Key Techniques of the X-ray Inspection Real-time Imaging Pipeline Robot

查看全文 作　　者：[1]邓宗全;[1]Xu;[1]Fengping;[1]Zhang;[1]Xiaohua;[1]Chen;[1]Hongjun 机构地区：[1]School of Mechtronic Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China 出　　处：《High Technology Letters》索引2004年第10卷第2期,共3页 基　　金：国家高技术研究发展计划(863计划) 摘　　要：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. 关 键 词：X-射线检查 实时图像检查 机器人 焊接 管道