Key Techniques of the X-ray Inspection Real-time Imaging Pipeline Robot |
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| Authors: | Deng Zongquan Xu Fengping Zhang Xiaohua Chen Hongjun |
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| Institution: | School of Mechtronic Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China;School of Mechtronic Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China;School of Mechtronic Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China;School of Mechtronic Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China |
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| Abstract: | 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. |
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| Keywords: | X-ray inspection real-time imaging robot |
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