A Dual-Robot Digital Radiographic Inspection System for Rocket Tank Welds

At present, traditional X-ray inspection is used to inspect the welds of the bottom, barrel section and short shell parts of the launch vehicle, which has the disadvantages of low automation, complicated process and low efficiency, and cannot meet the fast-paced development needs of multiple models at present. Moreover, the degree of digitization is low, the test results are recorded in the form of negatives, data statistics, storage and access are difficult, and the circulation efficiency is low, which is not conducive to product quality control and traceability; At the same time, it cannot adapt to and meet the needs of digital and intelligent transformation and development. In this paper, a dual-robot collaborative digital radiographic inspection system for rocket tank welds is developed by combining dual-robot control technology and digital radiographic inspection technology. The system can be directly applied to digital radiographic inspection of tank bottom, barrel section and short shell welds of multiple types of launch vehicles; meanwhile, the dual-robot path planning technology based on the dual-mode is studied. Finally, the imaging software platform based on VS and Twincat3.0 VS2015 software combined with QT upper computer is designed. Experiments show that compared with the existing traditional ray detection methods, the detection efficiency of the system is improved by 5 times, the image sensitivity reaches W14, the resolution reaches D10, and the standardized signal-to-noise ratio reaches 128, which far exceeds the requirements of process technology A, and meets the current non-destructive detection work of multi-model rocket tank welds.