Fillet weld inner surface grinding and detecting integrated device

Abstract

The invention relates to the technical field of welding seam detection, in particular to a fillet welding seam inner surface grinding and detecting integrated device which comprises a circumferential rotating device, a position adjusting device, a laser grinding device and a phased array detecting device, and the position adjusting device is fixedly installed on the circumferential rotating device; the laser polishing device and the phased array detection device are installed on the two sides of the position adjusting device respectively, and the circumferential rotating device drives the position adjusting device and the laser polishing device and the phased array detection device installed on the position adjusting device to rotate in the circumferential direction. The position adjusting device drives the laser polishing device and the phased array detection device to move in the radial direction, and laser polishing is conducted on the inner surface of the fillet weld through the laser polishing device; and then the polished area is detected through the phased array detection device. The device has automation and high efficiency, high-precision grinding and nondestructive testing can be achieved, safety is improved, the detection process is optimized, and diversified requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of weld detection, and in particular to an integrated device for grinding and detecting the inner surface of a fillet weld. Background Art

[0002] Heavy-duty pressure-bearing equipment, such as large spherical tanks, hot-wall hydrogenation reactors, coke towers, and high-pressure hydrogen storage vessels, are core components of modern industry. These equipment possess complex structures and operate under demanding conditions. Fillet welds, a common connection method in these devices, are prone to various defects during use, posing potential risks of leakage and explosion. Traditional fillet weld inspection methods require the construction of scaffolding, requiring inspectors to enter the vessel and manually grind with a handheld grinder or angle grinder before conducting inspection. This method is not only time-consuming and labor-intensive, but also poses safety risks and is difficult to ensure the accuracy and consistency of grinding and inspection. Currently, domestic robotic technology exists for grinding inspection of butt welds without obstructions, but there remains a technological gap in the ability to grind and inspect complex structures, such as the inner surface of fillet welds on pipe sockets. Existing technologies cannot achieve automated operation and still rely on manual intervention, resulting in low efficiency, high costs, and unavoidable quality fluctuations caused by human factors. Furthermore, manual grinding can easily cause localized changes in material properties, and traditional inspection methods struggle to accurately locate and assess defects. Summary of the Invention

[0003] The primary purpose of this invention is to overcome the shortcomings of the existing technology by providing an integrated device for grinding and inspecting the inner surface of fillet welds. This device effectively addresses the low efficiency, poor accuracy, and inadequate safety issues associated with traditional fillet weld inspections. It provides an efficient, accurate, and safe solution for weld maintenance in heavy-duty pressure-bearing equipment, offering significant technical advantages and promising applications.

[0004] The technical solution adopted by the present invention to achieve its technical purpose is: an integrated device for grinding and detecting the inner surface of a fillet weld, including a circumferential rotation device, a position adjustment device, a laser grinding device and a phased array detection device; The position adjustment device is fixedly mounted on the circumferential rotation device; the laser polishing device and the phased array detection device are respectively mounted on both sides of the position adjustment device; The circumferential rotation device drives the position adjustment device and the laser polishing device and phased array detection device installed thereon to perform circumferential rotation; the position adjustment device drives the laser polishing device and phased array detection device to move radially; First, the inner surface of the fillet weld is laser polished by the laser polishing device; and then the polished area is inspected by the phased array inspection device.

[0005] The circumferential rotation mechanism drives the entire device to rotate along the circumference of the pipe, achieving circular coverage for grinding and inspection. A position adjustment mechanism controls the radial movement of the laser grinding and phased array inspection devices to accommodate fillet welds of varying sizes. The laser grinding device uses a laser beam to precisely grind the inner surface of the fillet weld. The phased array inspection device performs nondestructive testing on the polished area to ensure weld quality.

[0006] Preferably, the circumferential rotation device includes a base plate, a driving gear, and a driven gear; The base plate is fixed to the pipe with screws. The driven gear, designed as a gear ring, fits over the pipe port and meshes with the driving gear. The base plate serves as a fixed base, ensuring the stability of the device. The driving and driven gears mesh to transmit power, driving the driven gear and the components mounted on it in circumferential rotation.

[0007] Preferably, the circumferential rotation device further includes a slider, a ball, and a slide groove; The driven gear has a slot at its bottom end, and the slider sits within it. Both sides of the slot and slider are provided with arc-shaped grooves, each housing a ball bearing. The slider and slot limit radial displacement of the driven gear, ensuring it can only rotate in the circumferential direction. The ball bearing reduces friction, ensuring smoother rotation.

[0008] Preferably, the position adjustment device includes a motor mounting plate, a drive gear, a first pressure plate, a first rack, a second rack and a second pressure plate; The first rack and the first pressing plate, and the second rack and the second pressing plate are both provided with sliding connections, and one side of the first rack and the second rack are respectively restricted on the motor mounting plate by the first pressing plate and the second pressing plate; When the driving gear rotates, the driving gear drives the first rack and the second rack meshed with it to move toward or in opposite directions at the same time.

[0009] The first and second racks are respectively meshed with the drive gear and restrained to the motor mounting plate by the first and second pressure plates. The drive gear rotates to move the first and second racks toward or away from each other, achieving radial position adjustment. The first and second pressure plates ensure the stability of the racks' movement.

[0010] Preferably, the motor mounting plate is fixedly mounted on the driven gear in the circumferential rotation device; The upper end of the grinding pole on the laser grinding device is fixedly mounted on the first rack, and the upper end of the detection pole on the phased array detection device is fixedly mounted on the second rack.

[0011] The motor mounting plate is fixed to the driven gear, and the grinding and testing poles are connected to the first and second racks respectively. This realizes the linkage between circumferential rotation and radial movement, ensuring the synchronization of grinding and testing.

[0012] Preferably, the laser polishing device includes a laser polishing gun head, a laser rangefinder, an XZ two-axis platform, a connecting plate, a base plate and a polishing pole.

[0013] The laser polishing gun head and laser rangefinder are positioned at the same height and fixedly mounted on an XZ two-axis platform. The XZ two-axis platform is fixedly connected to a base plate via a connecting plate, which is in turn fixedly connected to the lower end of the polishing pole. The XZ two-axis platform adjusts the horizontal and vertical position of the laser polishing gun head to ensure precise polishing. The laser rangefinder monitors distance in real time and optimizes polishing parameters.

[0014] Preferably, the laser polishing device further includes a laser transmission cable, a laser generator, a laser control cable, a control operation platform and a ranging signal cable.

[0015] The laser polishing gun head is electrically connected to a laser generator via a laser transmission cable, and the laser generator controls the laser polishing gun head to emit a laser beam, forming a high-energy light spot at the polishing point to perform polishing; At the same time, the laser generator is electrically connected to the control operation platform through a laser control cable, and the control operation platform is also electrically connected to the laser rangefinder through a ranging signal cable.

[0016] Preferably, the phased array detection device includes an electric telescopic rod, an ultrasonic phased array probe, a detection pole, a connecting frame and a wedge; One end of the ultrasonic phased array probe is fixedly mounted on the wedge block, a connecting frame is fixedly mounted on one end of the wedge block, an electric telescopic rod is fixedly mounted on one end of the connecting frame, and the electric telescopic rod is fixed to the bottom of the detection pole. The distance between the ultrasonic phased array probe and the inner surface of the fillet weld is adjusted by the extension and contraction of the electric telescopic rod.

[0017] The ultrasonic phased array probe is connected to a motorized telescopic rod via a wedge and a connecting bracket. The motorized telescopic rod is fixed to the inspection pole. The motorized telescopic rod adjusts the distance between the probe and the weld to ensure inspection accuracy. The wedge optimizes ultrasonic transmission and matches the acoustic impedance of the weld material.

[0018] Preferably, the phased array detection device further comprises a phased array detector, a data connection line and an encoder; The other end of the ultrasonic phased array probe is equipped with an encoder. The output port of the ultrasonic phased array probe and the encoder is electrically connected to a phased array detector via a data connection line. The encoder records the probe position information, and the phased array detector processes the detection data and generates real-time images.

[0019] Preferably, magnetic wheels are fixedly mounted on the outer walls of the polishing pole in the laser polishing device and the detection pole in the phased array detection device. The magnetic wheels fit closely to the inner wall of the pipe, enhancing the stability of the polishing pole and the detection pole, ensuring balance during circumferential rotation and radial movement.

[0020] Compared with the prior art, the present invention has the following beneficial effects: This integrated device for grinding and inspecting the inner surface of fillet welds is automated and highly efficient. By integrating a circumferential rotation mechanism, a position adjustment device, a laser grinding mechanism, and a phased array inspection system, it achieves fully automated operation for grinding and inspecting the inner surface of fillet welds. The device completes both grinding and inspection in a single clamping operation, significantly reducing operation time and labor costs.

[0021] This integrated device for grinding and inspecting the inner surface of fillet welds achieves high-precision grinding. It utilizes laser grinding technology, using a laser rangefinder to adjust the distance between the grinding gun tip and the weld in real time to ensure grinding accuracy. Laser grinding is non-contact, avoiding mechanical stress damage to the material and eliminating the unevenness associated with manual grinding.

[0022] This integrated device for grinding and inspecting the inner surface of fillet welds enables nondestructive testing. The phased array inspection system, combined with colloidal wedge acoustic conductors and encoder technology, accurately locates defects and generates real-time scan images. The motorized telescopic rod's retractable function allows the probe to adapt to the weld shape, further improving inspection accuracy.

[0023] The integrated device for grinding and inspecting the inner surface of fillet welds has improved safety. It does not require the construction of scaffolding or manual entry into the container, reducing operational risks and ensuring the safety of operators.

[0024] This integrated device for grinding and inspecting the inner surface of fillet welds features optimized inspection processes. Laser grinding and phased array inspection are performed simultaneously, improving overall efficiency. The acoustic impedance matching design of the colloidal wedge optimizes ultrasonic transmission, ensuring the reliability of test data.

[0025] The integrated device for grinding and detecting the inner surface of fillet welds has a wide range of applications. The device can adapt to fillet welds of different sizes and achieve radial movement through a position adjustment device to meet diverse needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the main cross-sectional structure of the integrated device for grinding and detecting the inner surface of the fillet weld.

[0027] Figure 2 for Figure 1 Schematic diagram of the top view structure.

[0028] Figure 3 for Figure 1 Schematic diagram of the left view structure.

[0029] Figure 4 This is a schematic diagram of the main structure of the laser grinding device.

[0030] Figure 5 This is a schematic diagram of the main structure of the phased array detection device.

[0031] Figure 6 for Figure 1 Schematic diagram of the partially enlarged structure of part A in the middle.

[0032] in: 1-Laser grinding gun head; 2-Laser rangefinder; 3-Fillet weld; 4-Screw; 5-Base plate; 6-First motor; 7-Drive gear; 8-Driven gear; 9-Motor mounting plate; 10-Laser grinding device; 11-Drive gear; 12-Second motor; 13-Phase array detection device; 14-Connecting pipe; 15-Magnetic wheel; 16-Electric telescopic rod; 17-Ultrasonic phased array probe; 18-Cylinder; 19-Phase array detector; 20-Data connection cable; 21-Laser Optical transmission cable; 22-Laser generator; 23-Laser control cable; 24-Control operation platform; 25-Power cord; 26-Distance measurement signal cable; 27-First pressure plate; 28-First rack; 29-Second rack; 30-Second pressure plate; 31-XZ two-axis platform; 32-Connecting plate; 33-Base plate; 34-Polishing pole; 35-Detection pole; 36-Connecting frame; 37-Wedge block; 38-Encoder; 39-Slider; 40-Ball; 41-Slide groove DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the present invention.

[0034] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0035] In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They 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", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0036] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances. Example 1

[0037] See also Figures 1-6 , an integrated device for grinding and detecting the inner surface of a fillet weld, including a circumferential rotation device, a position adjustment device, a laser grinding device 10, and a phased array detection device 13.

[0038] The position adjustment device is fixedly mounted on the circumferential rotation device, and the laser polishing device 10 and the phased array detection device 13 are fixedly mounted on both sides of the position adjustment device respectively; The laser polishing device 10 and the phased array detection device 13 are used to polish and detect the fillet weld 3 between the pipe 14 and the cylinder 18, respectively. The circumferential position of the laser polishing device 10 and the phased array detection device 13 is adjusted by the circumferential rotation device, and the front-rear position of the laser polishing device 10 and the phased array detection device 13 is adjusted by the position adjustment device. The laser polishing device 10 is moved to the position of the inner surface of the fillet weld 3 by the position adjustment device. The laser polishing device 10 first performs laser polishing on the inner surface of the fillet weld 3. After polishing half a circle, the phased array detection device 13 is driven by the circumferential rotation device to rotate to the polished position, and performs phased array detection on the polished inner surface of the fillet weld 3. After the polishing is completed, the phased array detection device 13 continues to perform phased array detection on the inner surface of the fillet weld 3 until all detection of the inner surface of the fillet weld 3 is completed. Example 2

[0039] See also Figure 1-Figure 3 and Figure 6 On the basis of the above embodiment, the integrated device for grinding and detecting the inner surface of the fillet weld is provided, wherein the circumferential rotating device is fixedly mounted on the pipe 14, and the circumferential rotating device includes a base plate 5, a first motor 6, a driving gear 7, a driven gear 8, a slider 39, a ball 40, and a slide groove 41.

[0040] The bottom end of the base plate 5 is fixedly mounted on the pipe 14 by a plurality of evenly distributed screws 4, and a slider 39 is fixedly connected to the top of the base plate 5. The driven gear 8 is configured as a gear ring structure and is sleeved at the port of the pipe 14. A slide groove 41 is provided at the bottom end of the driven gear 8, and the slider 39 is located in the slide groove 41; arc-shaped grooves are provided on both sides of the slide groove 41 and the slider 39, and balls 40 are provided in the arc-shaped grooves, which facilitate the rotation of the driven gear 8 relative to the base plate 5; a driving gear 7 is meshed with one side of the driven gear 8, and a first motor 6 is provided below the driving gear 7. The motor shaft of the first motor 6 is fixedly connected to the center of the driving gear 7, and the base end of the first motor 6 is fixed to the base plate 5.

[0041] Specifically, when in use, the first motor 6 is started to drive the driving gear 7 to rotate, and when the driving gear 7 rotates, the driven gear 8 is driven to rotate relative to the bottom plate 5. Then, through the arrangement of the slide groove 41, the slider 39, the arc-shaped groove and the ball 40, the driven gear 8 can rotate more smoothly on the bottom plate 5; The position adjustment device is fixedly mounted on the driven gear 8, and the driven gear 8 is configured as a gear ring structure. The laser grinding device 10 and the phased array detection device 13 are respectively fixedly mounted on both sides of the position adjustment device, and the laser grinding device 10 and the phased array detection device 13 can extend through the driven gear 8 to the position of the fillet weld 3 between the pipe 14 and the cylinder 18. When the driven gear 8 and the position adjustment device rotate together, they drive the laser grinding device 10 and the phased array detection device 13 to perform circumferential rotation position adjustment inside the cylinder 18.

[0042] The solution in this embodiment can be selectively combined with the solutions in other embodiments for use. Example 3

[0043] See also Figure 1-Figure 3 Based on the above embodiment, the integrated device for grinding and detecting the inner surface of the fillet weld is provided, and the position adjustment device includes a motor mounting plate 9, a drive gear 11, a second motor 12, a first pressure plate 27, a first rack 28, a second rack 29 and a second pressure plate 30.

[0044] The motor mounting plate 9 is fixedly mounted on the driven gear 8 . When the driven gear 8 rotates, the position adjustment device, the laser polishing device 10 and the phased array detection device 13 make circumferential motions.

[0045] The first rack 28 and the first pressure plate 27, and the second rack 29 and the second pressure plate 30 are both arranged to be slidingly connected, and one side of the first rack 28 and the second rack 29 are respectively restricted on the motor mounting plate 9 by the first pressure plate 27 and the second pressure plate 30; the upper end of the grinding rod 34 on the laser grinding device 10 is fixedly mounted on the first rack 28, and the upper end of the detection rod 35 on the phased array detection device 13 is fixedly mounted on the second rack 29.

[0046] The driving gear 11 is driven to rotate by the second motor 12, and the second motor 12 is installed at the center of the lower end surface of the motor mounting plate 9. When the second motor 12 drives the driving gear 11 to rotate, the driving gear 11 drives the first rack 28 and the second rack 29 meshed with it to move toward or in opposite directions at the same time.

[0047] Specifically, when in use, the second motor 12 is started to drive the driving gear 11 to rotate. When the driving gear 11 rotates, it drives the first rack 28 and the second rack 29 to move toward or in opposite directions at the same time. Since the upper end of the grinding rod 34 on the laser grinding device 10 is fixedly mounted on the first rack 28, and the upper end of the detection rod 35 on the phased array detection device 13 is fixedly mounted on the second rack 29, the laser grinding device 10 and the phased array detection device 13 move toward or in opposite directions at the same time in the cylinder 18, thereby adjusting the front and rear positions of the laser grinding device 10 and the phased array detection device 13.

[0048] The solution in this embodiment can be selectively combined with the solutions in other embodiments for use. Example 4

[0049] See also Figure 1-Figure 3 and Figure 4Based on the above embodiment, the integrated device for grinding and detecting the inner surface of the fillet weld is provided. The laser grinding device includes a laser grinding gun head 1, a laser rangefinder 2, a laser transmission cable 21, a laser generator 22, a laser control cable 23, a control operation platform 24, a power line 25, a ranging signal cable 26, an XZ two-axis platform 31, a connecting plate 32, a base plate 33 and a grinding pole 34.

[0050] The laser polishing gun head 1 and the laser rangefinder 2 are arranged at the same horizontal height and are both fixedly mounted on the XZ two-axis platform 31. The laser rangefinder 2 measures the distance between the laser polishing gun head 1 and the polished weld in real time, adjusts the distance in real time according to the set laser focal length, and controls the polishing time of the laser polishing gun head 1 to improve the polishing accuracy. The laser polishing gun head 1 and the laser rangefinder 2 are arranged at the same horizontal height so that the laser rangefinder 2 can better measure the distance, reduce the polishing error, and improve the accuracy. The XZ two-axis platform 31 is fixedly connected to the base plate 33 through the connecting plate 32, and the base plate 33 is fixedly connected to the lower end of the polishing pole 34.

[0051] The laser polishing gun head 1 is electrically connected to a laser generator 22 through a laser transmission cable 21. The laser generator 22 controls the laser polishing gun head 1 to emit a laser beam, forming a high-energy spot at the polishing point to implement polishing; at the same time, the laser generator 22 is electrically connected to a control operation platform 24 through a laser control cable 23. The control operation platform 24 is also electrically connected to the laser rangefinder 2 through a ranging signal cable 26. The control operation platform 24 is used to set parameters and operate the laser polishing device 10.

[0052] Furthermore, in this embodiment, the control operation platform 24 is also electrically connected to a power line 25 .

[0053] Furthermore, in this embodiment, a magnetic wheel 15 is fixedly mounted on the outer wall of the polishing rod 34, and the magnetic wheel 15 is in contact with the inner wall of the connecting pipe 14, so that the connection stability of the polishing rod 34 can be increased by the magnetic wheel 15; when the polishing rod 34 rotates circumferentially or moves back and forth, the magnetic wheel 15 can rotate along the inner wall of the connecting pipe 14 together with the circumferential rotation of the polishing rod 34, and when the polishing rod 34 moves back and forth, the magnetic wheel 15 will not block the back and forth movement of the polishing rod 34.

[0054] Furthermore, the laser generator 22 used in the laser polishing device 10 described in this embodiment is a pulsed laser. This type of laser generator 22 is a hundred-nanosecond fiber pulse laser, with an average laser power of 30W-1000W, an adjustable pulse width of 100-300ns, a laser repetition frequency of 10-1000kHz, a laser spot diameter of 0.03mm-0.1mm, and a pulse energy of 0.5-100mJ. Laser generator 22 sets the laser polishing parameters, including laser scanning speed, laser focal length, vibration frequency, and number of scans, based on the material properties of the fillet weld to be polished. Laser generator 22 then controls the laser polishing gun head 1 to emit a laser beam, forming a high-energy spot at the polishing point to perform the polishing operation.

[0055] Specifically, during use, the laser polishing gun head 1 emits a laser beam, forms a high-energy spot at the polishing point, and implements polishing. By controlling the operating platform 24, the laser rangefinder 2 can be obtained to measure the distance between the laser polishing gun head 1 and the polished weld in real time. The distance is adjusted in real time according to the set laser focal length, and the polishing time of the laser polishing gun head 1 is controlled to improve the polishing accuracy. Then, by setting the laser polishing gun head 1 and the laser rangefinder 2 at the same horizontal height, the polishing error is reduced and the accuracy is improved.

[0056] The solution in this embodiment can be selectively combined with the solutions in other embodiments for use. Example 5

[0057] See also Figure 1-Figure 3 and Figure 5 Based on the above embodiment, the integrated device for grinding and detecting the inner surface of the fillet weld is provided. The phased array detection device 13 includes an electric telescopic rod 16 , an ultrasonic phased array probe 17 , a phased array detector 19 , a data connection line 20 , a detection pole 35 , a connecting frame 36 , a wedge 37 and an encoder 38 .

[0058] One end of the ultrasonic phased array probe 17 is fixedly mounted on the wedge block 37, one end of the wedge block 37 is fixedly mounted with a connecting frame 36, one end of the connecting frame 36 is fixedly mounted with an electric telescopic rod 16, and the electric telescopic rod 16 is fixed to the bottom of the detection pole 35. The distance between the ultrasonic phased array probe 17 and the inner surface of the fillet weld 3 is adjusted by the extension and contraction of the electric telescopic rod 16.

[0059] An encoder 38 is provided at the other end of the ultrasonic phased array probe 17 , and output ports of the ultrasonic phased array probe 17 and the encoder 38 are electrically connected to a phased array detector 19 via a data connection line 20 .

[0060] The wedge 37 is a specially formulated colloidal wedge acoustic conductor. Currently, the colloidal wedge is initially prepared by mixing glycerin, water, and a coagulant to form a colloidal coagulant, so that its acoustic impedance matches the material of the inspected fillet weld and its sound velocity is slightly lower than that of the inspected fillet weld.

[0061] The specific configuration method of the colloidal wedge is as follows: glycerin and deionized water are mixed in a ratio of 1:2, and an ultrasonic vibration emulsification device is used to mix the mixture to form a uniform binary mixed emulsion; the ultrasonic vibration emulsification device is kept running, and an appropriate amount of nanoparticles such as water glass and silica are added to the emulsion to increase the sound velocity, and phenoxyethanol is added as a preservative; the ultrasonic vibration emulsification device continues to run, and the emulsion is heated to 95°C, and polyvinyl alcohol with a high degree of polymerization such as PVA-2699 is slowly added to mix, and the mixture is continuously vibrated at 95°C for 1 hour until the polyvinyl alcohol is completely dissolved; the mixed solution is poured into a wedge mold and placed in a vacuum degasser to remove bubbles; the mixed solution is cooled to room temperature to form a gelled solution, and the mixture is gradually dried and demolded, and the surface is trimmed.

[0062] Furthermore, in this embodiment, a magnetic wheel 15 is also fixedly mounted on the outer wall of the detection pole 35, and the magnetic wheel 15 is in contact with the inner wall of the connecting pipe 14. The magnetic wheel 15 facilitates increasing the connection stability of the detection pole 35; when the detection pole 35 rotates circumferentially or moves back and forth, the magnetic wheel 15 can rotate along the inner wall of the connecting pipe 14 together with the circumferential rotation of the detection pole 35, and when the detection pole 35 moves back and forth, the magnetic wheel 15 will not block the back and forth movement of the detection pole 35.

[0063] Specifically, during use, after the phased array detection device 13 rotates to the polished position, the electric telescopic rod 16 retracts upward, so that the ultrasonic phased array probe 17 moves to the vicinity of the inner fillet weld 3, and the circumferential rotation device rotates to drive the ultrasonic phased array probe 17 to rotate around the inner fillet weld 3 of the weld. The ultrasonic phased array probe 17 rotates around the inner fillet weld 3 of the weld once to detect the inner fillet weld 3, and the collected data is transmitted to the phased array detector 19 in real time, thereby realizing automatic ultrasonic phased array detection of the weld.

[0064] It should also be pointed out that in this embodiment, a special C-scan technology is also used. The system records position information and ultrasonic information, and forms a real-time scanning image after processing. The automatic scanning system can realize projection scanning, so that the probe position and the position of the defect in the fillet weld form a one-to-one correspondence.

[0065] The solution in this embodiment can be selectively combined with the solutions in other embodiments for use. Example 6

[0066] See also Figures 1-6On the basis of the above embodiment, the embodiment of the present invention further provides an integrated device for grinding and detecting the inner surface of a fillet weld. The detailed process of laser grinding is as follows: S1. The positions of the laser polishing device 10 and the phased array detection device 13 are adjusted by the position adjustment device. When the magnetic wheel 15 touches the inner wall of the pipe 14, the position adjustment device stops.

[0067] S2. Move the laser grinding gun head 1 to below the inner surface 3 of the fillet weld via the X-axis of the XZ two-axis platform 31 , so that the inner surface 3 of the fillet weld falls within the coverage range of the laser grinding gun head 1 .

[0068] S3. The laser polishing gun head 1 can use a fiber laser with a galvanometer at the front end, and then adjust it through the XY galvanometer so that the laser is aimed at the inner surface 3 of the fillet weld to be polished. When the laser rangefinder 2 detects the set focal length, it stops and the laser polishing gun head 1 starts polishing.

[0069] S4, where the Z axis is used to achieve height focusing of the laser. A laser rangefinder 2 is used to measure the distance between the laser polishing gun head 1 and the fillet weld 3 to be polished in real time. The measured data is transmitted back to the control operation platform 24 via the ranging signal cable 26. The control operation platform 24 drives the circumferential rotation device to move according to the set laser focal length parameters, adjusting the distance in real time based on the set laser focal length. The distance between the laser polishing gun head 1 and the inner surface 3 of the fillet weld to be polished is adjusted in real time to meet the polishing requirements, and the data is transmitted back to the control operation platform 24 in real time via the ranging signal cable 26. The polishing time of the laser polishing gun head 1 is controlled to improve polishing accuracy. The control operation platform 24 transmits the signal to start laser polishing to the laser generator 22 through the laser control cable 23. The laser beam is transmitted to the laser polishing gun head 1 through the laser transmission cable 21. The laser polishing gun head 1 outputs a laser beam with a wavelength of 1000-2000nm, forming tiny high-energy light spots on the surface of the part. The light spots instantly vaporize the material on the surface of the object and implement the polishing operation.

[0070] After grinding half a circle, the phased array detection device rotates to the polished position and performs phased array detection on the inner surface of the polished fillet weld. After the grinding is completed, the laser generator 22 is turned off and the phased array detection of the inner surface of the fillet weld is continued until all detection is completed.

[0071] After all inspections are completed, the electric telescopic rod 16 is extended downward, so that the ultrasonic phased array probe 17 leaves the inner fillet weld 3. The position adjustment device is started to move the laser grinding device 10 and the phased array detection device 13 toward the axis of the connecting pipe 14 at the same time. After they are in place, the screw 4 is loosened to remove the device from the connecting pipe 14.

[0072] The solution in this embodiment can be selectively combined with the solutions in other embodiments for use.

[0073] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, based on the innovative concept of the present invention, changes and modifications to the embodiments described herein, or equivalent structures, equivalent processes, or equivalent functional transformations made using the contents of the present invention's specification and drawings, and direct or indirect application of the above technical solutions to other related technical fields, are all included in the scope of protection of the present invention's patent.

Claims

1. An integrated device for grinding and detecting the inner surface of a fillet weld, characterized in that: It includes a circumferential rotation device, a position adjustment device, a laser polishing device (10) and a phased array detection device (13); The position adjustment device is fixedly mounted on the circumferential rotation device; the laser polishing device (10) and the phased array detection device (13) are respectively mounted on both sides of the position adjustment device; The circumferential rotation device drives the position adjustment device and the laser polishing device (10) and the phased array detection device (13) mounted thereon to perform circumferential rotation; the position adjustment device drives the laser polishing device (10) and the phased array detection device (13) to move radially; First, the inner surface of the fillet weld (3) is laser polished by the laser polishing device (10); and then the polished area is inspected by the phased array inspection device (13).

2. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim 1, characterized in that: The circumferential rotation device comprises a base plate (5), a driving gear (7), and a driven gear (8); The base plate (5) is fixed to the connecting pipe (14) by screws (4); the driven gear (8) is configured as a gear ring structure and is sleeved on the port of the connecting pipe (14) and is meshed with the driving gear (7).

3. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim 2, characterized in that: The circumferential rotation device further includes a slider (39), a ball (40), and a slide groove (41); A slide groove (41) is provided at the bottom end of the driven gear (8), and the slider (39) is located in the slide groove (41); arc-shaped grooves are provided on both sides of the slide groove (41) and the slider (39), and balls (40) are provided in the arc-shaped grooves.

4. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim 1, characterized in that: The position adjustment device comprises a motor mounting plate (9), a driving gear (11), a first pressing plate (27), a first rack (28), a second rack (29) and a second pressing plate (30); The first rack (28) and the first pressing plate (27), and the second rack (29) and the second pressing plate (30) are all provided with sliding connections, and one side of the first rack (28) and the second rack (29) are respectively restricted on the motor mounting plate (9) by the first pressing plate (27) and the second pressing plate (30); When the driving gear (11) rotates, the driving gear (11) drives the first rack (28) and the second rack (29) meshed with it to move toward or in opposite directions at the same time.

5. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim 4, characterized in that: The motor mounting plate (9) is fixedly mounted on the driven gear (8) in the circumferential rotating device; The upper end of the grinding pole (34) on the laser grinding device (10) is fixedly mounted on the first rack (28), and the upper end of the detection pole (35) on the phased array detection device (13) is fixedly mounted on the second rack (29).

6. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim (1), characterized in that: The laser polishing device comprises a laser polishing gun head (1), a laser rangefinder (2), an XZ two-axis platform (31), a connecting plate (32), a base plate (33) and a polishing pole (34); The laser grinding gun head (1) and the laser rangefinder (2) are arranged at the same horizontal height and are both fixedly mounted on an XZ two-axis platform (31). The XZ two-axis platform (31) is fixedly connected to a base plate (33) via a connecting plate (32). The base plate (33) is fixedly connected to the lower end of the grinding upright pole (34).

7. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim (6), characterized in that: The laser polishing device further includes a laser transmission cable (21), a laser generator (22), a laser control cable (23), a control operation platform (24) and a ranging signal cable (26); The laser polishing gun head (1) is electrically connected to a laser generator (22) via a laser transmission cable (21), and the laser generator (22) controls the laser polishing gun head (1) to emit a laser beam, forming a high-energy light spot at a polishing point to perform polishing; At the same time, the laser generator (22) is electrically connected to the control operation platform (24) via the laser control cable (23), and the control operation platform (24) is also electrically connected to the laser rangefinder (2) via the ranging signal cable (26).

8. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim (1), characterized in that: The phased array detection device (13) comprises an electric telescopic rod (16), an ultrasonic phased array probe (17), a detection vertical rod (35), a connecting frame (36) and a wedge (37); One end of the ultrasonic phased array probe (17) is fixedly mounted on the wedge block (37), one end of the wedge block (37) is fixedly mounted with a connecting frame (36), one end of the connecting frame (36) is fixedly mounted with an electric telescopic rod (16), and the electric telescopic rod (16) is fixed to the bottom of the detection vertical rod (35). The distance between the ultrasonic phased array probe (17) and the inner surface of the fillet weld (3) is adjusted by the extension and contraction of the electric telescopic rod (16).

9. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim (8), characterized in that: The phased array detection device (13) further includes a phased array detector (19), a data connection line (20), and an encoder (38); An encoder (38) is provided at the other end of the ultrasonic phased array probe (17), and the output ports of the ultrasonic phased array probe (17) and the encoder (38) are electrically connected to a phased array detector (19) via a data connection line (20).

10. The integrated device for grinding and detecting the inner surface of a fillet weld according to claim (1), characterized in that: The outer walls of the grinding pole (34) in the laser grinding device (10) and the detection pole (35) in the phased array detection device (13) are both fixedly sleeved with a magnetic wheel (15).

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