Ultra-large LNG (liquefied natural gas) low-temperature storage tank welding seam and tank surface flatness quality detector

Abstract

The invention relates to the field of storage tank weld joint detectors, in particular to an ultra-large LNG low-temperature storage tank weld joint and tank surface flatness quality detector. A laser emitter is arranged on the top of the ray machine vertical walking module and arranged on a top power source shell, a damping plate is arranged at the bottom of the laser emitter, a base is arranged on the damping plate, a rotating head is arranged on the base, and a laser emitting point is arranged on the middle point of the rotating head to emit infrared laser; a platform frame and a working frame are arranged on the inner wall of the storage tank wall, a laser receiving device is arranged at the top of the working frame and used for receiving laser signals emitted by a laser emitter, the tank seam detection trolley rotates around the tank top by a circle, and the laser signals emitted by the laser emitter can irradiate a laser receiving panel. The flatness of the storage tank surface is detected through the horizontal movement track of the laser signal on the laser receiving panel; and meanwhile, annular welding seam detection and longitudinal welding seam detection can be carried out on the inner wall of the storage tank.

Description

Technical Field

[0001] The invention relates to the field of storage tank weld detectors, and in particular to a super-large LNG cryogenic storage tank weld and tank surface flatness quality detector. Background Art

[0002] Ultra-large LNG cryogenic storage tank weld quality detector is a key device to ensure the structural integrity and safety of the tank. Weld quality inspection for ultra-large LNG cryogenic storage tanks usually involves a variety of advanced technologies and equipment to ensure that the quality of the weld meets the design requirements.

[0003] The diameter of the existing ultra-large LNG cryogenic storage tanks is very large, reaching 100 meters. At the same time, the height of the cryogenic storage tanks also exceeds 100 meters. When setting up the storage tank, pieces of welding plates are welded together to form a layer, and then welded again on the basis of this layer. Therefore, each time a layer of the tank is welded, the inner wall of the tank needs to be inspected for circumferential welds and welds between longitudinal welding plates.

[0004] Ultrasonic detection technology, digital radiographic imaging technology and vacuum leak detection technology are often used in the existing technology to detect tank welds. However, the above technologies have great limitations and cannot meet the requirements of weld detection of ultra-large LNG cryogenic storage tanks. In actual detection, since LNG cryogenic storage tanks are large, the detection time is long and the detection is difficult. At the same time, since the storage tanks are welded layer by layer, the storage tanks on the same layer are welded together by pieces of metal plates. There is a problem that the height of one layer of storage tanks is inconsistent after welding, which affects the welding of the next layer. The existing weld detection device cannot detect this point, and the existing equipment cannot quickly detect this problem.

[0005] Therefore, it is particularly important to design a super-large LNG cryogenic tank weld quality detector that can detect the flatness of the tank surface and the horizontal and longitudinal welds of the tank. Summary of the invention

[0006] The present application provides a super-large LNG cryogenic storage tank weld and tank surface flatness quality detector, which adopts the following technical solution: A super-large LNG cryogenic storage tank weld and tank surface flatness quality detector, a tank seam detection trolley is arranged on the tank wall, the tank seam detection trolley includes a horizontal walking module, and an imaging plate vertical walking module and a ray machine vertical walking module are arranged on both sides of the horizontal walking module; A laser emitter is arranged on the top of the vertical walking module of the ray machine, and the laser emitter is arranged on the top power supply housing. A damping plate is arranged at the bottom of the laser emitter, and a base is arranged on the damping plate. A rotating head is arranged on the base, and a laser emitting point is arranged at the middle point of the rotating head to emit infrared laser. A platform frame and a work frame are arranged on the inner wall of the storage tank wall, a laser receiving device is arranged on the top of the work frame to receive the laser signal emitted by the laser transmitter, a laser receiving base is arranged on the laser receiving device, a power control box is arranged on the laser receiving base, side panels are arranged on the side walls of the power control box, a horizontal panel is arranged between the side panels, the horizontal panel is connected to the power control box through a telescopic rod, a panel telescopic frame is arranged on the horizontal panel, a rotating component and a laser receiving panel are arranged on the panel telescopic frame, and an infrared sensor is arranged on the laser receiving panel to feed back the received infrared light to the power control box for receiving and processing through wireless transmission; The tank seam detection trolley rotates around the tank top, and the laser signal emitted by the laser transmitter can be irradiated on the laser receiving panel. The flatness of the tank surface is detected by the horizontal motion trajectory of the laser signal on the laser receiving panel.

[0007] Optionally, a main vehicle side panel is provided on the horizontal walking module, and the main vehicle side panel is U-shaped, and two main vehicle side panels are provided, and rollers are provided between the main vehicle side panels, and two rollers are provided on the left and right sides, and the rollers are provided at the protrusions of the U-shaped main vehicle side panels, and the rollers are installed on the tank wall. Four support frame connecting rod splints are also provided on the side of the main vehicle, and an adjusting handwheel is provided at the bottom of the support frame connecting rod splint, and an adjusting screw is provided on the adjusting handwheel. The adjusting screw passes through the bottom of the support frame connecting rod splint, and a cylindrical adjusting wheel is provided on the other side of the adjusting screw, and a supporting ball is provided on the adjusting wheel. Each support frame connecting rod splint is correspondingly provided, and the rotation of the adjusting screw is controlled by turning the adjusting handwheel to realize the contact support of the supporting ball with the tank wall, and a main engine reducer and a main engine servo motor are provided on one side of the main vehicle side panel, and the main engine reducer is connected to the roller through a pin shaft, and provides power to the roller so that the roller rotates to drive the entire horizontal walking module to walk on the tank wall.

[0008] Optionally, a lifting structure, a tensioning device and an anti-falling device are provided on the imaging board vertical walking module and the X-ray machine vertical walking module, a roller assembly is provided at the bottom of the imaging board vertical walking module and the X-ray machine vertical walking module, an imaging board bracket is provided on the imaging board vertical walking module, two tracks are provided on the imaging board bracket, hook plates are provided on both sides of the imaging board bracket, hook openings are provided on the hook plates, and the hook openings are engaged with the side panels of the main vehicle through the hook openings on the hook plates; a X-ray machine bracket is provided on the X-ray machine vertical walking module, two tracks are also provided on the X-ray machine bracket, a computer control panel is provided on the side of the X-ray machine bracket, and bracket hook plates are provided on both sides of the X-ray machine bracket, the bracket hook plates are provided with hook openings, and the brackets are engaged with the side of the main vehicle through the hook openings on the bracket hook plates.

[0009] Optionally, the imaging board bracket of the imaging board vertical walking module is hollow, and a fall arrester is arranged on the top plate of the imaging board bracket, a hole is arranged on the fall arrester, and a fall arrester bracket is arranged directly in front of the fall arrester hole, the middle of the fall arrester bracket is in the same straight line with the fall arrester hole, a pulley is arranged on the fall arrester bracket, a steel wire rope extending from the fall arrester is stretched out from the hole, passes through the pulley on the fall arrester bracket and is downwardly arranged on the imaging module on the imaging board bracket, and a steel wire rope recovery and tensioning structure is arranged in the fall arrester.

[0010] Optionally, an opening is provided on the side of the top of the imaging plate bracket, a reducer is provided on the inner side of the top, a servo motor is connected to the reducer, a worm shaft is provided on the side of the reducer, the worm shaft is provided on the bearing seat of the bracket, a driving sprocket is provided on the worm shaft, a chain is provided on the driving sprocket, and the driving sprocket partially protrudes from the opening on the side of the top of the imaging plate bracket, one side of the sprocket on the driving sprocket is on the outside of the imaging plate bracket, and the other side is on the inside of the imaging plate, an electrical housing of the imaging plate bracket is provided on the top of the fall arrester, and a control panel and a power supply assembly are provided inside.

[0011] Optionally, an opening is provided at the bottom of the imaging plate bracket, a tensioning device is provided at the opening, a sliding plate is provided on the bracket bottom plate at the bottom of the imaging plate bracket, a tensioning device support plate is provided on the sliding plate, the tensioning device support plate can be slid down on the sliding plate, and can also be fixed up and down with a pin shaft, a tensioning device nut is provided on the top of the tensioning device support plate, a tensioning device pressure plate is provided in the middle of the tensioning device support plate, a tensioning device pull rod is provided at the center of the tensioning device pressure plate, a thread is provided on the surface of the tensioning device pull rod, and the tensioning device pull rod A nut of the tensioning device is penetrated, and an internal thread that cooperates with the tensioning device pull rod is arranged at the penetration opening of the tensioning device nut; rectangular holes are arranged on both sides of the tensioning device support plate, and both ends of the tensioning device pressure plate are arranged outside the rectangular holes on both sides of the tensioning device support plate. At the same time, tensioning device connecting rods are arranged at both ends of the tensioning device pressure plate, and a tensioning device clamping plate is arranged at the other end of the tensioning device connecting rod. The tensioning device clamping plate is connected to a tensioning device limit plate, and the tensioning device clamping plate and the tensioning device limit plate are integrated, and the tensioning device limit plate is arranged in the middle of the tensioning device support plate.

[0012] Optionally, a driven sprocket is arranged in the tensioning device limit plate, and the driven sprocket rotates in the tensioning device limit plate through a pin shaft, and a chain extending from the driving sprocket is arranged on the driven sprocket, and the driven sprocket and the driving sprocket form a whole, so as to drive the imaging module to slide up and down, and the tensioning device nut is arranged at the bottom of the tensioning device support plate and connected and fixed, and the tensioning device pressure plate can be driven to move by rotating the tensioning device pull rod, so that the tensioning device limit plate is also moved, and the distance between the driving sprocket and the driven sprocket is adjusted to realize the tensioning of the chain, and blocks are arranged above and below the imaging plate bracket, and the blocks can play a limiting role when the imaging module slides up and down.

[0013] Optionally, a roller assembly is provided at the bottom of the imaging plate bracket and the X-ray machine bracket, with two roller assemblies provided at the bottom of the imaging plate bracket and the X-ray machine bracket respectively, for a total of four roller assemblies; the roller assembly is provided with a branch hook, which is connected and fixed on the bottom of the imaging plate bracket and the X-ray machine bracket; a branch splint is provided on the branch hook, which is designed in an S-shaped style, and a bracket pulley fixing seat is connected to the branch splint, and a spring is provided on the bracket pulley fixing seat, and the bracket pulley fixing seat is connected and fixed to the bracket wheel through the spring.

[0014] Optionally, the imaging board vertical walking module is provided with an imaging module, and the imaging module includes an imaging module base and an imaging board. The imaging module base is rectangular in style, and an imaging module base bearing is provided on the imaging module base. At the same time, a plurality of movable openings are opened on the surface of the imaging module base. An electric push rod seat is provided in the imaging module base, and an electric push rod controller is provided on the side of the electric push rod seat. A push rod is provided in the electric push rod seat, and the electric push rod controller controls the extension and retraction movement of the push rod in the electric push rod seat. A signal processor and a linear bearing are provided on the back of the imaging board.

[0015] Optionally, a radiation module is arranged on the vertical travel module of the radiation machine, a control box fixing seat is arranged on the radiation module, a control box is arranged in the control box fixing seat, a radiation machine fixing plate is arranged at the bottom, a radiation machine is arranged between the radiation machine fixing plate and the control box fixing seat, the control box controls the radiation machine, one side of the radiation machine extends beyond the position of the radiation machine fixing plate, a radiation port is arranged on the extending part of the radiation machine, and the radiation port is opposite to the imaging plate on the imaging module.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: a laser receiving device is arranged on a work frame on a platform frame inside a storage tank and is integrated with a laser transmitter on a detection trolley to detect the flatness of the surface of the storage tank; the detection trolley travels on the storage tank layer and the laser transmitter on the detection trolley emits an infrared laser to illuminate the laser receiving device; the laser receiving panel on the laser receiving device receives the infrared laser signal and forms an image; the detection trolley travels along the wall of the storage tank and forms an image of the movement path of the infrared laser on the laser receiving panel; when there are undulations on the surface, the movement trajectory of the infrared laser ray on the laser receiving panel will also fluctuate instantaneously, indicating that the flatness of the surface here is uneven; the marking area is marked by an identification device for convenience of workers to find, and the background control center is also immediately reported.

[0017] The detection of this device can also realize the detection of annular welds and longitudinal welds at the same time, realizing the comprehensive detection of welds inside the storage tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the drawings are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments and their drawings can be obtained based on the embodiments shown in these drawings without paying creative work.

[0019] Figure 1 It is a diagram of the coordinated use status of the overall device of the present invention.

[0020] Figure 2 It is a structural diagram of the overall device of the present invention.

[0021] Figure 3 This is a usage status diagram of the tank weld detector of the present invention.

[0022] Figure 4 It is a front view of the storage tank weld detector of the present invention.

[0023] Figure 5 It is a schematic diagram of the overall structure of the laser detector of the present invention.

[0024] Figure 6 It is a stereoscopic diagram of the tank weld detector of the present invention.

[0025] Figure 7 It is the overall structural diagram of the horizontal walking module of the present invention.

[0026] Figure 8 This is a structural diagram of the horizontal walking module of the present invention from another perspective.

[0027] Fig. 9 It is a side schematic diagram of the horizontal walking module of the present invention.

[0028] Fig.10 It is a schematic diagram of the overall structure of the imaging plate vertical travel module of the present invention.

[0029] Fig.11 It is a schematic diagram of the overall structure of the vertical travel module of the ray machine of the present invention.

[0030] Fig.12 It is a schematic diagram of the top structure of the imaging plate vertical travel module of the present invention.

[0031] Fig.13 It is a schematic diagram of the bottom structure of the imaging plate vertical travel module of the present invention.

[0032] Fig.14 It is a demonstration diagram of the tensioning structure on the vertical travel module of the imaging plate of the present invention.

[0033] Fig.15 It is a stereogram of the imaging plate of the present invention.

[0034] Fig.16 This is a diagram showing the use status of the imaging plate of the present invention.

[0035] Fig.17 It is a schematic diagram of the back of the imaging plate of the present invention.

[0036] Fig.18 It is a structural diagram of the imaging plate rear seat of the present invention.

[0037] Fig.19 It is a schematic diagram of the overall structure of the ray machine of the present invention.

[0038] Fig. 20 It is a schematic diagram of the back structure of the ray machine of the present invention.

[0039] Fig.21 It is a schematic diagram of the pulley block structure of the present invention.

[0040] Fig. 22 It is a schematic diagram of the overall structure of the laser signal receiver of the present invention.

[0041] Fig.23 It is a demonstration diagram of the laser transmitter of the present invention emitting infrared laser light to a laser receiving device.

[0042] In the figure: 1-tank wall, 2-horizontal walking module, 201-main vehicle side plate, 202-support frame connecting rod clamp, 203-adjusting wheel, 204-support ball, 205-adjusting hand wheel, 206-main vehicle reducer, 207-main vehicle servo motor, 208-roller, 209-electrical box, 3-imaging board vertical walking module, 301-imaging board bracket, 302-hook plate, 303-imaging board bracket electrical housing, 304-anti-fall device, 305-anti-fall device bracket, 306-reducer, 307-worm spindle, 308 -Servo motor, 309-track, 310-driving sprocket, 311-bracket bearing seat, 312-tensioning device pull rod, 313-tensioning device nut, 314-tensioning device pressure plate, 315-driven sprocket, 316-tensioning device connecting rod, 317-tensioning device clamping plate, 318-tensioning device limit plate, 319-tensioning device support plate, 320-bracket bottom plate, 321-chain, 322-block, 5-imaging module, 501-imaging module base, 502-imaging board, 503-imaging module base bearing, 504-electric push rod seat, 505-electric push rod controller, 506-track slider A, 507-chain link plate A, 508-rod, 509-linear bearing, 6-ray module, 601-control box fixed seat, 602-control box, 603-fixed plate, 604-chain link plate B, 605-track slider B, 606-ray machine, 607-ray port, 608-ray machine fixed plate, 7-ray machine vertical travel module, 701-ray machine bracket, 702-bracket hook plate, 703-computer control board , 8-laser transmitter, 801-base, 802-rotating head, 803-laser emitting point, 804-damping plate, 9-laser receiving device, 901-laser receiving panel, 902-rotating component, 903-panel telescopic frame, 904-telescopic rod, 905-power control box, 906-side panel, 907-laser receiving base, 1001-branch hook, 1002-branch splint, 1003-branch pulley fixing seat, 1004-spring, 1005-branch wheel, 11-working frame, 1101-electric control box. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] An embodiment of the present invention provides a super-large LNG cryogenic storage tank weld and tank surface flatness quality detector.

[0047] like Figure 1-22As shown, a tank seam detection trolley is arranged on the tank wall 1, and the tank seam detection trolley includes a horizontal walking module 2, an imaging plate vertical walking module 3, and a X-ray machine vertical walking module 7; a main vehicle side panel 201 is arranged on the horizontal walking module 2, and the main vehicle side panel 201 is arranged in a U shape, and two main vehicle side panels 201 are arranged, and rollers 208 are arranged between the main vehicle side panels 201, and two rollers 208 are arranged on the left and right, and the rollers 208 are arranged at the protrusions of the U-shaped main vehicle side panels 201, and the rollers 208 are installed on the tank wall 1, and four support frame connecting rod clamps 202 are also arranged on the side of the main vehicle side 201, and an adjusting hand wheel 205 is arranged at the bottom of the support frame connecting rod clamp 202, and an adjusting screw is arranged on the adjusting hand wheel 205, and the adjusting screw passes through the bottom of the support frame connecting rod clamp 202, and a cylindrical adjusting wheel 203 is arranged on the other side of the adjusting screw, and the adjusting wheel 2 03 is provided with a support ball 204, and each support frame connecting rod clamp 202 is correspondingly provided. By turning the adjusting hand wheel 205 to control the rotation of the adjusting screw, the support ball 204 is supported in contact with the tank wall 1. A main engine reducer 206 and a main engine servo motor 207 are provided on one side of the main vehicle side plate 201. The main engine reducer 206 is connected to the roller 208 through a pin shaft, providing power to the roller 208 so that the roller 208 rotates to drive the entire horizontal walking module 2 to walk on the tank wall 1. The roller 208 serves as the main roller, and the roller 208 on the other side is the driven wheel; an electrical box 209 is provided on the opposite side of the main engine reducer 206 and the main vehicle servo motor 207, and a power supply and a control board circuit are provided inside, and it is connected to the main vehicle servo motor 207 to provide power to the motor and control the walking of the entire horizontal walking module 2.

[0048] The imaging board vertical walking module 3 and the X-ray machine vertical walking module 7 are arranged on both sides of the horizontal walking module 2; the imaging board vertical walking module 3 is provided with an imaging board bracket 301, and the imaging board bracket 301 is provided with two tracks 309, and hook plates 302 are arranged on both sides of the imaging board bracket 301, and there are hook holes on the hook plates 302, which are snap-fitted and connected with the main vehicle side plates 201 through the hook holes on the hook plates 302; the X-ray machine vertical walking module 7 is provided with a X-ray machine bracket 701, and two tracks 309 are also arranged on the X-ray machine bracket 701. 9. A computer control panel 703 is arranged on the side of the X-ray machine bracket 701. Meanwhile, bracket hook plates 702 are arranged on both sides of the X-ray machine bracket 701. The bracket hook plates 702 are provided with hook openings, which are interlocked with the side edge 201 of the main vehicle through the hook openings on the bracket hook plates 702. The imaging board vertical walking module 3 and the X-ray machine vertical walking module 7 are respectively arranged on both sides of the horizontal walking module 2; a slidable imaging module 5 is arranged on the imaging board vertical walking module 3, and a X-ray module 6 is arranged on the X-ray machine vertical walking module 7.

[0049] The imaging plate vertical walking module 3 and the X-ray machine vertical walking module 7 are both provided with lifting structures, tensioning devices and anti-falling devices; this article describes the imaging plate vertical walking module 3, the imaging plate bracket 301 of the imaging plate vertical walking module 3 is hollow, a fall arrester 304 is provided on the top plate of the imaging plate bracket 301, a hole is provided on the fall arrester 304, and a fall arrester bracket 305 is provided directly in front of the hole of the fall arrester 304, the middle of the fall arrester bracket 305 is in the same straight line with the hole of the fall arrester 304, a pulley is provided on the fall arrester bracket 305, a steel wire rope extends from the fall arrester 304, is stretched out from the hole, passes through the pulley on the fall arrester bracket 305 and is downwardly provided to the imaging module 5 on the imaging plate bracket 301, and a steel wire rope recovery and tensioning structure is provided in the fall arrester 304. When the imaging module 5 encounters a situation When sliding down quickly, the steel wire rope on the anti-fall device 304 is also quickly pulled. At this time, the anti-fall device 305 quickly locks the steel wire rope to prevent the imaging module 5 from sliding down and causing damage to the equipment, and the imaging module 5 is pulled in case of an emergency; an opening is provided on the top side of the imaging board bracket 301, and a reducer 306 is provided on the inner side of the top. The reducer 306 is connected to a servo motor 308, and a worm main shaft 307 is provided on the side of the reducer 306. The worm main shaft 307 is provided on the bracket bearing seat 311, and a driving sprocket 310 is provided on the worm main shaft 307. A chain 321 is provided on the driving sprocket 310, and the driving sprocket 310 partially exceeds the opening on the top side of the imaging board bracket 301, so one side of the sprocket 321 on the driving sprocket 310 is on the outside of the imaging board bracket 301, and the other side is on the inside of the imaging board 301. An imaging plate support electrical housing 303 is arranged on the top of the fall arrester 304, and a control panel and a power supply assembly are arranged inside the electrical housing 303, which can control the fall arrester 305 and the servo motor 308 and provide power for them.

[0050] An opening is provided at the bottom of the imaging plate bracket 301, and a tensioning device is arranged at the opening. A sliding plate is provided on the bracket bottom plate 320 at the bottom of the imaging plate bracket 301, and a tensioning device support plate 319 is provided on the sliding plate. The tensioning device support plate 319 can be slid and taken down on the sliding plate, and can also be fixed up and down with a pin shaft. A tensioning device nut 313 is provided on the top of the tensioning device support plate 319, and a tensioning device pressure plate 314 is provided in the middle of the tensioning device support plate 319. A tensioning device pull rod 312 is provided at the center of the tensioning device pressure plate 314, and a thread is provided on the surface of the tensioning device pull rod 312. The tensioning device pull rod 312 passes through the tensioning device nut 313, and the tensioning device nut 313 is provided with an internal thread matching the tensioning device pull rod 312 at the penetration opening. Rectangular holes are provided on both sides of the tensioning device support plate 319, and both ends of the tensioning device pressure plate 314 are arranged outside the rectangular holes on both sides of the tensioning device support plate 319. At the same time, tensioning device connecting rods 316 are provided at both ends of the tensioning device pressure plate 314, and a tensioning device clamping plate 317 is provided at the other end of the tensioning device connecting rod 316. The tensioning device clamping plate 317 is connected to the tensioning device limit plate 318, and the tensioning device clamping plate 317 and the tensioning device limit plate 318 are integrated. The tensioning device limit plate 318 is arranged in the middle of the tensioning device support plate 319; a driven sprocket is arranged in the tensioning device limit plate 318 315, the driven sprocket 315 rotates in the tensioning device limit plate 318 through the pin shaft, and the chain 321 extending from the driving sprocket 310 is set on the driven sprocket 315. The driven sprocket 315 and the driving sprocket 310 form a whole, so as to drive the imaging module 5 to slide up and down. At the same time, because the tensioning device nut is set at the bottom of the tensioning device support plate 319 and is connected and fixed, the tensioning device pressure plate 314 can be driven to move by rotating the tensioning device pull rod 312, so that the tensioning device limit plate 318 also moves, and the distance between the driving sprocket 310 and the driven sprocket 315 is adjusted to achieve the tensioning of the chain. At the same time, the imaging board bracket 301 is provided with a stopper 322 above and below, and the stopper 322 can play a limiting role when the imaging module 5 slides up and down.

[0051] The structural design of the X-ray machine bracket 701 of the X-ray machine vertical travel module 7 is the same as that of the imaging plate bracket 301, and will not be repeated.

[0052] A roller assembly is arranged at the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701, and there are two rollers at the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701, for a total of four rollers; the roller assembly is provided with a branch hook 1001, and the branch hook 1001 is arranged on the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701 for connection and fixation; the branch hook 1001 is provided with a branch splint 1002, and the branch splint 1002 is designed in an S-shaped style, and a support pulley fixing seat 1003 is connected to the branch splint 1002, and a spring 1004 is arranged on the support pulley fixing seat 1003, and the support pulley fixing seat 1003 is connected and fixed to the support wheel 1005 through the spring 1004. When in use, the support wheel 1005 contacts the tank wall 1, and the support wheel 1005 slides on the tank wall 1. At the same time, the support wheel 1005 can better contact with the surface of the tank wall 1 due to the design of the spring 1004.

[0053] An imaging module 5 is arranged on the track 309 of the imaging board vertical travel module 3. The imaging module 5 includes an imaging module base 501 and an imaging board 502. The imaging module base 501 is rectangular. An imaging module base bearing 503 is arranged on the imaging module base 501. Meanwhile, a plurality of movable openings are provided on the surface of the imaging module base 501. An electric push rod seat 504 is arranged in the imaging module base 501. An electric push rod controller 505 is arranged on the side of the electric push rod seat 504. A push rod 508 is arranged in the electric push rod seat 504. The electric push rod controller 505 controls the extension and retraction of the push rod 508 in the electric push rod seat 504. A signal processor and a linear bearing 509 are arranged on the back of the imaging board 502. The linear bearing 509 is arranged in the imaging module base bearing 503 and moves. The extension and retraction of the push rod 508 drives the entire movement of the imaging board 502. The arrangement of the linear bearing 509 can make the imaging board 502 more secure on the imaging module base 501. The imaging module base 501 is overall concave in shape, and a number of track sliders A506 are arranged on the surface of the inner concave part. The track sliders A506 are arranged on the track 309 of the imaging board vertical travel module 3. A chain link plate A507 is also arranged. The chain link plate A507 is connected and fixed to the chain 321, so that the movement of the chain 321 drives the imaging module 5 to move on the imaging board vertical travel module 3.

[0054] The ray module 6 is arranged on the ray machine vertical travel module 7, and a control box fixing seat 601 is arranged on the ray module 6. A control box 602 is arranged in the control box fixing seat 601, and a ray machine fixing plate 608 is arranged at the bottom. A ray machine 606 is arranged between the ray machine fixing plate 608 and the control box fixing seat 601, and the control box 602 controls the ray machine 606. One side of the ray machine 606 exceeds the position of the ray machine fixing plate 608, and a ray port 607 is arranged on the ray machine 606 in the exceeding part, and the ray port 607 is opposite to the imaging plate 502 on the imaging module 5; a fixing plate 603 is arranged on the back side of the control box fixing seat 601, and a plurality of track sliders B605 are arranged on both sides of the fixing plate 603. The track sliders B605 are arranged on the track of the vertical travel module 7 of the ray machine to slide, and a chain link plate B604 is arranged in the middle of the fixing plate 603, and the chain link plate B604 is connected and fixed to the chain 321, thereby driving the ray module 6 to slide up and down.

[0055] A laser emitter 8 is arranged on the top of the vertical travel module 7 of the ray machine. The laser emitter 8 is arranged on the top power supply housing. A damping plate 804 is arranged on the bottom of the laser emitter 8. A base 801 is arranged on the damping plate 804. Bolt holes are arranged on the four corners of the base 801. Bolts are arranged on the bolt holes to connect and fix the damping plate 804 and the base 801. A rotating head 802 is arranged on the base 801. A laser emission point 803 is arranged at the middle point of the rotating head 802. The bottom of the rotating head 802 is connected and fixed to the base 801. The rotating head 802 and the base 801 are both circularly arranged, so the rotating head 802 can rotate in the base 801. A laser emission source is arranged in the rotating head 802 to emit infrared laser. The vertical travel module 7 of the ray machine is provided with a control center and a power supply in the top power supply housing to provide power requirements for the laser emitter 8 and control laser emission.

[0056] When welding the tank wall, it is necessary to set up a platform frame for workers to weld the weld position. A work frame 11 will be placed on the platform frame to facilitate the workers to weld longitudinally and transversely. A laser receiving device 9 is arranged on the top of the work frame 11, and a laser receiving base 907 is arranged on the laser receiving base 907. A power control box 905 is arranged on the laser receiving base 907. Side panels 906 are arranged on the side walls of the power control box 905. A horizontal plate is arranged between the side panels 906. A rotating shaft is arranged between the horizontal plate and the side panels 906, and the horizontal plate can rotate. Two telescopic rods 904 are arranged on the lower side of the horizontal plate, and the telescopic rods 904 are connected to the horizontal plate and the power control box 905 up and down. A panel telescopic frame 903 is arranged on the upper side of the horizontal plate, and a rotating component 902 and a laser receiving panel 901 are arranged on the panel telescopic frame 903. An infrared sensor is arranged behind the laser receiving panel 901, which can feed back the received infrared light to the power control box 905 through a Bluetooth signal, and the power control box 905 receives the signal for processing. A level sensor is provided inside the laser receiving panel 901. When the laser receiving panel 901 is in a tilted position, the sensor sends a signal to the power control box 905 via Bluetooth. The control processor inside the power control box 905 receives the signal and gives feedback to control the two telescopic rods 904 to adjust to a horizontal state. The laser receiving panel 901 is divided into a receiving area and an exceeding area. The receiving area is the middle part of the laser receiving panel 901, and the exceeding area is on the outer circle of the receiving area. The infrared light emitted by the laser transmitter 8 irradiates the laser receiving panel 901, and the infrared laser emitted by the laser transmitter 8 is at the laser receiving area. The receiving panel 901 records the lines. When the infrared light irradiates the exceeded area, the signal is transmitted to the power control box 905. After processing, the power control box 905 controls the rotating component 902 to rotate, driving the laser receiving panel 901 to rotate and irradiate the infrared light to the receiving area. When the infrared laser signal received by this device is this straight line, it means that the flatness is consistent. When there is a deviation in the flatness, the infrared laser irradiation light will show ups and downs, indicating that the tank wall here is undulating. And the infrared laser movement route is sent to the background center, so that the staff of the background center can observe the detection situation in real time.

[0057] The tank seam detection trolley rotates around the tank top, and the laser signal emitted by the laser transmitter 8 can always be irradiated on the laser receiving panel 901, and the flatness of the tank surface is detected by the horizontal motion trajectory of the laser signal on the laser receiving panel 901.

[0058] At the same time, a marking device can be set on the vertical travel module 7 of the X-ray machine. When the laser infrared movement signal received on the laser receiving panel 901 exceeds a predetermined threshold, the signal is sent to the marking device via Bluetooth. The marking device quickly sprays the mark to facilitate the staff to find it.

[0059] The laser receiving device 9 is set on the work frame 11. When the workers finish welding one layer, the work frame 11 on the platform frame quickly sets up the laser receiving device 9 on the top. At the same time, the workers evacuate the work area. The work frame 11 is placed on the platform frame to serve as a benchmark and is used as a reference. The laser activity trajectory on the laser receiving device can help determine whether there is a deviation in the flatness of the entire tank layer. At the same time, a panel telescopic frame 903 is set on the laser receiving device to more conveniently adjust the height of the laser receiving panel 901. According to the actual situation, the laser emitted by the laser transmitter 8 is directly projected on the laser receiving panel 901. The damping plate 804 on the ground of the laser transmitter 8 can reduce the jitter of the laser transmitter 8 during the walking process of the detector, thereby reducing the error. There is a laser signal error range in the background system, which can deal with the errors caused by the walking of the detector and the rotation of the laser receiving panel 901, which causes the system to misjudge.

[0060] Working principle: The horizontal walking module 2 is set up on the tank wall 1, and the main vehicle reducer 206 and the main vehicle servo motor 207 cooperate with each other to drive the roller 208 to walk on the wall. The imaging board vertical walking module 3 and the ray machine vertical walking module 7 are respectively arranged on both sides of the horizontal walking module 2, that is, the two modules are arranged on the inner and outer sides of the tank. Both modules are provided with lifting structures, tensioning devices and anti-falling devices. The two modules are respectively provided with imaging modules 5 and ray modules 6. The ray port 607 of the ray machine 606 on the ray module 6 emits rays to irradiate the weld of the tank wall. The imaging board 502 on the imaging module 5 extends out to take pictures and send the structure to the background control center for processing through 5G signals; the lifting devices set in the imaging board vertical walking module 3 and the ray machine vertical walking module 7 can detect the longitudinal welds, and the annular welds of the same layer can be detected by the movement of the horizontal walking module 2. In the weld detection, the flatness of the tank layer after welding is also detected by the cooperation of the laser transmitter 8 and the laser receiving device 9.

[0061] like Fig.23 As shown in the effect demonstration diagram, the inspection trolley is set on the tank wall 1, and there are layers of platform frames on the inner wall of the tank, and there are working frames on the platform frames. The laser beam is emitted from the laser transmitter on the inspection trolley and irradiates the laser receiving device 9 on the working frame. The inspection trolley moves along with the tank top, and the laser direction always irradiates the laser receiving device 9. There are layers of platform frames in the tank, and a layer of platform frames is set up after each layer is welded. The spacing between each layer of platform frames is 7-8 meters. The overall height of the tank is more than 100 meters, and the diameter of the tank also reaches 100 meters.

[0062] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0063] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A super-large LNG cryogenic storage tank weld and tank surface flatness quality detector, wherein a tank seam detection trolley is arranged on the tank wall (1), and the characteristics are: The tank seam inspection vehicle comprises a horizontal walking module (2), and an imaging plate vertical walking module (3) and a X-ray machine vertical walking module (7) are arranged on both sides of the horizontal walking module (2); A laser emitter (8) is arranged on the top of the vertical walking module (7) of the ray machine. The laser emitter (8) is arranged on the top power supply housing. A damping plate (804) is arranged on the bottom of the laser emitter (8). A base (801) is arranged on the damping plate (804). A rotating head (802) is arranged on the base (801). A laser emitting point (803) is arranged at the middle point of the rotating head (802) to emit infrared laser. A platform frame and a working frame (11) are arranged on the inner wall of the storage tank wall (1); a laser receiving device (9) is arranged on the top of the working frame (11) to receive the laser signal emitted by the laser transmitter (8); a laser receiving base (907) is arranged on the laser receiving device (9); a power control box (905) is arranged on the laser receiving base (907); side panels (906) are arranged on the side walls of the power control box (905); a horizontal plate is arranged between the side panels (906); the horizontal plate is connected to the power control box (905) through a telescopic rod (904); a panel telescopic frame (903) is arranged on the horizontal plate; a rotating component (902) and a laser receiving panel (901) are arranged on the panel telescopic frame (903); and an infrared sensor is arranged on the laser receiving panel (901) to feed back the received infrared light to the power control box (905) through wireless transmission for reception and processing; The tank seam detection trolley rotates around the tank top in one circle, and the laser signal emitted by the laser transmitter (8) can be irradiated on the laser receiving panel (901), and the flatness of the tank surface is detected through the horizontal movement track of the laser signal on the laser receiving panel (901).

2. According to claim 1, a super-large LNG cryogenic storage tank weld and tank surface flatness quality detector is characterized by: A main vehicle side plate (201) is arranged on the horizontal walking module (2), the main vehicle side plate (201) is arranged in a U shape, two main vehicle side plates (201) are arranged, rollers (208) are arranged between the main vehicle side plates (201), two rollers (208) are arranged on the left and right, the rollers (208) are arranged at the protrusions of the U-shaped main vehicle side plate (201), the rollers (208) are installed on the tank wall (1), four support frame connecting rod clamps (202) are also arranged on the side of the main vehicle side (201), an adjusting hand wheel (205) is arranged at the bottom of the supporting frame connecting rod clamp (202), an adjusting screw is arranged on the adjusting hand wheel (205), and the adjusting screw passes through the supporting frame connecting rod clamp (202). ) bottom, a cylindrical adjusting wheel (203) is arranged on the other side of the adjusting screw, a supporting ball (204) is arranged on the adjusting wheel (203), and each supporting frame connecting rod clamp (202) is correspondingly arranged, and the adjusting screw is controlled to rotate by turning the adjusting hand wheel (205) to realize the contact support of the supporting ball (204) on the tank wall (1), and a main engine reducer (206) and a main engine servo motor (207) are arranged on one side of the main vehicle side plate (201), and the main engine reducer (206) is connected to the roller (208) through a pin shaft, providing power to the roller (208) so that the roller (208) rotates to drive the entire horizontal walking module (2) to walk on the tank wall (1).

3. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 1 is characterized by: A lifting structure, a tensioning device and an anti-falling device are provided on the imaging plate vertical walking module (3) and the x-ray machine vertical walking module (7); a roller assembly is provided at the bottom of the imaging plate vertical walking module (3) and the x-ray machine vertical walking module (7); an imaging plate bracket (301) is provided on the imaging plate vertical walking module (3); two tracks (309) are provided on the imaging plate bracket (301); hook plates (302) are provided on both sides of the imaging plate bracket (301); hook openings are provided on the hook plates (302); and the hook plates (302) are provided with hook openings. The hook opening on the bracket is buckled and connected with the side plate (201) of the main vehicle; a bracket (701) is provided on the vertical travel module (7) of the ray machine, and two tracks (309) are also provided on the bracket (701); a computer control panel (703) is provided on the side of the ray machine bracket (701); bracket hook plates (702) are provided on both sides of the ray machine bracket (701), and hook openings are provided on the bracket hook plates (702), and the bracket hook plates (702) are buckled with the side plate (201) of the main vehicle through the hook openings on the bracket hook plates (702).

4. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 3 is characterized by: The imaging plate support (301) of the imaging plate vertical walking module (3) is hollow, a fall arrester (304) is arranged on the top plate of the imaging plate support (301), a hole is arranged on the fall arrester (304), a fall arrester support (305) is arranged directly in front of the hole of the fall arrester (304), the middle of the fall arrester support (305) and the hole of the fall arrester (304) are in the same straight line, a pulley is arranged on the fall arrester support (305), a steel wire rope extending from the fall arrester (304) is stretched out from the hole, passes through the pulley on the fall arrester support (305), is arranged downwardly to the imaging module (5) on the imaging plate support (301), and a steel wire rope recovery and tensioning structure is arranged in the fall arrester (304).

5. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 4 is characterized by: An opening is provided on the side of the top of the imaging plate support (301), a reducer (306) is provided on the inner side of the top, a servo motor (308) is connected to the reducer (306), a worm main shaft (307) is provided on the side of the reducer (306), the worm main shaft (307) is provided on the support bearing seat (311), a driving sprocket (310) is provided on the worm main shaft (307), a chain (321) is provided on the driving sprocket (310), and a portion of the driving sprocket (310) exceeds the opening on the side of the top of the imaging plate support (301), one side of the sprocket (321) on the driving sprocket (310) is on the outside of the imaging plate support (301), and the other side is on the inside of the imaging plate (301), and an imaging plate support electrical appliance housing (303) is provided on the top of the fall arrester (304), and a control panel and a power supply component are provided inside.

6. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 5 is characterized by: An opening is provided at the bottom of the imaging plate support (301), and a tensioning device is provided at the opening. A sliding plate is provided on the support base plate (320) at the bottom of the imaging plate support (301), and a tensioning device support plate (319) is provided on the sliding plate. The tensioning device support plate (319) can be slid down and taken down on the sliding plate, and can also be fixed up and down with a pin shaft. A tensioning device nut (313) is provided on the top of the tensioning device support plate (319), and a tensioning device pressure plate (314) is provided in the middle of the tensioning device support plate (319). A tensioning device pull rod (312) is provided at the center of the tensioning device pressure plate (314), and a thread is provided on the surface of the tensioning device pull rod (312). The tensioning device pull rod (312) passes through the tensioning device nut ( 313), an internal thread matching with the tensioning device pull rod (312) is arranged at the through-opening of the tensioning device nut (313); rectangular holes are arranged on both sides of the tensioning device support plate (319), and both ends of the tensioning device pressure plate (314) are arranged outside the rectangular holes on both sides of the tensioning device support plate (319), and tensioning device connecting rods (316) are arranged at both ends of the tensioning device pressure plate (314), and a tensioning device clamping plate (317) is arranged at the other end of the tensioning device connecting rod (316), and a tensioning device limit plate (318) is connected to the tensioning device clamping plate (317), and the tensioning device clamping plate (317) and the tensioning device limit plate (318) are formed as a whole, and the tensioning device limit plate (318) is arranged in the middle of the tensioning device support plate (319).

7. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness detector according to claim 6 is characterized by: A driven sprocket (315) is disposed in the tensioning device limit plate (318); the driven sprocket (315) rotates in the tensioning device limit plate (318) via a pin shaft; a chain (321) extending from the driving sprocket (310) is disposed on the driven sprocket (315); the driven sprocket (315) and the driving sprocket (310) form a whole, thereby driving the imaging module (5) to slide up and down; a tensioning device nut (313) is disposed on the tensioning device. The bottom of the support plate (319) is connected and fixed, and the tensioning device pressure plate (314) can be driven to move by rotating the tensioning device pull rod (312), thereby causing the tensioning device limit plate (318) to move, and the distance between the driving sprocket (310) and the driven sprocket (315) is adjusted to achieve chain tensioning. Blocks (322) are provided above and below the imaging plate bracket (301), and the block (322) can play a limiting role when the imaging module (5) slides up and down.

8. The ultra-large LNG cryogenic storage tank weld and tank surface flatness quality detector according to claim 3 is characterized by: The bottom of the imaging plate support (301) and the ray machine support (701) are provided with roller assemblies, two of which are provided at the bottom of each of the imaging plate support (301) and the ray machine support (701), for a total of four roller assemblies; the roller assemblies are provided with branch hooks (1001), which are provided on the bottom of the imaging plate support (301) and the ray machine support (701) for connection and fixation; the branch hooks (1001) are provided with branch clamps (1002), which are designed in an S-shaped style, and are connected to the branch clamps (1002) for connection and fixation, and the bracket pulley fixing seat (1003) is provided on the bracket pulley fixing seat (1003), and a spring (1004) is provided on the bracket pulley fixing seat (1003), and the bracket pulley fixing seat (1003) is connected and fixed to the bracket wheel (1005) via the spring (1004).

9. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 1, characterized in that: The imaging board vertical travel module (3) is provided with an imaging module (5), the imaging module (5) comprising an imaging module base (501) and an imaging board (502), the imaging module base (501) being rectangular in shape, an imaging module base bearing (503) being provided on the imaging module base (501), and a plurality of movable openings being provided on the surface of the imaging module base (501), an electric push rod seat (504) being provided inside the imaging module base (501), an electric push rod controller (505) being provided on the side of the electric push rod seat (504), a push rod (508) being provided inside the electric push rod seat (504), the electric push rod controller (505) controlling the extension and retraction of the push rod (508) inside the electric push rod seat (504), and a signal processor and a linear bearing (509) being provided on the back of the imaging board (502).

10. The ultra-large LNG cryogenic storage tank weld and tank surface smoothness quality detector according to claim 9, characterized in that: A ray module (6) is arranged on the ray machine vertical travel module (7), a control box fixing seat (601) is arranged on the ray module (6), a control box (602) is arranged in the control box fixing seat (601), a ray machine fixing plate (608) is arranged at the bottom, a ray machine (606) is arranged between the ray machine fixing plate (608) and the control box fixing seat (601), the control box (602) controls the ray machine (606), one side of the ray machine (606) exceeds the position of the ray machine fixing plate (608), and a ray port (607) is arranged on the ray machine (606) at the exceeding part, and the ray port (607) is directly opposite to the imaging plate (502) on the imaging module (5).

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