) and fit against the curved surface of the inner wall of the pipe being inspected. The multiple drive assemblies (130) are mounted on the chassis frame (110) and are connected to the permanent magnet wheels (120) in a one-to-one power connection. The fabric device (200) consists of a pressing member (210) and a drive source (220) that is powered to the pressing member (210). The bottom of the pressing member (210) is connected to a substrate (400), which is configured to drive the substrate (400) to move in the vertical direction.

2. The pipe weld radiographic inspection robot as described in claim 1, characterized in that, The pressing member (210) is composed of a pressing frame (211) and a rack (212). The lower end of the rack (212) is connected to the pressing frame (211). The driving source (220) includes a first driving motor (221). The first driving motor (221) is located on one side above the pressing frame (211), and its output shaft end is connected to a gear transmission member (222). The gear transmission member (222) meshes with the rack (212).

3. The pipeline weld radiographic inspection robot as described in claim 2, characterized in that, The pressing component (210) also includes a guide block (213), the lower end of which is connected to the pressing frame (211), and the upper end of which is slidably engaged with the chassis frame (110).

4. The pipeline weld radiographic inspection robot as described in claim 3, characterized in that, The chassis frame (110) is formed by a front panel (111), a back panel (112), a first side panel (113), and a second side panel (114). The fabric patch device (200) is located inside the chassis frame (110). The inner side of the first side panel (113) and / or the second side panel (114) is provided with a guide groove (115). The upper end of the guide block (213) is slidably engaged with the guide groove (115).

5. The pipe weld radiographic inspection robot as described in claim 4, characterized in that, A first motor fixing plate (116) is provided between the first side plate (113) and the second side plate (114). A first shaft hole is provided on the first motor fixing plate (116). The output shaft of the first drive motor (221) passes through the first shaft hole and is connected to the gear transmission component (222).

6. The pipeline weld radiographic inspection robot as described in claim 5, characterized in that, The upper part of the first side plate (113) and the second side plate (114) is provided with a first groove (117), and the two ends of the first motor fixing plate (116) are embedded in the first groove (117); The upper part of the back plate (112) is provided with a second groove (118), and the first drive motor (221) is located in the second groove (118).

7. The pipeline weld radiographic inspection robot as described in claim 4, characterized in that, A mounting bracket is mounted on the outer side of the front panel (111), and the control system (300) is mounted on the mounting bracket.

8. The pipe weld radiographic inspection robot as described in any one of claims 4 to 7, characterized in that, The permanent magnet wheel (120) is provided in two sets, and the two sets of permanent magnet wheels (120) are respectively set at the front and rear ends of the chassis frame (110), and multiple drive assemblies (130) are correspondingly connected to the front panel (111) / back panel (112).

9. The radiographic inspection robot for pipe welds as described in claim 8, characterized in that, The drive assembly (130) includes a second drive motor (131), a second motor mounting plate (132), and a drive shaft (133). The second motor mounting plate (132) is located on the output side of the second drive motor (131) and is correspondingly connected to the front panel (111) / back panel (112). A second shaft hole is provided on the second motor mounting plate (132). The output shaft of the second drive motor (131) passes through the second shaft hole and is connected to the drive shaft (133). The permanent magnet wheel (120) is sleeved on the drive shaft (133).

10. A single-wall radiography method, characterized in that, The method using the radiographic inspection robot for pipe welds as described in any one of claims 1 to 9 includes the following steps: The film-laying robot is used to place films (400) on the inner wall of the pipe to be inspected. The single-wall external radiographic method of the circumferential weld is adopted, and one film is radiographed at a time. After each radiograph, the film-laying robot is controlled to move clockwise or counterclockwise along the weld to the next radiographic location and place the film (400). Ten films (400) are radiographed in ten times to complete the radiographic inspection of the entire circumferential weld.

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