Self-moving positioning device for radiographic inspection of pressure vessel welds

Abstract

The present invention relates to the technical field of weld detection, in particular to a self-moving positioning device for radiographic detection of welds of pressure vessels, comprising a frame, and also comprising: the frame is a retractable frame adapted to weld detection of pressure vessels of different specifications; a closable universal movable component, installed at the bottom of the frame, used to support the movement of the frame as a whole in any direction, after the frame enters the interior of the pressure vessel, the universal movable component flips and closes until it is not in contact with the inner wall of the pressure vessel; a directional movable component, which is adjustably installed below the frame, after the universal movable component is separated from the inner wall of the pressure vessel, the directional movable component supports the frame to maintain directional movement on the inner wall of the pressure vessel; this device realizes timely self-checking of the positioning accuracy of the linear laser transmitter and the radiographic machine through the arrangement of a linear laser transmitter and a radiographic machine, improves the accuracy of radiographic detection, and at the same time enhances the safety of operation and increases the overall stability of the device.

Description

Technical Field

[0001] The invention relates to the field of weld detection, in particular to a self-moving positioning device for pressure vessel weld ray detection. Background Art

[0002] There are many types of pressure vessels with complex application scenarios. They are often used in harsh working conditions. The welding quality of welds is related to the safe operation of the containers. Various detection methods will be used to ensure the defect detection rate. As one of the important detection methods, X-ray detection has a precise positioning that will affect the final evaluation accuracy, and the ease of operation will affect the detection efficiency. The existing technology usually uses a X-ray machine to emit a beam of radiation from the outside (hereinafter referred to as transillumination), and the film is placed on the weld inside the cylinder to receive the radiation and complete the photosensitization.

[0003] Due to the influence of radiation, operators cannot stay in the exposure room. They need to climb into the container to re-arrange the film for each exposure, which is inefficient and creates a dangerous working environment. The X-ray machine is heavy and difficult to move. In order to facilitate transportation, the pressure vessel is placed on a flatbed truck for special use, which increases the height of the weld from the ground. Operators need to climb and enter the container to operate, which increases labor intensity and reduces work efficiency. Furthermore, hazardous defects have very high requirements on the beam angle and film arrangement accuracy. At present, the above requirements are only guaranteed by the individual's skills and the rigor of the operation process. The controllability is poor, which also has a great impact on the defect detection rate. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a self-moving positioning device for radiographic inspection of pressure vessel welds.

[0005] In a first aspect, the present invention provides a self-moving positioning device for radiographic inspection of welds of pressure vessels, comprising a frame, and further comprising:

[0006] The frame is a retractable frame suitable for weld inspection of pressure vessels of different specifications;

[0007] A closable universal moving assembly is installed at the bottom of the frame and is used to support the movement of the frame as a whole in any direction. After the frame enters the pressure vessel, the universal moving assembly is turned over and closed until it does not contact the inner wall of the pressure vessel.

[0008] A directional moving assembly is adjustably installed below the frame, and after the universal moving assembly is separated from the inner wall of the pressure vessel, the directional moving assembly supports the frame to maintain directional movement on the inner wall of the pressure vessel;

[0009] A pulley assembly is installed on the top of the frame and is used to suspend the X-ray machine inside the frame, and the position of the X-ray machine is adjusted by the pulley assembly;

[0010] Two linear laser emitters are mounted on the frame and used to generate linear lasers so that the lasers form a cross point on the weld corresponding to the beam-out point of the radiation source, so as to confirm whether the radiation beam meets the requirement of uniform blackness of the radiation film;

[0011] The overall framework is divided into two layers, upper and lower. When the device is moved, the universal moving assembly supports the entire framework, so that the entire framework can be moved in any direction, so that it can be easily moved to the position that needs to be tested. After the device is in place, the universal moving assembly is flipped upward, so that the universal moving assembly flips and closes and leaves the inner wall of the container. At this time, the directional moving assembly contacts and works with the inner wall of the container. Since the device has a certain dead weight, when the cylinder of the container to be tested rotates, the device will follow the predetermined route, relying on the directional moving characteristics of the directional moving assembly to ensure the self-movement of the device without human intervention.

[0012] At the same time, the linear laser emitters are started, and the linear lasers emitted by the two linear laser emitters intersect vertically at one point. The intersection position of the linear lasers emitted by the two linear laser emitters is controlled to be at the center of the weld length required for transillumination, and the intersection position is made to coincide with the projection of the center of the X-ray machine beam on the weld, so as to realize positioning by the linear laser cross positioning method;

[0013] The frame has a telescopic adjustment function, which can adapt to cylinders of different diameters and facilitate weld inspection of pressure vessels of different specifications.

[0014] After the frame position adjustment is completed, the pulley assembly is adjusted, and the vertical position of the suspended X-ray machine is adjusted through the pulley assembly to adjust the focal length of the X-ray machine to meet the requirements of the transillumination process. After the focal length is determined, the sliding assembly is fixed to fix the position of the X-ray machine to avoid the X-ray machine swinging during the detection process, which affects the detection accuracy and endangers the safety of the equipment;

[0015] After the above operations are completed, the operator arranges the film on the outer wall of the cylinder and performs transillumination. After the transillumination is completed, the transilluminated film is taken out, the unexposed film is rearranged, the container cylinder is rotated, and the above steps are repeated until all operations are completed;

[0016] To sum up, through the setting of linear laser emitters and X-ray machines, the positioning requirements of different processes can be met, the positioning accuracy of linear laser emitters and X-ray machines can be self-checked in time, the accuracy of X-ray detection can be improved, the accuracy and convenience of operation can be improved, and the problems of low precision of manual transillumination positioning and low detection efficiency can be solved. At the same time, the safety of operation is enhanced, the probability of accidents is reduced, and the overall stability of the device is increased through the setting of the framework.

[0017] Preferably, the framework comprises:

[0018] Four first cross bars and four first vertical bars, where every two of the first cross bars and two of the first vertical bars together form a rectangular frame;

[0019] Eight first sets of rods and four inner rods, each inner rod is sleeved with one of the first sets of rods at both ends to form a group of telescopic rods, and the two ends of the four groups of telescopic rods are connected to two rectangular frames;

[0020] Four second vertical rods are respectively fixed to the tops of the four first sets of rods located above;

[0021] Two second cross bars, two ends of the second cross bars being fixedly connected to two second vertical bars located at the same end;

[0022] The I-shaped frame has four ends each slidably sleeved with a second set of rods, and the four second set of rods are respectively connected to the two ends of the two second cross bars;

[0023] The arrangement of the first set of rods and the inner rods enables the entire frame to be adjusted, so that the device can be suitable for pressure vessels of different sizes, which is beneficial to improving the applicability of the device. Moreover, through the arrangement of the I-shaped frame, the upper layer of the frame can be adjusted synchronously, thereby avoiding interference with the adjustment of the frame.

[0024] Preferably, the universal moving assembly comprises:

[0025] Four flip frames are flipped and installed respectively on ends of the four first set of rods located below and away from each other;

[0026] Four universal wheels are respectively fixedly mounted on the bottom of the four turning frames;

[0027] Four electric push rods are respectively fixedly mounted on the tops of the four first sets of rods located below, the electric push rods correspond to the flip frames one by one, and the ends of the telescopic rods of the electric push rods are slidably connected to the tops of the corresponding flip frames;

[0028] When the frame needs to be moved to adjust the position, the flip frame is in the initial position. At this time, the universal wheel contacts the ground to support the movement of the frame. After the frame moves to the required position, the electric push rod is started. After the electric push rod is started, it pushes the flip frame to flip through the telescopic rod, so that the flip frame drives the universal wheel to flip. Since the roller contacts the inner wall of the pressure vessel during the use of the universal wheel, the roller rotates during the flipping of the universal wheel, thereby reducing the obstruction to the flipping of the universal wheel under the rolling action of the roller, thereby facilitating the flipping and closing of the universal wheel. After the universal wheel flips, it separates from the inner wall of the pressure vessel, thereby causing the universal wheel to flip and close, so that the frame is subsequently supported by the positioning and moving assembly.

[0029] Preferably, the directional movement component comprises:

[0030] Two arc-shaped cross beams, each of which corresponds to the two first sets of rods at the same end of the two inner rods below, and the arc-shaped cross beam is adjustable and slidably connected with the corresponding two first sets of rods through grooved slideways at the bottom of both ends;

[0031] Four brackets, two in a group, the brackets in the same group are symmetrically installed at the bottom of one of the arc-shaped beams;

[0032] Four adsorption permanent magnets, corresponding to the brackets one by one, the adsorption permanent magnets are rotatably installed inside the corresponding brackets through a wheel axle, the outer ring of the adsorption permanent magnet is installed with a dustproof sealing ring, and both sides of the adsorption permanent magnet are installed with anti-corrosion magnetic steel sheets through double positioning bearings;

[0033] By adjusting the position of the arc-shaped crossbeam, the position of the adsorption permanent magnet can be adjusted, so that the entire device can be positioned on the inner wall of the cylinder with different inner diameters without collision. The arc of the arc-shaped crossbeam provides better tolerance. After the universal moving assembly is flipped and closed, the magnetic wheel supports the entire frame. The magnetic wheel is composed of a wheel axle, a bracket, a double positioning bearing, an adsorption permanent magnet, an anti-corrosion magnetic steel sheet and a dust-proof sealing ring. The size of the magnetic wheel is 83mm in height, 50mm in diameter, and 15mm in thickness. The suction force of the magnetic wheel is controlled at 5kg to 10kg. Since the device has a certain dead weight, when the container cylinder to be detected rotates, the device will follow the established route and rely on the directional movement characteristics of the magnetic wheel to make the device move by itself without human intervention. The magnetic wheel of this device uses a rare earth magnet, so that the magnetic wheel can patrol the track and move by itself in the equipment.

[0034] Preferably, it also includes:

[0035] Four positioning cables, each of which corresponds to the first vertical rod one by one, and each end of each positioning cable is connected to the X-ray machine and the corresponding first vertical rod respectively;

[0036] The X-ray machine is pulled by four positioning cables to reduce the shaking of the X-ray machine inside the frame, so that when the frame is installed inside the pressure vessel, the shaking interference of the X-ray machine is reduced, thereby reducing the interference of the shaking on the detection accuracy of the X-ray machine.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention realizes timely self-inspection of the positioning accuracy of the linear laser transmitter and the X-ray machine through the setting of the linear laser transmitter and the X-ray machine, improves the accuracy of X-ray detection, improves the accuracy and convenience of operation, solves the problems of low precision of manual transillumination positioning and low detection efficiency, and at the same time enhances the safety of operation, reduces the probability of accidents, and increases the overall stability of the device through the setting of the frame.

[0039] 2. The present invention sets a directional moving component so that when the container cylinder to be inspected rotates, the device will move along a predetermined route, relying on the directional moving characteristics of the magnetic wheel, so that the device can move by itself without human intervention. The magnetic wheel of the device adopts a rare earth magnet, so that the magnetic wheel can move by itself within the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0041] Figure 2 It is a schematic structural diagram of the directional movement component of the present invention.

[0042] Figure 3 It is a schematic structural diagram of the pulley assembly of the present invention.

[0043] Figure 4 It is a schematic diagram of the structure after the overall section of the present invention.

[0044] Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure at point A in the middle.

[0045] Figure 6 For the present invention Figure 4 Schematic diagram of the enlarged structure at point B in the middle.

[0046] Figure 7 For the present invention Figure 4 Schematic diagram of the enlarged structure at point C in the middle.

[0047] Figure 8 It is a schematic structural diagram of the lifting frame of the present invention after sectioning.

[0048] In the figure: 101, first set of rods; 102, inner rod; 103, first crossbar; 104, first vertical rod; 105, second crossbar; 106, I-shaped frame; 107, second set of rods; 108, second vertical rod; 201, flip frame; 202, universal wheel; 203, electric push rod; 301, arc beam; 302, bracket; 303, dustproof seal; 304, adsorption permanent magnet; 305, anti-corrosion magnetic steel sheet; 306, double positioning bearing; 4, positioning cable; 501, fixed pulley; 502, movable pulley; 503, pulley rope Rope; 504, reel; 505, first drive motor; 506, rope fixing plate; 507, X-ray machine; 508, fixed rope; 6, linear laser transmitter; 7, lifting frame; 701, second drive motor; 702, reel; 703, rope sleeve; 704, positioning ring; 801, third drive motor; 802, gear; 803, rack; 901, electric telescopic rod; 902, first rotating frame; 1001, second rotating frame; 1002, first pressure sensor; 11, collar; 12, second pressure sensor. DETAILED DESCRIPTION

[0049] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0050] like Figures 1 to 8 The self-moving positioning device for radiographic inspection of weld seams of pressure vessels shown in the figure comprises a frame and also comprises:

[0051] The frame is a retractable frame that can adapt to weld inspection of pressure vessels of different specifications;

[0052] The closable universal moving assembly is installed at the bottom of the frame to support the movement of the frame as a whole in any direction. After the frame enters the pressure vessel, the universal moving assembly flips and closes until it does not contact the inner wall of the pressure vessel.

[0053] The directional moving assembly is adjustably installed below the frame. After the universal moving assembly is separated from the inner wall of the pressure vessel, the directional moving assembly supports the frame to maintain directional movement on the inner wall of the pressure vessel.

[0054] A pulley assembly is installed on the top of the frame and is used to suspend the X-ray machine 507 inside the frame, and the position of the X-ray machine 507 is adjusted by the pulley assembly;

[0055] Two linear laser emitters 6 are mounted on the frame and used to generate linear lasers so that the lasers form a cross point on the weld corresponding to the beam-out point of the radiation source, so as to confirm whether the radiation beam meets the requirement of uniform blackness of the radiation film;

[0056] Affected by radiation, operators cannot stay in the exposure room. They need to climb into the container to re-arrange the film every time they perform radiography, which is inefficient and creates a dangerous working environment. Because the X-ray machine is heavy and difficult to move, pressure vessels are placed on flatbed trucks for easy transportation, which increases the height of the weld from the ground. Operators need to climb and enter the container to work, which increases labor intensity and reduces work efficiency. Furthermore, hazardous defects have very high requirements for the beam angle and film arrangement accuracy. At present, the above requirements are closely guaranteed by personal skills and the rigor of the operation process. The controllability is poor, which also has a great impact on the defect detection rate.

[0057] This embodiment of the present invention can solve the above problems. The specific implementation method is as follows: the frame as a whole is generally divided into two layers, the upper and lower layers. When the device is moved, the universal moving component supports the frame as a whole, so that the frame as a whole can be moved in any direction, so that it can be easily moved to the position that needs to be detected. After determining that the device is in place, the universal moving component is flipped upward, so that the universal moving component flips and closes and leaves the inner wall of the container. At this time, the directional moving component contacts and works with the inner wall of the container. Since the device has a certain self-weight, when the container cylinder to be detected rotates, the device will follow the predetermined route, relying on the directional moving characteristics of the directional moving component to ensure that the device moves by itself without human intervention.

[0058] At the same time, the linear laser emitter 6 is started, and the linear lasers emitted by the two linear laser emitters 6 intersect vertically at one point, and the intersection position of the linear lasers emitted by the two linear laser emitters 6 is controlled to be at the center of the weld length required for transillumination, and the intersection position is made to coincide with the projection of the center of the ray beam of the ray machine 507 on the weld, so as to realize positioning by the linear laser cross positioning method;

[0059] The frame has telescopic adjustment function, which can adapt to cylinders of different diameters and facilitate weld inspection of pressure vessels of different specifications.

[0060] After the adjustment of the frame position is completed, the pulley assembly is adjusted, and the vertical position of the suspended X-ray machine 507 is adjusted by the pulley assembly, and the focal length of the X-ray machine 507 is adjusted to meet the requirements of the transillumination process. After the focal length is determined, the sliding assembly is fixed, so as to fix the position of the X-ray machine 507, so as to avoid the X-ray machine 507 swinging during the detection process and affecting the detection accuracy.

[0061] After the above operations are completed, the operator arranges the film on the outer wall of the cylinder and performs transillumination. After the transillumination is completed, the transilluminated film is taken out, the unexposed film is rearranged, the container cylinder is rotated, and the above steps are repeated until all operations are completed;

[0062] In summary, through the setting of the linear laser emitter 6 and the ray machine 507, the positioning requirements of different processes are met, the positioning accuracy of the linear laser emitter 6 and the ray machine 507 can be self-checked in time, the accuracy of ray detection is improved, the accuracy and convenience of operation are improved, and the problems of low precision of manual transillumination positioning and low detection efficiency are solved. At the same time, the safety of operation is enhanced, the probability of accidents is reduced, and the overall stability of the device is increased through the setting of the framework.

[0063] As an optional embodiment, the framework includes:

[0064] Four first cross bars 103 and four first vertical bars 104, where every two first cross bars 103 and two first vertical bars 104 together form a rectangular frame;

[0065] Eight first set rods 101 and four inner rods 102, each inner rod 102 is sleeved with a first set rod 101 at both ends to form a set of telescopic rods, and the two ends of the four sets of telescopic rods are connected to two rectangular frames;

[0066] Four second vertical rods 108 are respectively fixed to the tops of the four first set rods 101 located above;

[0067] Two second cross bars 105, two ends of the second cross bars 105 are fixedly connected to two second vertical bars 108 located at the same end;

[0068] The I-shaped frame 106 has four ends slidably sleeved with second rods 107, and the four second rods 107 are respectively connected to the two ends of the two second cross bars 105;

[0069] The arrangement of the first set of rods 101 and the inner rods 102 allows the frame as a whole to be adjusted, so that the device can be suitable for pressure vessels of different sizes, which is beneficial to improving the applicability of the device. In addition, through the arrangement of the I-frame 106, the upper layer of the frame can be adjusted synchronously, thereby avoiding interference with the adjustment of the frame.

[0070] As an optional embodiment, the pulley assembly includes:

[0071] Fixed pulley 501, fixed at the bottom center of the I-shaped frame 106;

[0072] The movable pulley 502 is located below the fixed pulley 501, and the fixed pulley 501 is connected to the movable pulley 502 via a pulley group rope 503;

[0073] The first driving motor 505 is fixed to the side wall of the housing of the fixed pulley 501. The output shaft of the first driving motor 505 is fixed with a winding shaft 504. The end of the pulley group rope 503 is wound around the outside of the winding shaft 504.

[0074] A rope fixing plate 506 is fixed to the bottom of the movable pulley 502. Four corners of the rope fixing plate 506 are fixed with fixing ropes 508. The four fixing ropes 508 are connected to the X-ray machine 507 to pull the X-ray machine 507.

[0075] After the first drive motor 505 is started, the winding shaft 504 is driven to rotate through the output shaft. After the winding shaft 504 rotates, the pulley group rope 503 can be wound up. The release length of the pulley group rope 503 is adjusted by winding up the pulley group rope 503, so that the vertical position of the movable pulley 502 is adjusted by the change of the release length of the pulley group rope 503. The movable pulley 502 drives the rope fixing plate 506 to move, and the rope fixing plate 506 drives the X-ray machine 507 to move through the fixed rope 508, so that the vertical position of the X-ray machine 507 is adjusted. In addition, through the provision of the first drive motor 505, the operator does not need to make manual adjustments, so that the device can be self-adjusted, which is beneficial to improving the operating convenience of the device and improving the use efficiency of the device.

[0076] As an optional embodiment, one of the linear laser emitters 6 is fixed at the center of an inner rod 102 located above, and another linear laser emitter 6 is fixed at the center of a first crossbar 103 located above;

[0077] When the equipment is rotating, if the device deviates from the track, the intersection point of the linear laser of the linear laser emitter 6 arranged thereon deviates from the beam exit point of the radiation source, which proves that the beam has deviated from the center of the irradiated weld area and needs to be adjusted in time to achieve self-inspection of the device, ensure detection accuracy, reduce error rate, and save consumables costs.

[0078] As an optional embodiment, the universal moving assembly includes:

[0079] Four flip frames 201 are flipped and installed on the ends of the four first set of rods 101 located below and away from each other;

[0080] Four universal wheels 202 are fixedly mounted on the bottom of four turning frames 201 respectively;

[0081] Four electric push rods 203 are respectively fixedly mounted on the tops of the four first sets of rods 101 located below, and the electric push rods 203 correspond to the flip frames 201 one by one, and the telescopic rod ends of the electric push rods 203 are slidably connected to the tops of the corresponding flip frames 201;

[0082] When the frame needs to be moved and adjusted, the flip frame 201 is in the initial position. At this time, the universal wheel 202 contacts the ground to support the movement of the frame. After the frame moves to the required position, the electric push rod 203 is started. After the electric push rod 203 is started, it pushes the flip frame 201 to flip through the telescopic rod, so that the flip frame 201 drives the universal wheel 202 to flip. Since the roller of the universal wheel 202 contacts the inner wall of the pressure vessel during use, the roller rotates during the flipping of the universal wheel 202, so that when the universal wheel 202 flips, the rolling action of the roller reduces the obstruction to the flipping, thereby facilitating the flipping and closing of the universal wheel 202. After flipping, the universal wheel 202 detaches from the inner wall of the pressure vessel, so that the universal wheel 202 flips and closes, so that the frame is subsequently supported by the positioning and moving assembly.

[0083] As an optional embodiment, the directional movement component includes:

[0084] Two arc-shaped cross beams 301, each arc-shaped cross beam 301 corresponds to two first sets of rods 101 at the same end of the two inner rods 102 below, and the arc-shaped cross beam 301 is adjustable and slidably connected with the corresponding two first sets of rods 101 through grooved slideways at the bottom of both ends;

[0085] Four brackets 302, two in a group, and brackets 302 in the same group are symmetrically installed at the bottom of an arc-shaped beam 301;

[0086] Four adsorption permanent magnets 304 correspond to the brackets 302 one by one. The adsorption permanent magnets 304 are rotatably installed inside the corresponding brackets 302 through the wheel shaft. The outer ring of the adsorption permanent magnet 304 is installed with a dustproof sealing ring 303. The two sides of the adsorption permanent magnet 304 are installed with anti-corrosion magnetic steel sheets 305 through double positioning bearings 306.

[0087] By adjusting the position of the arc-shaped crossbeam 301, the position of the adsorption permanent magnet 304 can be adjusted, so that the entire device can be positioned on the inner wall of the cylinder with different inner diameters without collision. The arc of the arc-shaped crossbeam 301 provides better tolerance. After the universal moving component is flipped and closed, the magnetic wheel supports the entire frame. The magnetic wheel is composed of a wheel axle, a bracket 302, a double positioning bearing 306, an adsorption permanent magnet 304, an anti-corrosion magnetic steel sheet 305 and a dustproof sealing ring 303. The size of the magnetic wheel is 83mm in height, 50mm in diameter, and 15mm in thickness. The magnetic wheel suction is controlled at 5kg to 10kg. Since the device has a certain dead weight, when the container cylinder to be detected rotates, the device will follow a predetermined route and rely on the directional movement characteristics of the magnetic wheel to make the device move by itself without human intervention. The magnetic wheel of this device uses a rare earth magnet, so that the magnetic wheel can patrol the track and move by itself in the equipment.

[0088] As an optional embodiment, it also includes:

[0089] Four positioning cables 4, each of which corresponds to the first vertical rod 104, and both ends of the positioning cables 4 are respectively connected to the X-ray machine 507 and the corresponding first vertical rod 104;

[0090] The X-ray machine 507 is pulled by four positioning cables 4 to reduce the shaking of the X-ray machine 507 inside the frame, so that when the frame is installed inside the pressure vessel, the shaking interference of the X-ray machine 507 is reduced, thereby reducing the interference of the shaking on the detection accuracy of the X-ray machine 507.

[0091] As an optional embodiment, it also includes:

[0092] The lifting frame 7 is arranged corresponding to the first vertical rod 104 and can be adjusted to be sleeved on the outside of the corresponding first vertical rod 104;

[0093] The rope sleeve 703 is provided corresponding to the lifting frame 7 and is installed on the corresponding side wall of the lifting frame 7. A positioning ring 704 for centering the positioning cable 4 is fixed inside the rope sleeve 703;

[0094] The second drive motor 701 is arranged corresponding to the lifting frame 7 and is fixedly mounted on the side wall of the corresponding lifting frame 7. The output shaft of the second drive motor 701 is connected to a winding wheel 702. The end of the positioning cable 4 passes through the rope sleeve 703 and is wound on the surface of the winding wheel 702.

[0095] The height of the lifting frame 7 can be adjusted outside the first vertical rod 104. By adjusting the height of the lifting frame 7, the pulling angle of the rope sleeve 703 on the X-ray machine 507 is adjusted, so that the pulling force of the rope sleeve 703 on the X-ray machine 507 can not only achieve the pulling force balance in the horizontal direction, but also generate a downward pulling force on the X-ray machine 507 in the vertical direction, so that the force on the pulley assembly is not only the gravity of the X-ray machine 507 itself, thereby increasing the pulling force of the pulley assembly on the X-ray machine 507, so that the sliding assembly is pulled tight, which is conducive to reducing the shaking of the X-ray machine 507 when the frame is subjected to external force;

[0096] After the second drive motor 701 is started, the winding wheel 702 is driven to rotate through the output shaft. After the winding wheel 702 rotates, the positioning cable 4 is wound up, so that the positioning cable 4 is tightened after being wound up, which helps to avoid the situation where the X-ray machine 507 shakes due to the force on the frame when the positioning cable 4 is in a loose state, thereby helping to maintain the working stability of the X-ray machine 507.

[0097] As an optional embodiment, it also includes:

[0098] The third driving motor 801 is arranged corresponding to the lifting frame 7 and is fixed on the side wall of the lifting frame 7.

[0099] The gear 802 is arranged corresponding to the lifting frame 7 and is rotatably mounted inside the lifting frame 7;

[0100] The rack 803 is provided corresponding to the first vertical rod 104 and fixed on the side wall of the corresponding first vertical rod 104. The rack 803 is meshed with the gear 802 inside the corresponding lifting frame 7;

[0101] After the third drive motor 801 is started, it drives the gear 802 to rotate through the output shaft. The gear 802 rolls on the surface of the rack 803 through the meshing action with the rack 803, thereby driving the lifting frame 7 to slide vertically along the surface of the first vertical rod 104, thereby realizing the adjustment of the height of the lifting frame 7. The third drive motor 801 adopts a stepping motor, so that the third drive motor 801 can achieve self-locking after moving to the specified position, thereby realizing the positioning of the lifting frame 7.

[0102] As an optional embodiment, it also includes:

[0103] The collar 11 is provided corresponding to the positioning cable 4 and fixed to the end of the corresponding positioning cable 4. The collar 11 is sleeved on the outer ring of the connecting frame at the end of the X-ray machine 507.

[0104] The second pressure sensor 12 is arranged corresponding to the collar 11 and fixed inside the corresponding collar 11. When the positioning cable 4 is tightened, the second pressure sensor 12 is squeezed;

[0105] The collar 11 can be connected to the positioning cable 4 and is sleeved on the outer ring of the connecting frame at the end of the X-ray machine 507. After the positioning cable 4 is tightened, the positioning cable 4 pulls the collar 11, so that the collar 11 drives the second pressure sensor 12 to squeeze the connecting frame at the end of the X-ray machine 507, so that the second pressure sensor 12 is compressed.

[0106] As an optional embodiment, a central controller is installed on the frame, and the central controller is used to receive signals and send control information;

[0107] The operator manually inputs the standard value of the pressure information through the input end of the central controller. After detecting the pressure information, the second pressure sensor 12 sends the pressure information to the central controller. The central controller compares the received pressure information with the standard value of the pressure information. When the pressure information is less than the standard value of the pressure information, the central controller controls the second drive motor 701 to continue to start winding, thereby winding the positioning cable 4 so that the positioning cable 4 continues to be tightened until the pressure information reaches the standard value of the pressure information. At this time, the tension of the positioning cable 4 reaches the set degree, which is conducive to automatically detecting the tension of the positioning cable 4. After detecting that the tension of the positioning cable 4 reaches the set degree, the winding is stopped, which is conducive to setting the tension of the positioning cable 4 to achieve stable pulling support for the X-ray machine 507.

[0108] As an optional embodiment, it also includes:

[0109] The second rotating frame 1001 is provided corresponding to the rope sleeve 703, and the rope sleeve 703 is rotatably mounted on the side wall of the lifting frame 7 through the second rotating frame 1001;

[0110] The electric telescopic rod 901 is arranged corresponding to the lifting frame 7 and fixed on the side wall of the corresponding lifting frame 7;

[0111] A first rotating frame 902, the first rotating frame 902 includes two parts that are rotatably connected to each other, one part of the first rotating frame 902 is fixedly connected to the end of the telescopic rod of the electric telescopic rod 901, and the other part of the first rotating frame 902 is slidably connected to the side wall of the rope sleeve 703;

[0112] First pressure sensors 1002, two first pressure sensors 1002 form a group, the first pressure sensors 1002 in the same group correspond to one rope sleeve 703, and the first pressure sensors 1002 in the same group are symmetrically fixed inside the rope sleeve 703;

[0113] The radius of the passage inside the rope sleeve 703 for the positioning cable 4 to pass through is larger than the radius of the positioning cable 4;

[0114] The electric telescopic rod 901 is started by the central controller. After the electric telescopic rod 901 is started, the output shaft drives the rope sleeve 703 to flip. The rope sleeve 703 is connected to the lifting frame 7 through the second rotating frame 1001, so that the rope sleeve 703 can be flipped to adjust the angle. The telescopic rod of the electric telescopic rod 901 is connected to the rope sleeve 703 through the first rotating frame 902, so that the telescopic rod of the electric telescopic rod 901 is adapted to move through the connection with the first rotating frame 902 during the extension process. The flipping angle of the rope sleeve 703 is adjusted by controlling the extension of the telescopic rod of the electric telescopic rod 901.

[0115] By setting the flip angle of the rope sleeve 703, the positioning cable 4 passes through the rope sleeve 703 at the same angle as the rope sleeve 703, and the pulling angle of the positioning cable 4 at a certain angle is adjusted to adjust the vertical force of the positioning cable 4 during the pulling process, thereby adjusting the pulling force on the X-ray machine 507;

[0116] When the positioning cable 4 passes through the rope loop 703, if the height of the lifting frame 7 makes it difficult for the positioning cable 4 to pass through the center of the rope loop 703, the positioning cable 4 squeezes the internal channel of the rope loop 703, thereby squeezing the first pressure sensor 1002. After being compressed, the two first pressure sensors 1002 send pressure information to the central controller. When the upper first pressure sensor 1002 is compressed, the central controller controls the third drive motor 801 to start and drive the lifting frame 7 to move upward for adjustment, and vice versa, thereby adjusting the pulling angle of the positioning cable 4, thereby eliminating the need for manual adjustment by the operator, which is beneficial to improving the operational convenience of the device.

[0117] As an optional embodiment, the frame is an aluminum alloy profile, and each part of the frame is a rectangular parallelepiped profile with trapezoidal through grooves on four sides, and gaskets with threaded holes are attached in the trapezoidal through grooves, which are fastened by screwing on bolts;

[0118] The setting of the frame is conducive to improving the overall stability of the device and preventing the device from tipping over. The selection of aluminum alloy profiles makes the device lightweight, which not only meets a certain rigidity but also meets the requirements of lightweight design, thereby improving the convenience of operation.

[0119] The working principle of the present invention is as follows: the frame is generally divided into two layers, the upper and lower layers. When the device is moved, the universal moving assembly supports the frame as a whole, so that the frame as a whole can be moved in any direction, so that it can be easily moved to the position to be detected. After the device is determined to be in place, the universal moving assembly is flipped upward, so that the universal moving assembly is flipped and closed and leaves the inner wall of the container. At this time, the directional moving assembly contacts the inner wall of the container for work. Since the device has a certain dead weight, when the cylinder of the container to be detected rotates, the device will follow the predetermined route, relying on the directional moving characteristics of the directional moving assembly to ensure the self-movement of the device without human intervention.

[0120] At the same time, the linear laser emitter 6 is started, and the linear lasers emitted by the two linear laser emitters 6 intersect vertically at one point, and the intersection position of the linear lasers emitted by the two linear laser emitters 6 is controlled to be at the center of the weld length required for transillumination, and the intersection position is made to coincide with the projection of the center of the ray beam of the ray machine 507 on the weld, so as to realize positioning by the linear laser cross positioning method;

[0121] The frame has a telescopic adjustment function, which can adapt to cylinders of different diameters and facilitate weld inspection of pressure vessels of different specifications.

[0122] After the adjustment of the frame position is completed, the pulley assembly is adjusted, and the vertical position of the suspended X-ray machine 507 is adjusted through the pulley assembly, and the focal length of the X-ray machine 507 is adjusted to meet the requirements of the transillumination process. After the focal length is determined, the sliding assembly is fixed, so as to fix the position of the X-ray machine 507, so as to avoid the X-ray machine 507 swinging during the detection process, which affects the detection accuracy and endangers the safety of the equipment;

[0123] After the above operations are completed, the operator arranges the film on the outer wall of the cylinder and performs transillumination. After the transillumination is completed, the transilluminated film is taken out, the unexposed film is rearranged, the container cylinder is rotated, and the above steps are repeated until all operations are completed;

[0124] In summary, through the setting of the linear laser emitter 6 and the ray machine 507, the positioning requirements of different processes are met, the positioning accuracy of the linear laser emitter 6 and the ray machine 507 can be self-checked in time, the accuracy of ray detection is improved, the accuracy and convenience of operation are improved, and the problems of low precision of manual transillumination positioning and low detection efficiency are solved. At the same time, the safety of operation is enhanced, the probability of accidents is reduced, and the overall stability of the device is increased through the setting of the framework.

[0125] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A self-moving positioning device for radiographic inspection of pressure vessel welds, comprising a frame, characterized in that: Also includes: The frame is a retractable frame suitable for weld inspection of pressure vessels of different specifications; A closable universal moving assembly is installed at the bottom of the frame and is used to support the movement of the frame as a whole in any direction. After the frame enters the pressure vessel, the universal moving assembly is turned over and closed until it does not contact the inner wall of the pressure vessel. A directional moving assembly is adjustably installed below the frame, and after the universal moving assembly is separated from the inner wall of the pressure vessel, the directional moving assembly supports the frame to maintain directional movement on the inner wall of the pressure vessel; A pulley assembly is installed on the top of the frame and is used to suspend the X-ray machine (507) inside the frame, and the position of the X-ray machine (507) is adjusted by the pulley assembly; Two linear laser emitters (6) are mounted on the frame and are used to generate linear lasers so that the lasers form a cross point on the weld corresponding to the beam exit point of the radiation source, so as to confirm whether the radiation beam meets the requirement of uniform blackness of the radiation film.

2. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 1 is characterized in that: The framework includes: Four first cross bars (103) and four first vertical bars (104), and every two of the first cross bars (103) and two of the first vertical bars (104) together form a rectangular frame; Eight first set rods (101) and four inner rods (102), one of the first set rods (101) being respectively sleeved on both ends of each inner rod (102) to form a group of telescopic rods, and both ends of the four groups of telescopic rods are connected to two rectangular frames; Four second vertical rods (108) are respectively fixed to the tops of the four first sets of rods (101) located above; Two second cross bars (105), two ends of the second cross bars (105) being fixedly connected to two second vertical bars (108) located at the same end; The four ends of the I-shaped frame (106) are all slidably sleeved with second rods (107), and the four second rods (107) are respectively connected to the two ends of the two second cross bars (105).

3. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 2 is characterized in that: The universal moving assembly comprises: Four flip frames (201) are flipped and installed respectively on ends of the four first sets of rods (101) located below and away from each other; Four universal wheels (202) are respectively fixedly mounted on the bottoms of the four turning frames (201); Four electric push rods (203) are respectively fixedly mounted on the tops of the four first sets of rods (101) located below, the electric push rods (203) correspond to the flip frames (201) one by one, and the telescopic rod ends of the electric push rods (203) are slidably connected to the tops of the corresponding flip frames (201).

4. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 2 is characterized in that: The directional movement component comprises: Two arc-shaped cross beams (301), each of the arc-shaped cross beams (301) corresponds to two of the first sleeve rods (101) at the same end of the two inner rods (102) below, and the arc-shaped cross beam (301) is adjustable and slidably connected to the corresponding two first sleeve rods (101) through grooved slideways at the bottom of both ends; Four brackets (302), two in a group, and the brackets (302) in the same group are symmetrically installed at the bottom of one of the arc-shaped crossbeams (301); Four adsorption permanent magnets (304) correspond to the brackets (302) one by one. The adsorption permanent magnets (304) are rotatably installed inside the corresponding brackets (302) through a wheel axle. The outer ring of the adsorption permanent magnet (304) is installed with a dustproof sealing ring (303). Anti-corrosion magnetic steel sheets (305) are installed on both sides of the adsorption permanent magnet (304) through double positioning bearings (306).

5. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 2 is characterized in that: Also includes: Four positioning cables (4), each of the positioning cables (4) corresponds to the first vertical rod (104) one by one, and the two ends of the positioning cables (4) are respectively connected to the X-ray machine (507) and the corresponding first vertical rod (104).

6. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 5 is characterized in that: Also includes: A lifting frame (7), which is arranged corresponding to the first vertical rod (104) and can be adjustably sleeved on the outside of the corresponding first vertical rod (104); A rope sleeve (703) is provided corresponding to the lifting frame (7) and is installed on the corresponding side wall of the lifting frame (7). A positioning ring (704) for centering the positioning cable (4) is fixed inside the rope sleeve (703); The second drive motor (701) is arranged in correspondence with the lifting frame (7) and is fixedly mounted on the corresponding side wall of the lifting frame (7). The output shaft of the second drive motor (701) is connected to a winding wheel (702). The end of the positioning cable (4) passes through the rope sleeve (703) and is then wound around the surface of the winding wheel (702).

7. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 6 is characterized in that: Also includes: The third driving motor (801) is arranged corresponding to the lifting frame (7) and is fixed on the side wall of the lifting frame (7). A gear (802) is arranged corresponding to the lifting frame (7) and is rotatably mounted inside the lifting frame (7); The rack (803) is arranged corresponding to the first vertical rod (104) and is fixed on the side wall of the corresponding first vertical rod (104). The rack (803) is meshed with the gear (802) inside the corresponding lifting frame (7).

8. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 7 is characterized in that: Also includes: A collar (11) is arranged corresponding to the positioning cable (4) and fixed to the corresponding end of the positioning cable (4). The collar (11) is sleeved on the outer ring of the connecting frame at the end of the X-ray machine (507); The second pressure sensor (12) is arranged corresponding to the collar (11) and is fixed inside the corresponding collar (11). When the positioning cable (4) is tightened, the second pressure sensor (12) is squeezed.

9. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 8, characterized in that: Also includes: A second rotating frame (1001) is arranged corresponding to the rope sleeve (703), and the rope sleeve (703) is rotatably mounted on the side wall of the lifting frame (7) through the second rotating frame (1001); An electric telescopic rod (901) is arranged corresponding to the lifting frame (7) and fixed on the corresponding side wall of the lifting frame (7); A first rotating frame (902), the first rotating frame (902) comprising two parts rotatably connected to each other, one part of the first rotating frame (902) being fixedly connected to the end of the telescopic rod of the electric telescopic rod (901), and the other part of the first rotating frame (902) being slidably connected to the side wall of the rope sleeve (703); A first pressure sensor (1002), wherein two first pressure sensors (1002) form a group, and the first pressure sensors (1002) in the same group correspond to one rope sleeve (703), and the first pressure sensors (1002) in the same group are symmetrically fixed inside the rope sleeve (703); The radius of the passage inside the rope sleeve (703) through which the positioning cable (4) passes is greater than the radius of the positioning cable (4).

10. The self-moving positioning device for radiographic inspection of pressure vessel welds according to claim 2, characterized in that: The frame is an aluminum alloy profile, and each part of the frame is a rectangular parallelepiped profile with trapezoidal through grooves on four sides. Gaskets with threaded holes are attached in the trapezoidal through grooves and are fastened by screwing on bolts.

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