Research On Weld-Radiographic Inspection Robot

In recent years, the robots are increasingly applied in industries. The digital flat-panel imaging is a new technology of nondestructive testing of welds, but it is highly dependent on the specialized auto-process equipment. The Mecanum Omni-directional mobile robot automation technology can be applied to the radiographic detection equipment systems, which can greatly enhance the application of digital flat panel-ray detection technology in the inspection of large vertical storage tanks in service, as well as other special equipments.Firstly, this paper elaborated the general scheme of radiographic inspection robot and the overall structure. The details of the various components of the robot were described, such as magnetic structures, independent suspension and adjustment structures of the tank wall. The robot's obstacle-climbing ability and prevent capsizing ability were also analyzed.Secondly, as for the tracking control system of robot, we discussed advantages and disadvantages of common NDT methods and machine vision for robot localization. The location and tracking scheme based on machine vision was finally used. The location-tracking kinematics model of tracking robot was established according to the principle of machine vision tracking. PD control algorithm was added to the tracking control for the stability and reliability of the robot tracking.Hardware and software system for robotic testing system were designed in this paper. Wireless communication of work units can be realized through a local area network, which is convenient and easy to expand. Robot hardware systems including CAN bus communication system, DC servo motor drive system, motor control board and sensor systems. Based on the hardware platform, robots controlled by a software can do the testing tasks, including communications systems, remote control center, source-side robots, digital flat-panel detector in the robot's software. Finally, the robots crawl and location tracking results were quantitatively analyzed. The influence of different parameters on the motion of the robot were analyzed and discussed. The feasibility of the plan was verified, indicating that the robot detection system has a certain value.