A fully automatic nondestructive testing device and method for high-pressure tanks

Abstract

The invention relates to the technical field of tank body detection, and discloses a fully automatic non-destructive detection device and method for a high-pressure tank body. The device comprises a shell, a supporting device and an ultrasonic device. The supporting device comprises a grabbing device, a lifting and supporting device, a first slide, a monitoring device, a first rotating driver, a rotating disk and a placing frame. The lifting and supporting device drives the tank body to descend into the shell, the first slide drives two grabbing devices to grab the tank body, the rotating disk drives the grabbing device to rotate and then drives the tank body to rotate, the monitoring device monitors the rotating tank body, if there is swing when the tank body rotates, the first rotating driver stops driving, releases the tank body, and feeds back the swing value to the lifting and supporting device, the lifting and supporting device adjusts the position of the tank body, the grabbing device grabs the tank body for a second time and rotates it, so that the device can detect the tank body without dead angles, and at the same time can ensure the stability of the tank body during detection.

Description

Technical Field

[0001] The present invention relates to the technical field of tank body detection, and in particular to a fully automatic nondestructive detection device and method for a high-pressure tank body. Background Art

[0002] High-pressure tanks are often used to store high-purity gases such as liquid nitrogen and liquid helium. During long-term working processes, the electrochemical and electrolytic micro-reactions formed inside are likely to cause corrosion and damage to the inner wall. After the damage, the pressure it bears will deteriorate. If it is not discovered early, it is easy to cause safety accidents. In recent years, accidents caused by cracks and corrosion of some high-pressure tanks have occurred frequently, which not only harms people's lives and health, but also leaves people with a lot of psychological damage, forming a fear of some high-pressure tanks. Therefore, how to effectively and quickly detect and troubleshoot some high-pressure tanks with safety hazards has become a problem that people need to pay attention to. At present, ultrasonic guided wave technology has been widely used in the detection of cracks and corrosion of equipment such as long transportation pipelines, plates, and high-pressure tanks. When using ultrasonic guided wave technology for detection, the ultrasonic guided wave probe generally requires a special fixing device to fix it with the object to be tested to achieve the purpose of accurate detection. However, different fixing devices are required for pipes or high-pressure tanks of different diameters, which not only increases the detection cost, but also consumes time and effort. Therefore, how to install the ultrasonic guided wave probe on high-pressure tanks of different diameters has become a problem that people need to solve.

[0003] The prior art discloses a novel adjustable ultrasonic guided wave probe fixing device for high-pressure tank body detection, and its structure mainly includes: a right-angle connecting rod, a connecting pin, a first telescopic rod, a fixing pin, a connecting rod, a tightening nut, a bolt with a hole, a probe cover, a V-shaped block, a second telescopic rod, a measured object, a top head, a long bolt, a guide block with a threaded hole, etc. The right-angle connecting rod and the first telescopic rod, and the connecting rod and the V-shaped block are fixedly connected by a connecting pin; the first telescopic rod and the connecting rod, the right-angle connecting rod and the second connecting rod are connected by a fixing pin; the tightening nut and the bolt with a hole, the guide block with a threaded hole and the long bolt are connected by threads. Although the prior art can be adjusted and adapted according to the diameter of the tank body, manual adjustment is still required when fixing it. Moreover, due to the limitation of ultrasonic waves, the tank body needs to be completely placed in the liquid during ultrasonic detection to ensure the accuracy of the detection. In this way, the device cannot be adjusted manually. At the same time, since the tank body is placed in the liquid, the tank body also needs to be positioned when it is placed in a container for storing the liquid to ensure normal detection by the ultrasonic device. Since the ultrasonic device is located on the outside of the tank body, it is limited by the environmental space and sometimes the ultrasonic device cannot completely rotate around the axis of the tank body. In this case, the tank body itself needs to rotate, and the tank body needs to be axially positioned. Otherwise, the tank body will swing when it rotates, resulting in the inability of the ultrasonic device to detect the tank body. Summary of the invention

[0004] One of the purposes of the present invention is to provide a high-pressure tank body fully automatic non-destructive testing equipment to achieve no-dead-angle detection of the tank body, while ensuring the stability of the ultrasonic device during tank body detection. The second purpose is to provide a high-pressure tank body fully automatic non-destructive testing method.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a high-pressure tank body fully automatic non-destructive testing equipment, including a shell and a supporting device arranged in the shell, the supporting device includes a grasping device, a lifting and supporting device, a moving mechanism, a monitoring device, a first rotating driver, a rotating disk and a placement rack, the grasping device, the moving mechanism and the placement rack are all provided with two, the two moving mechanisms are respectively installed at the two ends of the inner side of the shell, the two placement racks are respectively installed on the moving mechanisms, the two moving mechanisms can respectively drive the placement racks to move along the length direction of the inner side of the shell, and the two grasping devices are respectively installed on the two sides of the On the placement rack, the first rotation driver is installed at one end of the shell, the rotating disk is installed on one side of the placement rack, and the driving end of the first rotation driver passes through the placement rack on the same side and is connected to the rotating disk on the same side, the at least one grasping device is connected to the rotating disk, the lifting and supporting device is arranged at the bottom of the shell, the tank body is installed on the top of the lifting and supporting device, and a monitoring device for monitoring the jitter degree of the tank body after rotating along the tank body's own axis is arranged on one side of the lifting and supporting device, and the signal output end of the monitoring device is connected to the control end of the lifting and supporting device and the control end of the moving mechanism.

[0006] Preferably, the monitoring device comprises a monitoring wheel, a pressure sensor, a mounting seat, a sliding sleeve, a first spring, a connecting pipe, a transmission assembly, a pushing block and a rangefinder. The monitoring wheel is rotatably arranged on one side of the lifting support device, the upper part of the monitoring wheel can contact the lower part of the tank body, the pressure sensor is arranged on the outer side of the monitoring wheel, the mounting seat is arranged on the side of the monitoring wheel away from the tank body, the monitoring wheel is rotatably arranged on the mounting seat, the sliding sleeve is sleeved on the mounting seat, and the sliding sleeve is slidably connected to the mounting seat, liquid is stored in the sliding sleeve, a first gap exists between the mounting seat and the bottom of the sliding sleeve, the first spring is arranged in the first gap, the connecting pipe is arranged at the bottom of the shell below the sliding sleeve, and the connecting pipe is communicated with the sliding sleeve, the pushing block is arranged at the bottom of the shell along the length direction of the shell, the two ends of the transmission assembly are respectively connected to the end of the connecting pipe away from the shell and the pushing block, the rangefinder is arranged on one side of the pushing block, and the output end of the rangefinder points to the pushing block.

[0007] Preferably, the transmission assembly includes a turbine, a gear and a corrugated water tank, the turbine is arranged on the end of the connecting pipe away from the outer casing, the gear is arranged on the output end of the turbine, the upper part of the pushing block is evenly provided with meshing teeth along the length direction, the meshing teeth of the pushing block are engaged with the gear, and the corrugated water tank is arranged on the end of the turbine away from the connecting pipe.

[0008] Preferably, the monitoring device includes a second slide and a bracket, the second slide is arranged on the side wall of the shell along the height direction of the shell, one end of the bracket is connected to the side wall of the sliding sleeve, and the other end of the bracket is connected to the second slide.

[0009] Preferably, the monitoring device further comprises a bellows, a second gap exists between the lower portion of the sliding sleeve and the outer shell, the bellows is arranged in the second gap, and two ends of the bellows are respectively connected to the sliding sleeve and the outer shell.

[0010] Preferably, the monitoring device further comprises a protruding block and an electromagnet, the protruding block is arranged on the side wall of the mounting seat, the electromagnet is arranged on the inner wall of the sliding sleeve above the protruding block, a controller is provided on the outer shell, and the pressure sensor is electrically connected to the controller.

[0011] Preferably, the grasping device includes a claw, a propulsion rod, a connecting rod and an elastic component. The propulsion rod is arranged on the side wall of the rotating disk along the length direction of the outer shell. A sliding groove is provided on the side wall of the propulsion rod along the length direction of the propulsion rod. There are multiple claws, and the claws are evenly hinged around the axis of the propulsion rod on one end of the propulsion rod away from the rotating disk. The elastic component is arranged in the sliding groove, and the two ends of the connecting rod are respectively hinged to the elastic component and the claw.

[0012] Preferably, the elastic component includes a sliding block and a second spring, the sliding block is arranged in the sliding groove to slide along the length direction of the sliding groove, and a third gap is provided between the sliding block and the sliding groove, and the second spring is arranged in the third gap.

[0013] Preferably, an ultrasonic device for detecting the side wall of the tank body is also installed in the shell, and the lifting support device includes a supporting member and a lifting device, the supporting member is arranged in the shell, and the lifting device is located at the lower part of the supporting member.

[0014] The present invention also provides a high-pressure tank body fully automatic non-destructive testing method, which is based on a high-pressure tank body fully automatic non-destructive testing device and includes the following steps:

[0015] S1. Place the tank body on the upper part of the lifting support device, and the lifting support device drives the tank body down into the shell;

[0016] S2, the moving mechanism drives two grabbing devices to grab the can body, and the first rotary driver drives the grabbing devices to rotate through the rotating disk;

[0017] S3. The grabbing device drives the tank body to rotate, and the monitoring device monitors the rotating tank body. If the tank body swings during rotation, the first rotation driver stops driving, and the moving mechanism drives the grabbing device to loosen the tank body. The monitoring device feeds back the swing vertically to the lifting and supporting device, and the lifting and supporting device adjusts the position of the tank body. The moving mechanism enables the grabbing device to grab the tank body for the second time and drives the tank body to rotate through the first rotation driver, and the ultrasonic device detects the side wall of the tank body.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention places a tank body on the upper part of the lifting and supporting device by arranging a grabbing device, a lifting and supporting device, a moving mechanism, a monitoring device, a first rotating drive, a rotating disk and a placing frame, the lifting and supporting device drives the tank body to descend into the outer shell, the moving mechanism drives two grabbing devices to grab the tank body, the first rotating drive drives the grabbing device to rotate through the rotating disk, the grabbing device drives the tank body to rotate, the monitoring device monitors the rotating tank body, if there is swing when the tank body rotates, the first rotating drive stops driving, the moving mechanism drives the grabbing device to release the tank body, the monitoring device feeds back the swing value to the lifting and supporting device, the lifting and supporting device adjusts the position of the tank body, the moving mechanism enables the grabbing device to grab the tank body for a second time and drives the tank body to rotate through the first rotating drive, so that the device can detect the tank body without dead angles, and at the same time can ensure the stability of the tank body during detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 2 is a schematic diagram of a three-dimensional structure of a high-pressure tank body fully automatic non-destructive testing device according to an embodiment of the present invention, which is provided with a tank body;

[0021] Figure 2 is a three-dimensional schematic diagram of the fully automatic nondestructive testing equipment for high-pressure tanks according to an embodiment of the present invention with the outer shell removed;

[0022] Figure 3 It is a partial enlarged schematic diagram of A of the fully automatic nondestructive testing equipment for high-pressure tanks according to an embodiment of the present invention;

[0023] Figure 4 is a three-dimensional schematic diagram of another angle of the fully automatic nondestructive testing device for high-pressure tanks according to an embodiment of the present invention after the outer shell is removed;

[0024] Figure 5 It is a partial enlarged schematic diagram of the B portion of the fully automatic nondestructive testing equipment for high-pressure tanks according to an embodiment of the present invention;

[0025] Figure 6 is a three-dimensional schematic diagram of the fully automatic nondestructive testing equipment for high-pressure tanks according to an embodiment of the present invention, with the outer shell and the transmission components removed;

[0026] Figure 7 It is a partial enlarged schematic diagram of the C portion of the fully automatic nondestructive testing equipment for high-pressure tanks according to an embodiment of the present invention;

[0027] Figure 8 It is a three-dimensional schematic diagram of the fully automatic non-destructive testing equipment for high-pressure tanks according to an embodiment of the present invention, after removing the lifting and supporting device, the outer shell and the monitoring device;

[0028] Fig. 9 It is a three-dimensional schematic diagram of the fully automatic non-destructive testing equipment for high-pressure tanks according to an embodiment of the present invention, after removing the lifting and supporting device, the housing, the moving mechanism, the grasping device and the first rotating driver;

[0029] Fig.10 It is a three-dimensional schematic diagram of the fully automatic non-destructive testing equipment for high-pressure tanks according to an embodiment of the present invention after removing part of the second slide, part of the bracket, the lifting and supporting device, the shell, the moving mechanism, the grasping device and the first rotating drive.

[0030] In the figure, 1, shell; 2, supporting device; 21, grasping device; 211, claw; 212, propulsion rod; 213, connecting rod; 214, elastic component; 2141, sliding block; 2142, second spring; 22, lifting and lowering supporting device; 221, supporting member; 222, lifting device; 23, moving mechanism; 24, monitoring device; 241, monitoring wheel; 242, mounting seat; 2421, protruding block; 243, sliding sleeve; 244, first spring; 245, connecting pipe; 246, transmission component; 2461, turbine; 2462, gear; 2463, corrugated water tank; 247, pushing block; 248, rangefinder; 249, second slide; 2491, bracket; 2492, bellows; 25, first rotary drive; 251, rotating disk; 252, placement rack. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "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, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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.

[0034] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0035] Embodiment 1

[0036] like Figure 1 , Figure 2 As shown, a fully automatic nondestructive testing device for a high-pressure tank according to a preferred embodiment of the present invention comprises a shell 1 and a supporting device 2 arranged in the shell 1, wherein the supporting device 2 comprises a grasping device 21, a lifting and supporting device 22, a moving mechanism 23, a monitoring device 24, a first rotating driver 25, a rotating disk 251 and a placing frame 252, wherein two grasping devices 21, moving mechanisms 23 and placing frames 252 are provided, wherein two moving mechanisms 23 are respectively installed at two ends of the inner side of the shell 1, and two placing frames 252 are respectively installed on the moving mechanisms 23, wherein the two moving mechanisms 23 can respectively drive the placing frames 252 to move along the length direction of the inner side of the shell 1, and the two grasping devices 21 are respectively installed On the placement racks 252 on both sides, the first rotation driver 25 is installed at one end of the outer shell 1, the rotating disk 251 is installed on one side of the placement rack 252, and the driving end of the first rotation driver 25 passes through the placement rack 252 on the same side and is connected to the rotating disk 251 on the same side, at least one grasping device 21 is connected to the rotating disk 251, the lifting and supporting device 22 is arranged at the bottom of the outer shell 1, the tank body is installed on the top of the lifting and supporting device 22, and the monitoring device 24 for monitoring the jitter degree of the tank body after rotating along the tank body's own axis is arranged on one side of the lifting and supporting device 22, and the signal output end of the monitoring device 24 is connected to the control end of the lifting and supporting device 22 and the control end of the moving mechanism 23.

[0037] The moving mechanism 23 includes a horizontal driving device and a first slide. The driving end of the horizontal driving device is connected to the first slide. Two first slides are respectively installed at two ends of the inner side of the shell 1, and two placement racks 252 are respectively installed on the first slides.

[0038] In this embodiment, the two moving mechanisms 23 drive the two placement racks 252 to move toward the direction of the can body respectively, and the two placement racks 252 drive the grasping devices 21 to move respectively, and the two grasping devices 21 clamp the two ends of the can body respectively.

[0039] The moving mechanism 23 can be a piston cylinder, a screw transmission mechanism, a gear rack transmission mechanism, etc.

[0040] The lifting support device 22 includes a lifting drive device and a supporting member (plate). The driving end of the lifting drive device is connected to the supporting member (plate). The supporting member (plate) is arranged at the bottom of the outer shell 1, and the tank body is installed on the top of the supporting member (plate). A monitoring device 24 for monitoring the jitter degree of the tank body after rotating along the axis of the tank body itself is arranged on one side of the supporting member (plate). The signal output end of the monitoring device 24 is connected to the control end of the lifting drive device and the control end of the moving mechanism 23.

[0041] The lifting drive device can be a piston cylinder, a screw transmission mechanism, a gear rack transmission mechanism, etc.

[0042] There is liquid in the shell 1, and the tank body is placed on the upper part of the lifting support device 22. At this time, the lifting support device 22 is in an extended state, and then the lifting support device 22 drives the tank body to descend into the shell 1. The liquid in the shell 1 gradually overflows the tank body, and the moving mechanism 23 drives the two grasping devices 21 to grasp the tank body. The first rotating driver 25 drives the grasping device 21 to rotate through the rotating disk 251. When the first rotating driver 25 is started, the first rotating driver 25 drives the rotating disk 251 to rotate. Since the grasping device 21 is fixedly arranged on the rotating disk 251, the grasping device 21 drives the tank body to rotate. The monitoring device 24 monitors the rotating tank body. If there is swinging when the tank body rotates, that is, the axis of the tank body and the axis of the output shaft of the first rotating driver 25 are in a non-collinear state, the first rotating driver 25 drives the tank body. When rotating, the tank body will inevitably swing. The monitoring device 24 detects the swing of the tank body during rotation, and the first rotation driver 25 stops driving. The moving mechanism 23 drives the grasping device 21 to loosen the tank body. The monitoring device 24 feeds back the swing value to the lifting and supporting device 22. The lifting and supporting device 22 adjusts the position of the tank body. The moving mechanism 23 enables the grasping device 21 to grasp the tank body for the second time and drives the tank body to rotate through the first rotation driver 25. Then the monitoring device 24 performs a second monitoring of the rotating tank body. After determining that the tank body does not swing, the ultrasonic device will be started. The ultrasonic device detects the side wall of the tank body. At the same time, the moving mechanism 23 can make the tank body move along the length direction of the outer shell 1 as a whole, so that the device can detect the tank body without blind spots, and at the same time, it can ensure the stability of the ultrasonic device when detecting the tank body.

[0043] Embodiment 2

[0044] like Figure 2-Figure 4 , Fig. 9 and Fig.10As shown, the monitoring device 24 includes a monitoring wheel 241, a pressure sensor, a mounting seat 242, a sliding sleeve 243, a first spring 244, a connecting pipe 245, a transmission assembly 246, a pushing block 247 and a rangefinder 248. The monitoring wheel 241 is rotatably arranged on one side of the lifting support device 22, and the upper part of the monitoring wheel 241 can contact the lower part of the tank body. The pressure sensor is arranged on the outer side of the monitoring wheel 241, and the mounting seat 242 is arranged on the side of the monitoring wheel 241 away from the tank body. The monitoring wheel 241 is rotatably arranged on the mounting seat 242, and the sliding sleeve 243 is sleeved on the mounting seat 242, and the sliding sleeve 243 is slidably connected with the mounting seat 242, and liquid is stored in the sliding sleeve 243. There is a first gap between the mounting seat 242 and the bottom of the sliding sleeve 243, the first spring 244 is arranged in the first gap, the connecting pipe 245 is arranged at the bottom of the outer shell 1 below the sliding sleeve 243, and the connecting pipe 245 and the sliding sleeve 243 are communicated with each other, the pushing block 247 is arranged at the bottom of the outer shell 1 along the length direction of the outer shell 1, and the two ends of the transmission component 246 are respectively connected to the end of the connecting pipe 245 away from the outer shell 1 and the pushing block 247. After water flows through the connecting pipe 245, the transmission component 246 can drive the pushing block 247 to move along the length direction of the outer shell 1; the rangefinder 248 is arranged on one side of the pushing block 247, and the output end of the rangefinder 248 points to the pushing block 247.

[0045] After the tank body is placed on the lifting support device 22, the lower part of the tank body contacts the upper part of the monitoring wheel 241. When the first rotation driver 25 drives the tank body to rotate, the monitoring wheel 241 will also rotate. If the axis of the tank body and the axis of the output shaft of the first rotation driver 25 are in non-colinear rotation, the swinging tank body will squeeze the monitoring wheel 241, causing the sliding sleeve 243 and the mounting seat 242 to slide relative to each other. At this time, the first spring 244 arranged in the first gap is compressed, and the liquid in the sliding sleeve 243 will flow into the connecting pipe 245. The water flow in the connecting pipe 245 will drive the transmission assembly 246 to run, so that the pushing block 247 is pushed and moved. The rangefinder 248 arranged on one side of the pushing block 247 can monitor the displacement of the pushing block 247, and then feed back the displacement to the lifting support device 22. The lifting support device 22 drives the tank body to lift the corresponding displacement to complete the position adjustment of the tank body.

[0046] Embodiment 3

[0047] like Figure 4 and Figure 5As shown, the transmission assembly 246 includes a turbine 2461, a gear 2462 and a corrugated water tank 2463. The turbine 2461 is arranged on the end of the connecting pipe 245 away from the outer casing 1, the gear 2462 is arranged on the output end of the turbine 2461, the upper part of the pushing block 247 is evenly provided with meshing teeth along the length direction, the meshing teeth of the pushing block 247 are meshed with the gear 2462, and the corrugated water tank 2463 is arranged on the end of the turbine 2461 away from the connecting pipe 245.

[0048] When the mounting seat 242 is squeezed, the mounting seat 242 and the sliding sleeve 243 slide relative to each other, the first spring 244 is compressed, and the liquid in the sliding sleeve 243 will be squeezed into the connecting pipe 245, and the water flow in the connecting pipe 245 will flow, and the water flow drives the turbine 2461 to rotate, so that the gear 2462 set on the output end of the turbine 2461 is driven to rotate, and since the gear 2462 and the meshing teeth on the pushing block 247 are engaged with each other, the pushing block 247 will be driven to move, and the water flowing through the turbine 2461 will enter the corrugated water storage tank 2463 and be stored. After the tank body is taken out, the first spring 244 drives the mounting seat 242 to reset, and negative pressure is generated in the sliding sleeve 243, and the liquid in the corrugated water storage pipe will be drawn back into the sliding sleeve 243.

[0049] like Fig. 9 As shown, the monitoring device 24 includes a second slide 249 and a bracket 2491. The second slide 249 is arranged on the side wall of the shell 1 along the height direction of the shell 1. One end of the bracket 2491 is connected to the side wall of the sliding sleeve 243, and the other end of the bracket 2491 is connected to the second slide 249.

[0050] Due to the difference in the diameter of the tank body, after the lifting support device 22 drives the tank body to descend, in order to ensure adaptability, the second slide 249 needs to adjust the position of the monitoring wheel 241 through the bracket 2491 so that the position of the monitoring wheel 241 can contact the side wall of the tank body.

[0051] like Fig.10 As shown, the monitoring device 24 also includes a bellows 2492. A second gap exists between the lower portion of the sliding sleeve 243 and the housing 1. The bellows 2492 is arranged in the second gap, and both ends of the bellows 2492 are respectively connected to the sliding sleeve 243 and the housing 1.

[0052] Since the second slide 249 will drive the sliding sleeve 243 to move, the distance between the sliding sleeve 243 and the outer shell 1 will change, but the connectivity between the sliding sleeve 243 and the connecting tube 245 still needs to be ensured. After the bellows 2492 is provided, even if the distance between the sliding sleeve 243 and the outer shell 1 changes, the sliding sleeve 243 and the connecting tube 245 are always in a connected state.

[0053] like Fig.10 As shown, the monitoring device 24 also includes a protruding block 2421 and an electromagnet. The protruding block 2421 is arranged on the side wall of the mounting seat 242, and the electromagnet is arranged on the inner wall of the sliding sleeve 243 on the upper part of the protruding block 2421. A controller is provided on the outer shell 1, and the pressure sensor is electrically connected to the controller. The electromagnet has an adsorption effect on the protruding block 2421.

[0054] Since the mounting seat 242 is always arranged vertically, the mounting seat 242 always exerts pressure on the first spring 244 under the action of gravity. When the monitoring wheel 241 does not contact the side wall of the tank body, the electromagnet is always energized. After the monitoring wheel 241 contacts the tank body, the electromagnet is de-energized, and the mounting seat 242 can slide relative to the sliding sleeve 243.

[0055] Embodiment 4

[0056] like Figure 2 and Figure 7 As shown, the grasping device 21 includes a claw 211, a propulsion rod 212, a connecting rod 213 and an elastic component 214. The propulsion rod 212 is arranged on the side wall of the rotating disk 251 along the length direction of the shell 1. A sliding groove is provided on the side wall of the propulsion rod 212 along the length direction of the propulsion rod 212. There are multiple claws 211, and the claws 211 are evenly hinged around the axis of the propulsion rod 212 on one end of the propulsion rod 212 away from the rotating disk 251. The elastic component 214 is arranged in the sliding groove, and the two ends of the connecting rod 213 are respectively hinged to the elastic component 214 and the claw 211.

[0057] After the moving mechanism 23 drives the two grasping devices 21 closer, the claw 211 contacts the end of the tank body, and the claw 211 rotates around the hinge between the claw 211 and the end of the push rod, so that the connecting rod 213 compresses the elastic component 214. The reaction force of the elastic component 214 will exert pressure on the claw 211, so that the claw 211 can be tightly pressed against the side wall of the tank body.

[0058] like Figure 7 As shown, the elastic component 214 includes a sliding block 2141 and a second spring 2142. The sliding block 2141 is set in the sliding groove to slide along the length direction of the sliding groove, and a third gap is set between the sliding block 2141 and the sliding groove. The second spring 2142 is set in the third gap.

[0059] After the claw 211 contacts the side wall of the tank body, the connecting rod 213 rotates and drives the sliding block 2141 to slide on the sliding groove, the second spring 2142 is compressed, and the reaction force of the second spring 2142 acts on the claw 211 .

[0060] like Figure 4As shown, an ultrasonic device for detecting the side wall of the tank body is also installed in the shell 1, and the lifting support device 22 includes a supporting member 221 and a lifting device 222. The supporting member 221 is arranged in the shell 1, and the supporting member 221 can support the tank body; the lifting device 222 is located at the lower part of the supporting member 221, and the lifting device 222 can drive the supporting member 221 to rise and fall.

[0061] The lifting device 222 drives the supporting member 221 to move up and down, so that the tank body is submerged in the liquid in the housing 1 .

[0062] Embodiment 5

[0063] like Figure 1-Figure 10 As shown, the present invention also provides a high-pressure tank body fully automatic non-destructive testing method, which is based on a high-pressure tank body fully automatic non-destructive testing device, and includes the following steps:

[0064] S1, placing the tank body on the upper part of the lifting support device 22, and the lifting support device 22 drives the tank body to descend into the shell 1;

[0065] S2, the moving mechanism 23 drives the two grabbing devices 21 to grab the can body, and the first rotary driver 25 drives the grabbing devices 21 to rotate through the rotating disk 251;

[0066] S3, the grasping device 21 drives the tank body to rotate, and the monitoring device 24 monitors the rotating tank body. If the tank body swings during rotation, the first rotation driver 25 stops driving, and the moving mechanism 23 drives the grasping device 21 to loosen the tank body. The monitoring device 24 feeds back the swing vertically to the lifting and supporting device 22. The lifting and supporting device 22 adjusts the position of the tank body. The moving mechanism 23 enables the grasping device 21 to grasp the tank body for the second time and drives the tank body to rotate through the first rotation driver 25. The ultrasonic device detects the side wall of the tank body.

[0067] In summary, an embodiment of the present invention provides a fully automatic nondestructive testing device and method for a high-pressure tank body, wherein the device comprises a shell, a supporting device and an ultrasonic device, wherein the supporting device comprises a grabbing device, a lifting and supporting device, a moving mechanism, a monitoring device, a first rotating driver, a rotating disk and a placing frame, wherein the tank body is placed on the upper part of the lifting and supporting device, and the lifting and supporting device drives the tank body to descend into the shell, and the moving mechanism drives two grabbing devices to grab the tank body, and the first rotating driver drives the grabbing device to rotate through the rotating disk, and the grabbing device drives the tank body to rotate, and the monitoring device monitors the rotating tank body, and if there is swing when the tank body rotates, the first rotating driver stops driving, and the moving mechanism drives the grabbing device to release the tank body, and the monitoring device feeds back the swing value to the lifting and supporting device, and the lifting and supporting device adjusts the position of the tank body, and the moving mechanism enables the grabbing device to grab the tank body for a second time and drives the tank body to rotate through the first rotating driver, and the ultrasonic device detects the side wall of the tank body, so that the device can detect the tank body without dead angles, and at the same time, the stability of the ultrasonic device when detecting the tank body can be ensured.

[0068] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A fully automatic nondestructive testing equipment for high-pressure tanks, characterized in that: The invention comprises a shell (1) and a supporting device (2) arranged in the shell (1), wherein the supporting device (2) comprises a grasping device (21), a lifting and supporting device (22), a moving mechanism (23), a monitoring device (24), a first rotating driver (25), a rotating disk (251) and a placing frame (252), wherein two grasping devices (21), two moving mechanisms (23) and two placing frames (252) are provided, wherein the two moving mechanisms (23) are respectively arranged at two ends of the inner side of the shell (1), and the two placing frames (252) are respectively arranged on the moving mechanisms (23). The two moving mechanisms (23) can respectively drive the placing frames (252) to move along the length direction of the inner side of the shell (1), and the two grasping devices (21) are respectively arranged on the placing frames (252) on both sides. The first rotary driver (25) is mounted on one end of the housing (1), the rotating disk (251) is mounted on one side of the placement rack (252), and the driving end of the first rotary driver (25) passes through the placement rack (252) on the same side and is connected to the rotating disk (251) on the same side, at least one of the grabbing devices (21) is connected to the rotating disk (251), the lifting and supporting device (22) is arranged at the bottom of the housing (1), the tank body is mounted on the top of the lifting and supporting device (22), and a monitoring device (24) for monitoring the degree of vibration of the tank body after rotation along the tank body's own axis is arranged on one side of the lifting and supporting device (22), and a signal output end of the monitoring device (24) is connected to a control end of the lifting and supporting device (22) and a control end of a moving mechanism (23); The monitoring device (24) comprises a monitoring wheel (241), a pressure sensor, a mounting seat (242), a sliding sleeve (243), a first spring (244), a connecting pipe (245), a transmission assembly (246), a pushing block (247) and a distance meter (248); the monitoring wheel (241) is rotatably arranged on one side of the lifting support device (22); the upper part of the monitoring wheel (241) can contact the lower part of the tank body; the pressure sensor is arranged on the outer side of the monitoring wheel (241); the mounting seat (242) is arranged on a side of the monitoring wheel (241) away from the tank body; the monitoring wheel (241) is rotatably arranged on the mounting seat (242); the sliding sleeve (243) is sleeved on the mounting seat (242); and the sliding sleeve (243) and the mounting seat (242) are connected to each other. 42) is slidably connected, liquid is stored in the sliding sleeve (243), a first gap exists between the mounting seat (242) and the bottom of the sliding sleeve (243), the first spring (244) is arranged in the first gap, the connecting pipe (245) is arranged at the bottom of the housing (1) below the sliding sleeve (243), and the connecting pipe (245) and the sliding sleeve (243) are communicated with each other, the pushing block (247) is arranged at the bottom of the housing (1) along the length direction of the housing (1), the two ends of the transmission assembly (246) are respectively connected to one end of the connecting pipe (245) away from the housing (1) and the pushing block (247), the rangefinder (248) is arranged on one side of the pushing block (247), and the output end of the rangefinder (248) points to the pushing block (247).

2. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 1 is characterized in that: The transmission assembly (246) comprises a turbine (2461), a gear (2462) and a corrugated water tank (2463); the turbine (2461) is arranged on an end of the connecting pipe (245) away from the housing (1); the gear (2462) is arranged on the output end of the turbine (2461); the upper part of the pushing block (247) is evenly provided with meshing teeth along the length direction; the meshing teeth of the pushing block (247) mesh with the gear (2462); and the corrugated water tank (2463) is arranged on an end of the turbine (2461) away from the connecting pipe (245).

3. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 1 is characterized in that: The monitoring device (24) comprises a second slide (249) and a bracket (2491), wherein the second slide (249) is arranged on the side wall of the shell (1) along the height direction of the shell (1), one end of the bracket (2491) is connected to the side wall of the sliding sleeve (243), and the other end of the bracket (2491) is connected to the second slide (249).

4. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 3 is characterized in that: The monitoring device (24) further comprises a bellows (2492), a second gap is present between the lower portion of the sliding sleeve (243) and the outer shell (1), the bellows (2492) is arranged in the second gap, and the two ends of the bellows (2492) are respectively connected to the sliding sleeve (243) and the outer shell (1).

5. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 1 is characterized in that: The monitoring device (24) further comprises a protruding block (2421) and an electromagnet, wherein the protruding block (2421) is arranged on the side wall of the mounting seat (242), and the electromagnet is arranged on the inner wall of the sliding sleeve (243) on the upper part of the protruding block (2421). A controller is arranged on the housing (1), and the pressure sensor is electrically connected to the controller.

6. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 1 is characterized in that: The grasping device (21) comprises a claw (211), a propulsion rod (212), a connecting rod (213) and an elastic component (214); the propulsion rod (212) is arranged on the side wall of the rotating disk (251) along the length direction of the housing (1); a sliding groove is arranged on the side wall of the propulsion rod (212) along the length direction of the propulsion rod (212); there are a plurality of claws (211), and the claws (211) are evenly hinged around the axis of the propulsion rod (212) on one end of the propulsion rod (212) away from the rotating disk (251); the elastic component (214) is arranged in the sliding groove; and the two ends of the connecting rod (213) are respectively hinged to the elastic component (214) and the claw (211).

7. The fully automatic nondestructive testing equipment for high-pressure tanks according to claim 6 is characterized in that: The elastic component (214) comprises a sliding block (2141) and a second spring (2142); the sliding block (2141) is arranged in the sliding groove to slide along the length direction of the sliding groove; a third gap is arranged between the sliding block (2141) and the sliding groove; and the second spring (2142) is arranged in the third gap.

8. A high-pressure tank fully automatic non-destructive testing device according to any one of claims 1 to 7, characterized in that: An ultrasonic device for detecting the side wall of the tank body is also installed in the shell (1). The lifting support device (22) comprises a supporting member (221) and a lifting device (222). The supporting member (221) is arranged in the shell (1), and the lifting device (222) is located at the bottom of the supporting member (221).

9. A method for fully automatic nondestructive testing of a high-pressure tank, which is implemented based on the fully automatic nondestructive testing equipment for a high-pressure tank according to claim 1, and is characterized in that: The following steps are involved: S1, placing the tank body on the upper part of the lifting support device (22), and the lifting support device (22) drives the tank body to descend into the outer shell (1); S2, the moving mechanism (23) drives the two grasping devices (21) to grasp the can body, and the first rotary driver (25) drives the grasping devices (21) to rotate via the rotating disk (251); S3, the grasping device (21) drives the tank body to rotate, and the monitoring device (24) monitors the rotating tank body. If the tank body swings during rotation, the first rotation driver (25) stops driving, and the moving mechanism (23) drives the grasping device (21) to loosen the tank body. The monitoring device (24) feeds back the swing vertically to the lifting and supporting device (22). The lifting and supporting device (22) adjusts the position of the tank body. The moving mechanism (23) enables the grasping device (21) to grasp the tank body for a second time and drives the tank body to rotate through the first rotation driver (25). The ultrasonic device detects the side wall of the tank body.

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