Welding seam quality and welding precision detection device for MARKIII type LNG (Liquefied Natural Gas) ship containment system

Abstract

The invention provides a MARK III type LNG ship containment system welding seam quality and welding precision detection device. The device comprises a group of steel frame structures used for fixing linear guide rails moving directionally; the guide rail system is fixed on the steel frame structure; the guide rail rotation adjusting mechanism is used for adjusting the direction of the guide rails and connecting the guide rails on the two sides; the mechanical arms are fixed on the sliding block component and used for detection, and the sliding block component is used for moving on the guide rail system; the group of ultrasonic detection devices are fixed on an end effector of the mechanical arm; through the movement of the mechanical arm at the horizontal and vertical positions of the guide rail system, the ultrasonic detection device is used for detecting complex-shaped welding seams at different positions. Through cooperative use of the guide rail system and the mechanical arm, the welding seam quality and the welding precision of the MARK III type LNG ship containment system are rapidly and accurately detected, the welding seam detection range and the operation space are increased, and the adaptability and the flexibility of welding seam detection are improved.

Description

Technical Field

[0001] The invention relates to the technical field of ship liquid cargo tank welding quality inspection, welding automatic scanning detection and data processing, and in particular to a device for detecting weld quality and welding accuracy of a MARK III type LNG ship containment system. Background Art

[0002] For the liquid cargo tank containment system of large LNG ships, ultra-low temperature materials need to meet a variety of complex requirements. These requirements include but are not limited to: low thermal conductivity, low density, strong antifreeze, sufficient strength, and durable and easy to construct characteristics. At present, the cryogenic materials mentioned in the application cases are mainly 9% Ni steel, 304L stainless steel and Ni36 Invar alloy. In the large LNG cargo containment system, the MARK III membrane containment system has a lower cargo evaporation rate and uses more convenient construction insulation boards and corrugated board types, which is more superior. The Mark III membrane containment system is a non-self-supporting liquid cargo tank system: the main barrier wall uses a 1.2 mm thick 304L stainless steel film with grooved ribs, the secondary barrier wall is a three-in-one sheet consisting of two layers of fiberglass cloth and one layer of aluminum foil, and the insulation material is reinforced polyurethane foam.

[0003] 304L stainless steel is a special stainless steel. Because it exhibits an austenitic structure at room temperature, it will not show obvious plastic-brittle fracture transition in low-temperature environment, and can still maintain good plasticity and toughness. It is widely used in industries such as ships. However, during the welding process, due to local heating and cooling conditions, large tensile stress may be generated in the welded joint. At the same time, 304L stainless steel is prone to form a columnar crystal weld structure with strong directionality, which may cause welding solidification cracks. For the MARK III membrane-type LNG ship, the quality and accuracy of the weld are crucial and related to the safety of liquid cargo. Any welding problems may lead to leakage and safety accidents, resulting in huge economic losses. Therefore, ensuring the quality and accuracy of welds under ultra-low temperature conditions is an important challenge at present.

[0004] In the construction process of MARK III membrane LNG ship, in order to ensure the welding quality, non-destructive testing is required after welding is completed, aiming to find and ensure that the welding quality and welding accuracy of the weld meet the requirements. It usually adopts ultrasonic testing (UT), radiographic testing (RT), color testing (PT) and magnetic particle testing (MT). UT and RT are used to deeply detect internal defects of welds, while PT and MT focus on surface or near-surface defects. These methods ensure the quality and accuracy of welds and improve the safety and reliability of ships.

[0005] However, for membrane-type LNG carriers, since they need to meet the storage and transportation of liquid cargo tanks under extreme low temperature conditions, their construction process places higher requirements on the welds in the tank area. If the welds have insufficient low-temperature impact toughness and plasticity, or there are tiny cracks, injuries that are difficult to see with the naked eye, and precision deviations, the problems will be exacerbated in extremely low temperature environments, which may cause ruptures or leaks, affecting transportation safety. Therefore, it is very important to ensure the toughness and plasticity of the tank welds at low temperatures, while avoiding tiny cracks and injuries to improve the accuracy and reliability of weld detection. Weld detection in the tank area of ​​LNG ships currently faces multiple challenges: complex structures, diverse weld types, special environmental requirements, and construction cycle restrictions. Some welds are located in difficult-to-reach locations, requiring special equipment and processes, and traditional methods are not applicable. In addition, special equipment such as low-temperature probes and high-pressure sensors must be selected to ensure high accuracy and reliability. In order to solve the problem of excessive detection time consumption, advanced detection technology and equipment should be used, and appropriate solutions should be formulated in combination with actual conditions.

[0006] Although researchers have proposed weld detection schemes, these schemes still have some problems in the actual application of MARK III LNG ships. Most of the inspections are done manually. For example, when inspecting the welding status, the operator uses the naked eye to inspect whether there is any abnormality in the shape or length of the weld, which is time-consuming and affected by human factors, and the credibility of the results is questionable. Or using manpower to carry the detection equipment is also time-consuming and labor-intensive, and the accuracy is insufficient. In addition, the weld structure of the MARK III LNG ship liquid tank is complex, involving multi-layer welding, cross welds, etc., which requires special methods and equipment to deal with. At the same time, special materials such as low-temperature steel require extremely high weld quality, and minor defects may affect the safety and integrity of the hull, so the detection needs to be highly sensitive and accurate. Therefore, the weld quality and welding accuracy detection of the MARK III LNG ship containment system requires the development of efficient and accurate detection devices to improve the level of automation and enhance adaptability, flexibility and safety.

[0007] Among the existing patent technologies, patent CN 115265942 A discloses a detection device and method for detecting the welding quality of the corrugated plate of LNG membrane tanks using a special gas combined with a detection solution. The invention uses detection gas to fill the closed cavity between the corrugated plate and the concrete layer, and uses the principle that the color change can be produced after the detection gas and the detection solution react in contact to show the location of the leak point on the corrugated plate. However, this method is limited in that it can only detect the leak points that have been formed, and cannot detect minor defects, and has weak adaptability to complex weld structures.

[0008] For example, patent CN 116539645 A introduces a method for inspecting the welding quality of a ship's liquid cargo tank. This method classifies and numbers the welds, sets welding witness plates at the same welds, and uses the same welding method as the weld to be inspected for welding. After completion, RT flaw detection is performed, and then the witness plate of a preset length is cut off, and impact tests and cold bending tests are performed on the weld center and the welding heat-affected zone to inspect the low-temperature impact and plasticity of the weld. However, this method is cumbersome to operate manually, requires many repetitions, and there is randomness in the inspection process, which may affect the accuracy of the results. Summary of the invention

[0009] In view of the deficiencies in the prior art, the present invention provides a device for detecting the weld quality and welding accuracy of a MARK III type LNG ship containment system, aiming to solve the difficulty in detecting the weld quality and welding accuracy of welds of various complex shapes of corrugated plates of the MARK III type LNG ship containment system, improve the detection efficiency, accuracy and stability, enhance the adaptability and flexibility, and at the same time improve the safety and reliability of the detection.

[0010] The present invention achieves the above technical objectives through the following technical means.

[0011] A device for detecting the weld quality and welding accuracy of a MARK III LNG ship containment system comprises: a steel frame structure for fixing a linear guide rail for directional movement; a guide rail system fixed on the steel frame structure; a guide rail rotation adjustment mechanism for adjusting the guide rail direction and connecting the guide rails on both sides; a mechanical arm for detection fixed on a slider member, wherein the slider member is used to move on the guide rail system; an ultrasonic detection device fixed on an end effector of the mechanical arm; by moving the mechanical arm in the horizontal and vertical positions of the guide rail system, the range of motion and the operating space of the mechanical arm are increased, and at the same time, the mechanical arm itself can move in different degrees of freedom and angles, so that the ultrasonic detection device can detect welds of complex shapes at different positions.

[0012] Furthermore, the steel frame structure includes channel steels, I-beams, connecting reinforcement devices and anti-skid support pads; the channel steels are used to construct a moving bracket of a horizontal steel frame; the two ends of the channel steels are respectively connected to I-beams to form a complete steel frame structure; the connecting reinforcement devices are used to reinforce the joints between the channel steels and the joints between the channel steels and the I-beams; anti-skid support pads are installed at the bottom of the I-beams, and the anti-skid support pads are mainly used to increase the contact area, reduce the pressure on the ground or the corrugated plate being tested, and avoid affecting the structure; at the same time, the anti-skid support pads can be installed on the ground guide rails to cooperate in realizing the horizontal movement of the weld quality and welding accuracy detection device of the MARKⅢ type LNG ship containment system.

[0013] Furthermore, the guide rail system is arranged on the inner side of the steel frame structure, and the guide rail system includes several groups of guide rails, any group of guide rails includes a horizontal linear guide rail and a vertical linear guide rail, one end of the horizontal linear guide rail is provided with a curved guide rail, and the curved guide rail is connected to one side of the vertical linear guide rail; the sliding block component can move on any group of guide rails.

[0014] Furthermore, the guide rail rotation adjustment mechanism is installed at the center of the steel frame structure, and several groups of guide rails in the guide rail system are evenly distributed around the guide rail rotation adjustment mechanism. The guide rail rotation adjustment mechanism is used to transfer the slider components on any group of guide rails to another group of guide rails at different angles.

[0015] Furthermore, the guide rail rotation adjustment mechanism includes a slewing mechanism, a locking device, a driving unit and a rotation angle controller; the fixed end of the slewing mechanism is installed on the steel frame structure, the slewing mechanism is provided with a rotatable shunting turntable, the slewing mechanism is connected to the driving unit, and is used to drive the shunting turntable to rotate; a shunting rail is installed at the bottom of the shunting turntable, and the locking device is located on the fixed end of the slewing mechanism, and is used to lock the shunting turntable; the rotation angle controller is used to control the rotation angle of the shunting turntable; docking devices are respectively provided at both ends of the shunting rail, and the shunting rail is docked with any group of guide rails in the guide rail system according to the instructions of the rotation angle controller, thereby achieving the purpose of changing the motion trajectory.

[0016] Furthermore, the ultrasonic detection device includes a mechanical scanning device, an ultrasonic generator, a probe and a signal processing system; the mechanical scanning device is installed on the end effector of the mechanical arm, and is used to drive the probe to automatically detect the weld; the ultrasonic generator is arranged outside the mechanical scanning device, and is used to generate and control ultrasonic waves; the probe guides ultrasonic waves into the weld and receives echo signals; the signal processing system is built into the mechanical scanning device, and is used to process and analyze the echo signals received by the probe.

[0017] Furthermore, the ultrasonic detection device also includes an end device, which is installed outside the mechanical scanning device and is a weld measurement sensor or a welding device.

[0018] The beneficial effects of the present invention are:

[0019] 1. The MARKⅢ type LNG ship containment system weld quality and welding accuracy detection device described in the present invention increases the range of motion and operating space of the robotic arm by moving the robotic arm in the horizontal and vertical positions of the guide rail system. The robotic arm can quickly and accurately complete the scanning and detection of the welds of the MARKⅢ type LNG ship containment system, reducing the required time and labor costs, and significantly improving the detection efficiency. Secondly, ultrasonic detection itself has high sensitivity and accuracy, and the ultrasonic device controlled by the robotic arm further improves the accuracy and stability, ensuring that the probe scans the weld at a constant speed and distance, thereby obtaining more accurate detection results.

[0020] 2. The MARK III LNG ship containment system weld quality and welding accuracy detection device described in the present invention, when performing the MARK III LNG ship containment system weld quality and welding accuracy detection, the robotic arm can change its position through the guide rail slider, and there is no need to frequently change the base position of the robotic arm, thereby increasing the range of motion and operating space of the robotic arm. At the same time, since the robotic arm can be operated at different positions and angles, it is possible to conveniently detect welds of various complex shapes to meet the needs of different application scenarios. In addition, the detection device of the present invention can be used in conjunction with the anti-slip support pads on the steel frame structure and the guide rail system of any plane to further expand the detection range of the weld quality and welding accuracy detection device, while also having better adaptability and flexibility.

[0021] 3. The MARK III LNG ship containment system weld quality and welding accuracy detection device described in the present invention uses the robotic arm on the guide rail system to control the ultrasonic detection device to continuously and stably perform detection, ensuring that the detection results are accurate and reliable. At the same time, the end effector of the robotic arm can replace the ultrasonic detection device with a spray gun, welding gun, etc. according to the application scenario to perform welding or repair operations. Alternatively, the end device of the ultrasonic detection device is equipped with miniaturized equipment and a laser sensing system to adapt to more sophisticated operations and improve production efficiency and welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For ordinary technicians in this field, it is obvious that other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a structural schematic diagram of the device for detecting weld quality and welding accuracy of the MARK III type LNG ship containment system according to the present invention.

[0024] Figure 2 This is a schematic diagram of the corrugated plate structure of the present invention.

[0025] Figure 3 It is a three-dimensional schematic diagram of the steel frame structure described in the present invention.

[0026] Figure 4 It is a schematic diagram of the horizontal guide rail arrangement structure described in the present invention.

[0027] Figure 5 It is a three-dimensional schematic diagram of the guide rail rotation adjustment mechanism described in the present invention.

[0028] Figure 6 It is a three-dimensional structural diagram of the mechanical arm component described in the present invention.

[0029] Figure 7 It is a three-dimensional structural diagram of the ultrasonic weld detection mechanism described in the present invention.

[0030] In the figure:

[0031] 1-corrugated plate structure; 101-weld; 2-steel frame structure; 201-channel steel; 202-I-beam; 203-connection reinforcement device; 204-anti-slip bearing pad; 3-horizontal linear guide: 301-curved guide; 4-vertical linear guide; 5-guide rail rotation adjustment mechanism; 501-rotating guide rail segment; 502-rotating channel steel segment; 503-locking device; 504-threaded hole; 506-shunting turntable; 507-motor and gear transmission Structure; 508-rotation angle controller; 6-slider component; 7-mechanical arm; 701-base and fuselage; 702-connecting rod; 703-rotation joint; 704-movement joint; 705-driving system, 706-control system; 707-sensing system; 708-end effector; 8-ultrasonic detection device; 801-mechanical scanning device; 802-ultrasonic transmitting device; 803-probe; 804-signal processing system; 805-end device. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" 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" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection 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.

[0035] like Figure 1 and Figure 2 As shown, the device for detecting weld quality and welding accuracy of the containment system of a MARKⅢ LNG ship of the present invention comprises a steel frame structure 2 for supporting linear guide rails installed around a corrugated plate structure 1; a guide rail system fixed on the steel frame structure 2, wherein the guide rail system comprises a plurality of guide rails, each guide rail comprising a horizontal linear guide rail 3 and a vertical linear guide rail 4; a guide rail rotation adjustment mechanism 5 for adjusting the direction of the guide rails and connecting the guide rails on both sides; a mechanical arm 7 for detection fixed on a slider member 6, wherein the slider member 6 is used to move on the guide rail system; an ultrasonic detection device 8 fixed on the end effector of the mechanical arm 7, wherein the ultrasonic detection device 8 detects welds of complex shapes at different positions by moving the mechanical arm 7 in the horizontal and vertical positions of the guide rail system and cooperating with the mechanical arm 7 itself to move in different degrees of freedom and angles.

[0036] like Figure 3As shown, the steel frame structure 2 installed around the corrugated plate structure 1 of the LNG ship tank for fixing the linear guide rail for directional movement includes a channel steel 201, an I-beam 202, a connection reinforcement device 203 and an anti-slip support pad 204. The channel steel 201 is mainly used to construct a horizontal steel frame as a moving bracket for the horizontal linear guide 3; the I-beam 202 is connected to the horizontal channel steel by welding to form a complete steel frame structure 2, which is used to construct a vertical steel frame as a moving bracket for the vertical linear guide 4 and a support for the entire system device; the horizontality and verticality of the steel frame system 2 must be ensured during the welding process; the connection reinforcement device 203 is connected to the channel steel 201 and the I-beam 202 on both sides of the symmetrically connected weld by bolts, which is used to reinforce the weld at the connection between the channel steel 201 and the I-beam 202, and reduce the influence of the stress generated when the slider member 6 moves on the guide rail on the overall stability of the device; the anti-skid support gasket 204 is welded to the bottom of the I-beam 202 by multi-spot welding, mainly to increase the contact area, reduce the pressure on the ground or the corrugated plate to be tested, and avoid affecting the structure; at the same time, the anti-skid support gasket 204 has a threaded hole, which can be installed on the ground guide rail slider to cooperate to realize the horizontal position movement of the weld quality and welding accuracy detection device of the MARKⅢ type LNG ship containment system.

[0037] In the embodiment, a plurality of channel steels 201 form a square outline, and the channel steels 201 are spliced ​​into a M-shaped structure within the square outline, so as to form a motion bracket of the horizontal linear guide rail 3, and the adjacent channel steels 201 are connected at the joints by a connecting reinforcement device 203; a plurality of I-beams 202 are installed on the square outline, and the I-beams 202 and the channel steels 201 are connected at the joints by the connecting reinforcement device 203. An anti-slip support pad 204 is installed at the bottom of the I-beam 202.

[0038] like Figure 4As shown, the guide rail system is arranged inside the steel frame structure 2, and the guide rail system includes several groups of guide rails, and any group of guide rails includes a horizontal linear guide rail 3 and a vertical linear guide rail 4. The horizontal linear guide rail 3 is located inside the groove of the channel steel 201, and the threaded holes of the horizontal guide rail 3 correspond to the threaded holes of the channel steel one by one. The bolts are inserted symmetrically, and the ends of the bolts are fixed with nuts and anti-drop structures; one end of the horizontal linear guide rail 3 is provided with a curved guide rail 301, and the curved guide rail 301 is connected to one side of the vertical linear guide rail 4; the vertical linear guide rail 4 is located in the groove on the inner side of the I-beam 202 and is fixed in the same threaded connection method. The slider member 6 can move on any group of guide rails. Both ends of the curved guide rail 301 are connected to the horizontal linear guide rail 3 and the vertical linear guide rail 4 by threaded connection, and the structural strength of the connection area of ​​the three is reinforced by a connection reinforcement device 203; the reference surface of the slider member 6 is installed on any mounting surface of the vertical linear guide rail 4 or the horizontal linear guide rail 3 to ensure that the slider member 6 is tightly fitted to the guide rail mounting surface, and the guide rail and the slider member are fixed on the mounting surface using fixing screws to ensure that the fixing screws are tightened; the slider member 6 includes a guide frame and a rolling element, so that the slider member 6 can perform linear motion on the vertical linear guide rail 4 and the horizontal linear guide rail 3; the slider member 6 is usually equipped with a ball roller inside to reduce the friction between the slider and the guide rail and improve the movement accuracy and stability.

[0039] like Figure 5 As shown, the guide rail rotation adjustment mechanism 5 is installed at the center of the steel frame structure 2, and several groups of guide rails are evenly distributed around the guide rail rotation adjustment mechanism 5. The guide rail rotation adjustment mechanism 5 is used to transfer the slider components 6 on any group of guide rails to another group of guide rails at different angles, thereby achieving the purpose of changing the motion trajectory, improving the detection efficiency, and expanding the detection range.

[0040] The guide rail rotation adjustment mechanism 5 includes a slewing mechanism, a locking device 503, a driving unit and a rotation angle controller 508; the fixed end of the slewing mechanism is installed on the steel frame structure 2, and the slewing mechanism has a rotatable shunting turntable 506, and the slewing mechanism is connected to the driving unit to drive the shunting turntable 506 to rotate; the driving unit is a motor and a gear transmission mechanism 507, including a motor, a reducer, a coupling, a driving gear, etc.; the shunting track is installed at the bottom of the shunting turntable 506, and the rotating guide rail segment 501 and the rotating channel steel segment 502 are fixed on the shunting turntable 506 by threads, thereby forming a shunting track. The shunting track and the horizontal linear guide 3 are located at the same horizontal position. The locking device 503 is located on the fixed end of the slewing mechanism and is used to lock the shunting turntable 506; the rotation angle controller 508 is used to control the rotation angle of the shunting turntable 506; the threaded holes 504 at both ends of the shunting rail are respectively installed with docking devices, and the shunting rail is docked with any set of guide rails in the guide rail system according to the instructions of the rotation angle controller 508.

[0041] The working steps of the guide rail rotation adjustment mechanism 5 are as follows: the computer terminal plans the motion trajectory of the slider mechanism 6 according to the position of the weld detection, and issues a shunting and track change command. The slider mechanism 6 quickly slides onto the shunting track and is ready for track change. The rotation angle controller 508 receives the command and controls the locking device 503 to unlock, so that the shunting turntable 506 can rotate. At the same time, the docking device puts the shunting track and the horizontal linear guide 3 in a disconnected state. At this time, the motor and gear transmission mechanism 507 rotate the shunting turntable 506 to the corresponding guide rail position according to the planned angle. When the rotation angle controller 508 detects that the rotation angle is consistent with the planned angle, the docking device connects the shunting track with the corresponding horizontal linear guide 3, and the locking device 503 fixes the shunting turntable 506.

[0042] like Figure 6As shown, the robotic arm 7 fixed on the slider component 6 for detecting welds is a multi-joint robot system, whose structure mainly includes a base and body 701, a connecting rod 702, a rotating joint 703, a moving joint 704, a driving system 705, a control system 706, a perception system 707 and an end effector 708. The base and fuselage 701 are the fixed parts of the robot arm, which are fixed to the slider mechanism 6 with bolts or expansion tubes to provide support for the entire robot arm; the base and fuselage 701 are usually designed as rigid bodies, which are the connecting parts between the base and the joints, and are the supporting skeleton of the entire robot arm. They are connected to the base and the joints with bolts, which not only ensures the stability and accuracy of the robot arm, but also facilitates the disassembly and installation of related structures; the rotating joint 703 and the moving joint 704 connect the adjacent connecting rods 702 and the fuselage 701 to form the robot arm body, so that the robot arm can complete various complex movements; the connecting rod 702 is responsible for connecting adjacent joints and transmitting movement from one joint to another; the driving system 705 is driven by a motor, and follows the principle of proximity, and the driving device is installed at the joint of the robot arm with bolts; the performance of the control system 706 directly affects the mobility of the robot arm In order to improve performance, stability and accuracy, the control system usually consists of two parts: hardware and software. The hardware part includes controllers, drivers, sensors, etc., which are arranged in the arm body of the robot. The software part includes control algorithms, motion planning algorithms, etc., which are installed on the computer. The perception system 707 obtains the state information of the robot itself and the perception data of the external environment through various sensors, providing an important basis for subsequent decision-making and control. The end effector 708 is the part of the robot 7 that directly interacts with the environment. According to actual needs, the end effector 708 of the robot is fixed with bolts and installed at the end of the robot 7. The end effector 708 of the robot is combined with the ultrasonic detection device 8 through a threaded connection. The end effector of the robot can be changed according to actual needs to add a welding gun, a laser positioning system, or replace it with other more accurate detection mechanisms according to the form of the weld.

[0043] like Figure 7As shown, the ultrasonic detection device 8 includes a mechanical scanning device 801, an ultrasonic generator 802, a probe 803, a signal processing system 804 and an end device 805. The mechanical scanning device 801 is arranged on the end effector 708 of the mechanical arm 7, and is used to drive the probe to automatically detect the weld, thereby improving the detection efficiency and quality; the end effector 708 is designed in the style of a mechanical claw, and threaded holes are provided at the corresponding positions of the mechanical claw and the mechanical scanning device 801, and the end effector 708 of the mechanical arm is fixed by a slot fixing method, and is detachable; the ultrasonic transmitter 802 is arranged on one side of the mechanical scanning device 801 for detecting the weld, and regulates the ultrasonic parameters and provides energy for the probe; the probe 803 is a low-temperature probe, which is located near the transmitter, and is used to introduce ultrasonic waves into the weld and receive echo signals; the signal processing system 804 is built into the mechanical scanning device 801, processes and analyzes the echo signals, and extracts the weld quality and welding precision information; at the same time, it cooperates with the display and recording equipment to display the processed signals in the form of images or data, which is convenient for the operator to analyze and judge.

[0044] The end device 805 of the ultrasonic detection device 8 is a supporting and mounting mechanism of a certain length that is threadedly mounted on the side wall of the mechanical scanning device 801. The mechanism can be equipped with a welding gun and other devices for welding and weld defect repair operations, and a laser sensing system to ensure the straightness and angle of the weld, or a miniature ultrasonic detection device for more subtle and complex weld detection.

[0045] According to the position of the weld 101 of the existing corrugated plate 1, the computer terminal plans the appropriate movement path of the slider mechanism 6 and the mechanical arm 7. After the signal receiver receives the signal, the slider mechanism 6 drives the mechanical arm 7 and the ultrasonic detection device 8 to realize the seamless connection movement of the guide rails in different directions through the horizontal linear guide rail 3 and the vertical linear guide rail 4 in cooperation with the guide rail rotation adjustment mechanism 5. At the same time, the control system 706 in the mechanical arm 7 receives the computer terminal instruction and converts it into the action instruction of the mechanical arm 7. The actuators such as the drive system 705, the connecting rod 702, the rotating joint 703, etc. perform the movement according to the instruction. The motor provides power, the reducer increases the torque, and the transmission mechanism transmits power to each part of the mechanical arm, thereby driving the mechanical arm 7 to drive the ultrasonic detection device 8 to complete the relevant weld detection operation. During this process, when the mechanical arm 7 drives the ultrasonic detection device 8 to approach the weld 101, the mechanical scanning device 801, the ultrasonic generator 802, and the probe 803 are started, and the signal processing system 804 starts to work; when the equipment leaves the weld area, these equipments automatically stop and wait.

[0046] The computer monitors and adjusts the torque, position, speed and other parameters of the manipulator in real time to achieve multi-axis synchronous coordinated control and ensure motion accuracy and stability. During the entire motion process, the control system 706 control system continuously receives feedback from equipment such as the inertial measurement unit, evaluates the state of the manipulator, and makes timely adjustments when deviations occur to ensure accurate execution of the weld inspection task of the MARK III LNG ship containment system.

[0047] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0048] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for detecting weld quality and welding accuracy of a MARK III LNG ship containment system, characterized in that: include: A set of steel frame structures (2) for fixing the linear guide rails for directional movement; A rail system fixed to the steel frame structure; A set of guide rail rotation adjustment mechanisms (5) for adjusting the direction of the guide rails and connecting the guide rails on both sides; A set of mechanical arms (7) for detection fixed on a slider member (6), wherein the slider member (6) is used to move on a guide rail system; A set of ultrasonic detection devices (8) fixed on the end effector of the mechanical arm (7); By moving the mechanical arm (7) in the horizontal and vertical positions of the guide rail system, and cooperating with the mechanical arm (7) itself to move in different degrees of freedom and angles, the ultrasonic detection device (8) is used to detect welds of complex shapes at different positions.

2. According to claim 1, the device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system is characterized in that: The steel frame structure (2) comprises a channel steel (201), an I-beam (202), a connection reinforcement device (203) and an anti-slip support pad (204); the channel steel (201) is used to construct a motion support of a horizontal steel frame; the two ends of the channel steel (201) are respectively connected to the I-beam (202) to form a complete steel frame structure; the connection reinforcement device (203) is used to reinforce the joints between the channel steel (201) and the channel steel (201) and the joints between the channel steel (201) and the I-beam (202); and the anti-slip support pad (204) is installed at the bottom of the I-beam (202).

3. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 1 is characterized in that: The guide rail system is arranged on the inner side of the steel frame structure (2), and comprises a plurality of guide rail groups, wherein any one of the guide rail groups comprises a horizontal linear guide rail (3) and a vertical linear guide rail (4), wherein one end of the horizontal linear guide rail (3) is provided with a curved guide rail (301), and the curved guide rail (301) is connected to one side of the vertical linear guide rail (4); the slider member (6) can move on any one of the guide rail groups.

4. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 3 is characterized in that: The connection between the curved guide rail (301) and the horizontal linear guide rail (3) and the vertical linear guide rail (4) is reinforced by a connection reinforcement device (203).

5. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 1 is characterized in that: The guide rail rotation adjustment mechanism (5) is installed at the center of the steel frame structure (2), and the plurality of guide rails in the guide rail system are evenly distributed around the guide rail rotation adjustment mechanism (5). The guide rail rotation adjustment mechanism (5) is used to transfer the slider components (6) on any one group of guide rails to another group of guide rails at a different angle.

6. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 5 is characterized in that: The guide rail rotation adjustment mechanism (5) comprises a slewing mechanism, a locking device (503), a driving unit and a rotation angle controller (508); the fixed end of the slewing mechanism is mounted on the steel frame structure (2); the slewing mechanism is provided with a rotatable shunting turntable (506); the slewing mechanism is connected to the driving unit and is used to drive the shunting turntable (506) to rotate; a shunting rail is installed at the bottom of the shunting turntable (506); the locking device (503) is located on the fixed end of the slewing mechanism and is used to lock the shunting turntable (506); the rotation angle controller (508) is used to control the rotation angle of the shunting turntable (506); docking devices are respectively provided at both ends of the shunting rail, and the shunting rail is docked with any group of guide rails in the guide rail system according to the instructions of the rotation angle controller (508).

7. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 5 is characterized in that: The ultrasonic detection device (8) comprises a mechanical scanning device (801), an ultrasonic generator (802), a probe (803) and a signal processing system (804); the mechanical scanning device (801) is installed on the end effector of the mechanical arm (7) and is used to drive the probe to automatically detect the weld; the ultrasonic generator (802) is arranged outside the mechanical scanning device (801) and is used to generate and control ultrasonic waves; the probe (803) guides ultrasonic waves into the weld and receives echo signals; the signal processing system (804) is built into the mechanical scanning device (801) and is used to process and analyze the echo signals received by the probe (803).

8. The device for detecting weld quality and welding accuracy of the MARK III LNG ship containment system according to claim 7 is characterized in that: The ultrasonic detection device (8) further comprises an end device (805), wherein the end device (805) is installed outside the mechanical scanning device (801), and the end device (805) is a weld measurement sensor or a welding repair device.

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