X射线实时影象探伤管道机器人的关键技术

中文字数:3243,中文页数:4  英文字数:2182页数:6

摘要
 这篇论文介绍了一种检查大口径管道焊接连接的机器人系统，它被发展作为X射线实时图象检查法 [RTIIT]的自动化平台。该机器人在管道内可以独立寻找并确定焊接接缝位置，在同步控制技术的控制下可以完成对焊缝进行质量检验的任务。该机器人系统安装有一个小的焦点和具有定向波束的X射线管，因此可以获得清晰度较高的焊接接缝图像。关于该机器人系统个别的关键技术也将被详细说明。它的结构是（？） 。
 关键词：X射线探伤、实时影象、机器人

 This paper presents a robotic system for weld-joint inspection of the big-caliber pipeline , which is developed for the purpose of being utilized as automation platform for X-ray real-time imaging inspection  technique (RTIIT) . The robot can perform autonomous seeking and locating of weld-seam position in-pipe , and under the control of synchro-follow control technique it can accomplish the technologic task of weld inspection. The robotic system is equipped with a small focal spot and directional beam X-ray tube ,so the higher definition image of weld-seam can be obtained.Several key techniques about the robotic system developed are also explained in detail . Its construction is outlined.

Key words : X-ray inspection ； real-time imaging ； robot

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