火箭箱底数字射线检测系统设计

Design of Digital Ray Detection System for Rocket Box Bottom

运载火箭贮箱箱底/筒段焊缝数字射线检测目前主要通过传统基于人工的射线照相,存在检测效率低、主观经验依赖性强、质量稳定性差等问题。为了实现运载火箭贮箱箱底/筒段焊缝数字射线高效检测,满足常态化高强密度发射形势下其快速、批量研制需求,研发一种基于双机器人协同的运载火箭贮箱箱底/筒段焊缝数字射线检测控制系统。该控制系统主要完成双机器人的协同运动、远程控制启动、伺服电机驱动、自动定位,并在上位机实现数据通信等功能。实验结果表明:所开发的数字检测控制系统可兼容多种型号箱底与筒段检测,检测效率高、精度高。

At present,the traditional manual radiography is mainly used to make the weld seam digital ray detection of the bottom/barrel section of launch vehicle storage tank,which has some problems such as low detection efficiency,strong dependence on subjective experience and poor quality stability.In order to realize the efficient digital ray detection of the weld seam of the bottom/barrel section of launch vehicle storage tank and meet the needs of rapid and batch development of it under the situation of normalized high-density launch,a digital ray detection and control system for the weld seam of the bottom/barrel section of the carrier rocket tank based on the cooperation of two robots was developed.The control system mainly completed the functions of cooperative movement of two robots,remote control start,servo motor drive,automatic positioning and data communication in the upper computer.The experimental results show that the developed digital detection control system can compatible with various types of box bottom and barrel section detection with high detection efficiency and high precision.