无损检测翻译外文原文及翻译

1.Key Techniques of the X-ray Inspection Real-time Imaging Pipeline Robot This paper presents a robotic system for weld-joint inspection of the big-caliber control ofsyncbro-follow control technique it can accomplish the technologic task of weld inspection. Therobotic system is equipped with a small focal spot and directional beam X-ray tube so the higherdefinition image of weld-seam can be obtained.Several key techniques about the robotic systemdeveloped are also explained in detail . Its construction is outlined.Key words : X-ray inspection:real-time imagingrobotIntroduction Compared with radiographic examination teohniqueRETX-ray real time imaginginspection techniqueRTIIT has many advantages such as higher efficiency lower cost betterfeasible automation and weld-defects evaluation on-line.Furthermore，up to date technologyallows the X-ray RTIIT to be used in Non-Destructive Testing NDT of pipelines，and theinspection quality of this Technique is as good as that of the RET. Therefore NDT equipments，which are used commonly in pipeline inspection and basing on the RET，need to be renovated bybasing on the X-ray RTIIT. To employ the X-ray RTITT in NDT of pipeline there must be an automation platform，andX-ray inspection real-time imaging pipeline robotIRTIPR is designed for the purpose. In factbesides the problems that have been resolved and are involved in the X-ray IRTIPRseveral keytechniques are presented in this paperin which we address the robot focusing on its intelligentcontrol such as the autonomous motion in-pipe，the synchro-follow controltechnique and thecommunication of cooperation between in-pipe and out-pipe and we also outline the constructionof the robot.1 Composing and Working Principle of the Robot The X -ray IRTIPR connints of the two parts of in-pipe and out-pipe，as illustrated in Figl1 .The out-pipe part is camposed of mage collecting and processing system ， out-pipesynchro-rotary mechanism and its driving system.The image intensifier is driven by the out-piperotary mechanism to rotate round the center of pipeline to collect weld image and transmit videosignal to image processing computer image-collecting card. The in-pipe part is composed ofin-pipe computer，power and invcrters system ，walking and driving system ，X-ray system，in-pipe synchro-rotary rncchanism and its driving system and weld 一 seam autonomous seekingand locating system .TheX -ray tube in x-ray system is driven by the in-pipe rotary mechanism torotate round the center of pipeline. The main working principle of the robot is explained as follows:Under the control ofweld-seam autonomous seeking and locating system the in-pipe crawler finishes the localizationof working position at which the in-pipe crawler is in a state of waiting. When it receives thecommand signal from out-pipe which is transmitted by low frequency electromagnetic wave thein-pipe computer operates immediately the controller of X-ray system to realize its out-pipecontrol. In sequence the in-pipe and out-piperotary mechanisms are controlled by thesynchro-followcontrol technique to rotate with the same center of pipeline and finish weld-seaminspection in the manner of rotating-irradiating-ratating.2 The Control Systern of the Robot2. 1 The Synchro-follow Control Technique of In-pipe and Out-pipe Rotary Mechanism In the light of the technologic requirement of X-ray RTIIT the X-ray tube and the imageintensifier must be required to rotate synchronously with the same center.Because the X-rayIRTIPR adopts wireless working manner，i .e. there is no tether cables linking in-pipe without-pipe parts of the robot.How to realize the synchro-message communication between in-pipeand out-pipe control systems of rotary mechanism or how to realize synchro-control thenbecomes a key technique that must be solved.2.2 Weld-seam Autonomous Seeking and Locating Technique Autonomous seeking and locating mean that the robot determines automatically where is theworking position in-pipe with the help of sensors but without any ones inter-meddling. Thiscontrol-manner is actuallyfntelligent. The precision and reliability of seeking and locating asystem have direct relation with if a robot can realize autonomous motion in-pipe. If this system isdisabled the robot will take the place of the accident ofdeathor7ose the wayin-pipe. Generally methods for detecting. the position of weld-seam are as follows:1 Utilizeencoder or cyclometer 2 Utilize the displacement caused by the protrusion-concave changing ofweld-seam surface3 Utilize if the zone of weld-seam conducts electricity 4 Utilize radioactiveisotope such as y ray source 5 Utilize vision 6 Utilize low frequency electromagnetic wave.3 Conclusion Key techniques of the X-ray IRTIPR are assurances for X-ray RTIIT to realize automation. Ifa robot adopts the working means of having no cable and the synchro-follow control technique ofin-pipe and out-pipe rotary mechanisms being not solved，it will be impossible for the X-rayRTHT to realize automation at all .The weld-seam autonomous seeking and locating technique is aconcrete embodiment ofintelligencefor the robot and is also an assurance for the robot to workwith high reliability.x 身寸线实时影象探伤管道机器人的关键技术 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 X1 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。 关键词:X 射线探伤、实时影象、机器人介绍 X 与射线照相检查方法RET相比较， 射线实时图像检查法RTIIT有许多优势，比如较高的效率、较低的成本，更容易实现自动化和对焊接缺陷进行即时评估。此外，最新的技术允许 X 射线 RTIIT 被用在对管道进行无损检测NDT，并且这个方法的检查品质和 RET 是一样的。因此，无损检测设备，通常用于管道检验的基于 RET 的设备，需耍通过改造变成基于 X 射线实时图像检查法的。 使用 X 射线实时图像检查法对管道进行无损检测一定要有一个自动化平台，X 射线探伤实时影象管道机器人irtipr就是为该目的而设计的。事实上，除了已经被解决川的涉及 x 射线探伤实时影象管道机器人的问题之外，一些集中在机器人的智能控制的关键技术也出现在这篇论文中例如，机器人在管道内的独立动作，同步控制技术和在管道内外之间信息交流配合。1 机器人的工作原理 这个 x 射线探伤实时影象管道机器人由管道内和管道外两部分组成，管道外的部分由图像采集处理系统，管道外同步旋转机构和它的驱动系统组成。图像扩大器由管道外旋转机构来推动并围绕管道中心旋转进行采集焊接图像及通过图像采集卡将图象信号传达给图像处理计算机。管道内的部分由管道内电脑、电源和换流器系统、行走及其驱动系统、X 射线系统、管道内同步旋转机构及其驱动系统和焊接接缝独立寻找及定位系统。X 射线系统中的 X 射线管由管道内的旋转机构推动围绕管道的中心旋转。 机器人主要工作原理说明如下:在焊接接缝独立寻找及定位系统的控制下管内爬行器完成工作位置的定位，并在定位的位置上处于等待的状态。当它收到从管道外由低