Ultra-large LNG low-temperature storage tank welding seam and ground deviation angle quality detector

Abstract

The invention relates to the field of low-temperature storage tank weld joint quality detectors, in particular to an ultra-large LNG low-temperature storage tank weld joint and ground deviation angle quality detector. A tank seam detection trolley is arranged on the storage tank wall and comprises a horizontal walking module, and an imaging plate vertical walking module and an X-ray machine vertical walking module are arranged on the two sides of the horizontal walking module; a ground deviation angle detection module is arranged on the bottom side of a main vehicle side plate, a two-way lead screw is arranged in the base, sliding blocks on the two sides move mutually through rotation of the two-way lead screw, a fixing plate and an adjusting plate are connected through a lifting rod, and an infrared transmitter and a processing module are arranged on the adjusting plate. The infrared emitter emits infrared laser to irradiate on the ground, the infrared laser irradiates on the ground and is reflected back to the infrared receiver in the processing module, the processing module calculates the internal and external height distance according to the reflected time, and then the deviation angle of the storage tank wall to the ground is obtained according to the internal and external height distance.

Description

Technical Field

[0001] The invention relates to the field of cryogenic storage tank weld quality detectors, and in particular to a weld and ground deviation angle quality detector for an ultra-large LNG cryogenic storage tank. Background Art

[0002] Ultra-large LNG cryogenic storage tanks are equipment specially used to store liquefied natural gas (LNG). Their design and manufacturing require highly specialized technologies and materials. Ultra-large LNG cryogenic storage tanks usually adopt a double-layer vacuum structure. The inner liner is used to store low-temperature liquid LNG, and pearl sand or vacuum winding is filled between the inner and outer layers to achieve insulation effect.

[0003] The welding of ultra-large LNG cryogenic storage tanks is a key link in the construction process of storage tanks. Its welding quality and process directly affect the safety and service life of the storage tanks. When welding the storage tank, metal welding plates are welded to each other to form a layer of storage tanks, and then welded upward layer by layer to form a whole storage tank.

[0004] However, in some coastal areas, such as Jiangsu and Zhejiang, super-large LNG cryogenic storage tanks are generally built close to the sea, and the surface sand layer in this area is prone to settlement. Because the construction area of ​​the tank is large, as the tank is erected layer by layer, and the overall weight of the tank increases, the deviation angle between the tank wall and the ground will not be completely vertical. There is a deviation angle between the metal welding plate and the ground, especially at the bottom. If the inspection is not timely, as the layer by layer is built upward, it is easy to cause damage to the entire tank body or serious consequences, or require large-scale repairs. The existing inspection equipment for the welds at the welding points of the tank does not have this function, and inspection is required only after completion, which is time-consuming and labor-intensive, and it is impossible to detect problems and provide feedback in time.

[0005] Therefore, it is particularly important to design a super-large LNG cryogenic tank weld and ground deviation angle quality detector that can detect the longitudinal or annular conditions of the tank weld, as well as the deviation angle between the tank surface and the ground, and can quickly alert the backstage staff. Summary of the invention

[0006] The present application provides a super-large LNG cryogenic storage tank weld and ground deviation angle quality detector, which adopts the following technical solution: A super-large LNG cryogenic storage tank weld and ground deviation angle quality detector, a tank seam detection trolley is arranged on the tank wall, the tank seam detection trolley comprises a horizontal walking module, and imaging plate vertical walking modules and X-ray machine vertical walking modules are arranged on both sides of the horizontal walking module; a main vehicle side panel is arranged on the horizontal walking module, and side panel cameras are arranged on both sides of the main vehicle side panel, and a ground deviation angle detection module is arranged on the bottom side of the main vehicle side panel, and a base is arranged on the ground deviation angle detection module, a notch is opened in the middle part of the base, a bidirectional screw rod is arranged in the notch, the spiral patterns at both ends of the bidirectional screw rod are opposite, the bidirectional screw rod is rotated in the notch by a motor, and there are A sliding block is provided with an internal thread matching the two ends of a bidirectional lead screw. The sliding blocks on both sides are moved closer to and farther from each other by rotating the bidirectional lead screw. A fixed plate and an adjusting plate are provided on the sliding block. The fixed plate and the adjusting plate are connected by a lifting rod. A horizontal sensor is provided on the adjusting plate. An infrared transmitter and a processing module are provided on the adjusting plate. An infrared receiver is also provided in the processing module. The infrared transmitter emits an infrared laser to illuminate the ground. The infrared laser is reflected on the ground and is reflected back to the infrared receiver in the processing module. The processing module calculates the height distance between the inside and the outside according to the time of reflection. Then, the deviation angle of the tank wall to the ground is calculated according to the height distance between the inside and the outside.

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

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

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

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

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

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

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

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

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: a ray module and an imaging module are provided on the tank seam detection trolley, through which the position of the tank weld can be detected, and the detection range realizes annular detection and longitudinal detection, thereby improving the detection efficiency, and at the same time, the detection accuracy is improved by using the digital ray detection method.

[0016] A deviation detection module is provided on the inspection trolley, which can detect the deviation angle of the tank wall and the ground while inspecting the weld. When the deviation angle exceeds the set value, the background staff will be immediately reminded. The design of this device solves the problem of the deviation angle of the tank to the ground in some coastal areas where the surface is prone to subsidence, and the staff can make a comprehensive response immediately.

[0017] This device can detect the deviation angle of the storage tank to the ground layer by layer, and can promptly notify the background workers of any existing problems for on-site processing, so that inspections can be carried out immediately. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0020] Figure 2 It is a front view of the storage tank weld detector of the present invention.

[0021] Figure 3 It is a schematic diagram of the overall structure of the laser detector of the present invention.

[0022] Figure 4 It is the overall structural diagram of the horizontal walking module of the present invention.

[0023] Figure 5 This is a structural diagram of the horizontal walking module of the present invention from another perspective.

[0024] Figure 6 It is a schematic diagram of the side camera of the horizontal walking module of the present invention.

[0025] Figure 7 It is a schematic diagram of the overall structure of the imaging plate vertical travel module of the present invention.

[0026] Figure 8It is a schematic diagram of the overall structure of the vertical travel module of the ray machine of the present invention.

[0027] Fig. 9 It is a schematic diagram of the top structure of the imaging plate vertical travel module of the present invention.

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

[0029] Fig.11 It is a demonstration diagram of the tensioning structure on the vertical travel module of the imaging plate of the present invention.

[0030] Fig.12 It is a stereogram of the imaging plate of the present invention.

[0031] Fig.13 This is a diagram showing the use status of the imaging plate of the present invention.

[0032] Fig.14 It is a schematic diagram of the back of the imaging plate of the present invention.

[0033] Fig.15 It is a structural diagram of the imaging plate rear seat of the present invention.

[0034] Fig.16 It is a schematic diagram of the overall structure of the ray machine of the present invention.

[0035] Fig.17 It is a schematic diagram of the back structure of the ray machine of the present invention.

[0036] Fig.18 It is a schematic diagram of the pulley block structure of the present invention.

[0037] Fig.19 It is a schematic diagram of the structure of the ground deviation angle detection module of the present invention.

[0038] Fig. 20 It is a front view of the ground deviation angle detection module of the present invention.

[0039] Fig.21 It is a bottom view of the ground deviation angle detection module of the present invention.

[0040] In the figure: 1-tank wall, 2-horizontal walking module, 201-main vehicle side panel, 202-support frame connecting rod clamp, 203-adjusting wheel, 204-support ball, 205-adjusting hand wheel, 206-main vehicle reducer, 207-main vehicle servo motor, 208-roller, 209-electrical box, 210-side panel camera, 211-side camera, 3-imaging board vertical walking module, 301-imaging board bracket, 302-hook plate, 303-imaging board bracket electrical housing, 304-fall arrester, 30 5- fall arrester bracket, 306- reducer, 307- worm spindle, 308- servo motor, 309- track, 310- driving sprocket, 311- bracket bearing seat, 312- tensioning device pull rod, 313- tensioning device nut, 314- tensioning device pressure plate, 315- driven sprocket, 316- tensioning device connecting rod, 317- tensioning device card plate, 318- tensioning device limit plate, 319- tensioning device support plate, 320- bracket bottom plate, 321- chain, 322- block, 4- Ground deviation angle detection module, 401-base, 402-sliding block, 403-fixed plate, 404-lifting rod, 405-side plate, 406-infrared transmitter, 407-processing module, 408-bidirectional screw, 5-imaging module, 501-imaging module base, 502-imaging board, 503-imaging module base bearing, 504-electric push rod seat, 505-electric push rod controller, 506-track slider A, 507-chain link plate A, 508-thrust rod, 509-linear bearing , 6-ray module, 601-control box fixing seat, 602-control box, 603-fixed plate, 604-chain link plate B, 605-track slider B, 606-ray machine, 607-ray port, 608-ray machine fixing plate, 7-ray machine vertical walking module, 701-ray machine bracket, 702-branch hook plate, 703-computer control board, 1001-branch hook, 1002-branch splint, 1003-branch pulley fixing seat, 1004-spring, 1005-branch wheel. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] An embodiment of the present invention provides a quality detector for weld and ground deviation angle of a super-large LNG cryogenic storage tank.

[0045] like Figure 1-21As shown, a tank seam detection trolley is arranged on the tank wall 1, and the tank seam detection trolley includes a horizontal walking module 2, an imaging plate vertical walking module 3, and a X-ray machine vertical walking module 7; a main vehicle side panel 201 is arranged on the horizontal walking module 2, and the main vehicle side panel 201 is arranged in a U shape, and two main vehicle side panels 201 are arranged, and rollers 208 are arranged between the main vehicle side panels 201, and two rollers 208 are arranged on the left and right, and the rollers 208 are arranged at the protrusions of the U-shaped main vehicle side panels 201, and the rollers 208 are installed on the tank wall 1, and four support frame connecting rod clamps 202 are also arranged on the side of the main vehicle side 201, and an adjusting hand wheel 205 is arranged at the bottom of the support frame connecting rod clamp 202, and an adjusting screw is arranged on the adjusting hand wheel 205, and the adjusting screw passes through the bottom of the support frame connecting rod clamp 202, and a cylindrical adjusting wheel 203 is arranged on the other side of the adjusting screw, and the adjusting wheel 2 03 is provided with a support ball 204, and each support frame connecting rod clamp 202 is correspondingly provided. By turning the adjusting hand wheel 205 to control the rotation of the adjusting screw, the support ball 204 is supported in contact with the tank wall 1. A main engine reducer 206 and a main engine servo motor 207 are provided on one side of the main vehicle side plate 201. The main engine reducer 206 is connected to the roller 208 through a pin shaft, providing power to the roller 208 so that the roller 208 rotates to drive the entire horizontal walking module 2 to walk on the tank wall 1. The roller 208 serves as the main roller, and the roller 208 on the other side is the driven wheel; an electrical box 209 is provided on the opposite side of the main engine reducer 206 and the main vehicle servo motor 207, and a power supply and a control board circuit are provided inside, and it is connected to the main vehicle servo motor 207 to provide power to the motor and control the walking of the entire horizontal walking module 2.

[0046] The imaging board vertical walking module 3 and the X-ray machine vertical walking module 7 are arranged on both sides of the horizontal walking module 2; the imaging board vertical walking module 3 is provided with an imaging board bracket 301, and the imaging board bracket 301 is provided with two tracks 309, and hook plates 302 are arranged on both sides of the imaging board bracket 301, and there are hook holes on the hook plates 302, which are snap-fitted and connected with the main vehicle side plates 201 through the hook holes on the hook plates 302; the X-ray machine vertical walking module 7 is provided with a X-ray machine bracket 701, and two tracks 309 are also arranged on the X-ray machine bracket 701. 9. A computer control panel 703 is arranged on the side of the X-ray machine bracket 701. Meanwhile, bracket hook plates 702 are arranged on both sides of the X-ray machine bracket 701. The bracket hook plates 702 are provided with hook openings, which are interlocked with the side edge 201 of the main vehicle through the hook openings on the bracket hook plates 702. The imaging board vertical walking module 3 and the X-ray machine vertical walking module 7 are respectively arranged on both sides of the horizontal walking module 2; a slidable imaging module 5 is arranged on the imaging board vertical walking module 3, and a X-ray module 6 is arranged on the X-ray machine vertical walking module 7.

[0047] The imaging plate vertical walking module 3 and the X-ray machine vertical walking module 7 are both provided with lifting structures, tensioning devices and anti-falling devices; this article describes the imaging plate vertical walking module 3, the imaging plate bracket 301 of the imaging plate vertical walking module 3 is hollow, a fall arrester 304 is provided on the top plate of the imaging plate bracket 301, a hole is provided on the fall arrester 304, and a fall arrester bracket 305 is provided directly in front of the hole of the fall arrester 304, the middle of the fall arrester bracket 305 is in the same straight line with the hole of the fall arrester 304, a pulley is provided on the fall arrester bracket 305, a steel wire rope extends from the fall arrester 304, is stretched out from the hole, passes through the pulley on the fall arrester bracket 305 and is downwardly provided to the imaging module 5 on the imaging plate bracket 301, and a steel wire rope recovery and tensioning structure is provided in the fall arrester 304. When the imaging module 5 encounters a situation When sliding down quickly, the steel wire rope on the anti-fall device 304 is also quickly pulled. At this time, the anti-fall device 305 quickly locks the steel wire rope to prevent the imaging module 5 from sliding down and causing damage to the equipment, and the imaging module 5 is pulled in case of an emergency; an opening is provided on the top side of the imaging board bracket 301, and a reducer 306 is provided on the inner side of the top. The reducer 306 is connected to a servo motor 308, and a worm main shaft 307 is provided on the side of the reducer 306. The worm main shaft 307 is provided on the bracket bearing seat 311, and a driving sprocket 310 is provided on the worm main shaft 307. A chain 321 is provided on the driving sprocket 310, and the driving sprocket 310 partially exceeds the opening on the top side of the imaging board bracket 301, so one side of the sprocket 321 on the driving sprocket 310 is on the outside of the imaging board bracket 301, and the other side is on the inside of the imaging board 301. An imaging plate support electrical housing 303 is arranged on the top of the fall arrester 304, and a control panel and a power supply assembly are arranged inside the electrical housing 303, which can control the fall arrester 305 and the servo motor 308 and provide power for them.

[0048] An opening is provided at the bottom of the imaging plate bracket 301, and a tensioning device is arranged at the opening. A sliding plate is provided on the bracket bottom plate 320 at the bottom of the imaging plate bracket 301, and a tensioning device support plate 319 is provided on the sliding plate. The tensioning device support plate 319 can be slid and taken down on the sliding plate, and can also be fixed up and down with a pin shaft. A tensioning device nut 313 is provided on the top of the tensioning device support plate 319, and a tensioning device pressure plate 314 is provided in the middle of the tensioning device support plate 319. A tensioning device pull rod 312 is provided at the center of the tensioning device pressure plate 314, and a thread is provided on the surface of the tensioning device pull rod 312. The tensioning device pull rod 312 passes through the tensioning device nut 313, and the tensioning device nut 313 is provided with an internal thread matching the tensioning device pull rod 312 at the penetration opening. Rectangular holes are provided on both sides of the tensioning device support plate 319, and both ends of the tensioning device pressure plate 314 are arranged outside the rectangular holes on both sides of the tensioning device support plate 319. At the same time, tensioning device connecting rods 316 are provided at both ends of the tensioning device pressure plate 314, and a tensioning device clamping plate 317 is provided at the other end of the tensioning device connecting rod 316. The tensioning device clamping plate 317 is connected to the tensioning device limit plate 318, and the tensioning device clamping plate 317 and the tensioning device limit plate 318 are integrated. The tensioning device limit plate 318 is arranged in the middle of the tensioning device support plate 319; a driven sprocket is arranged in the tensioning device limit plate 318 315, the driven sprocket 315 rotates in the tensioning device limit plate 318 through the pin shaft, and the chain 321 extending from the driving sprocket 310 is set on the driven sprocket 315. The driven sprocket 315 and the driving sprocket 310 form a whole, so as to drive the imaging module 5 to slide up and down. At the same time, because the tensioning device nut is set at the bottom of the tensioning device support plate 319 and is connected and fixed, the tensioning device pressure plate 314 can be driven to move by rotating the tensioning device pull rod 312, so that the tensioning device limit plate 318 also moves, and the distance between the driving sprocket 310 and the driven sprocket 315 is adjusted to achieve the tensioning of the chain. At the same time, the imaging board bracket 301 is provided with a stopper 322 above and below, and the stopper 322 can play a limiting role when the imaging module 5 slides up and down.

[0049] The structural design of the X-ray machine bracket 701 of the X-ray machine vertical travel module 7 is the same as that of the imaging plate bracket 301, and will not be repeated.

[0050] A roller assembly is arranged at the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701, and there are two rollers at the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701, for a total of four rollers; the roller assembly is provided with a branch hook 1001, and the branch hook 1001 is arranged on the bottom of the imaging plate bracket 301 and the X-ray machine bracket 701 for connection and fixation; the branch hook 1001 is provided with a branch splint 1002, and the branch splint 1002 is designed in an S-shaped style, and a support pulley fixing seat 1003 is connected to the branch splint 1002, and a spring 1004 is arranged on the support pulley fixing seat 1003, and the support pulley fixing seat 1003 is connected and fixed to the support wheel 1005 through the spring 1004. When in use, the support wheel 1005 contacts the tank wall 1, and the support wheel 1005 slides on the tank wall 1. At the same time, the support wheel 1005 can better contact with the surface of the tank wall 1 due to the design of the spring 1004.

[0051] An imaging module 5 is arranged on the track 309 of the imaging board vertical travel module 3. The imaging module 5 includes an imaging module base 501 and an imaging board 502. The imaging module base 501 is rectangular. An imaging module base bearing 503 is arranged on the imaging module base 501. Meanwhile, a plurality of movable openings are provided on the surface of the imaging module base 501. An electric push rod seat 504 is arranged in the imaging module base 501. An electric push rod controller 505 is arranged on the side of the electric push rod seat 504. A push rod 508 is arranged in the electric push rod seat 504. The electric push rod controller 505 controls the extension and retraction of the push rod 508 in the electric push rod seat 504. A signal processor and a linear bearing 509 are arranged on the back of the imaging board 502. The linear bearing 509 is arranged in the imaging module base bearing 503 and moves. The extension and retraction of the push rod 508 drives the entire movement of the imaging board 502. The arrangement of the linear bearing 509 can make the imaging board 502 more secure on the imaging module base 501. The imaging module base 501 is overall concave in shape, and a number of track sliders A506 are arranged on the surface of the inner concave part. The track sliders A506 are arranged on the track 309 of the imaging board vertical travel module 3. A chain link plate A507 is also arranged. The chain link plate A507 is connected and fixed to the chain 321, so that the movement of the chain 321 drives the imaging module 5 to move on the imaging board vertical travel module 3.

[0052] The ray module 6 is arranged on the ray machine vertical travel module 7, and a control box fixing seat 601 is arranged on the ray module 6. A control box 602 is arranged in the control box fixing seat 601, and a ray machine fixing plate 608 is arranged at the bottom. A ray machine 606 is arranged between the ray machine fixing plate 608 and the control box fixing seat 601, and the control box 602 controls the ray machine 606. One side of the ray machine 606 exceeds the position of the ray machine fixing plate 608, and a ray port 607 is arranged on the ray machine 606 in the exceeding part, and the ray port 607 is opposite to the imaging plate 502 on the imaging module 5; a fixing plate 603 is arranged on the back side of the control box fixing seat 601, and a plurality of track sliders B605 are arranged on both sides of the fixing plate 603. The track sliders B605 are arranged on the track of the vertical travel module 7 of the ray machine to slide, and a chain link plate B604 is arranged in the middle of the fixing plate 603, and the chain link plate B604 is connected and fixed to the chain 321, thereby driving the ray module 6 to slide up and down.

[0053] At the same time, a marking device can be set on the vertical travel module 7 of the X-ray machine. When a problem is detected at the welding point of the weld, the marking device can quickly spray a mark to facilitate the staff to find it.

[0054] A ground deviation angle detection module 4 is arranged on the bottom side of the main vehicle side plate 201, and a base 401 is arranged on the ground deviation angle detection module 4. The base 401 is connected to the bottom sides of the two main vehicle side plates 204. A notch is opened in the middle part of the base 401, and a bidirectional screw rod 408 is arranged in the notch. The spiral patterns at both ends of the bidirectional screw rod 408 are opposite. The bidirectional screw rod 408 is driven by a motor to rotate in the notch. Sliding blocks 402 are arranged on both ends of the bidirectional screw rod 408. The sliding blocks 402 are provided with internal threads matching the two ends of the bidirectional screw rod 408. The sliding blocks 402 on both sides are brought close to and away from each other by the rotation of the bidirectional screw rod 408. A fixed plate 403 and an adjustment plate are provided, and the fixed plate 403 and the adjustment plate are connected and arranged through a lifting rod 404. A level sensor is provided inside the adjustment plate to detect the level of the adjustment plate, and then the information is sent to the processing module 407 through a wireless signal. An infrared transmitter 406 and a processing module 407 are provided on the adjustment plate. An infrared receiver is also provided inside the processing module 407, and the reflected infrared laser is received to judge the distance. A side plate 405 is provided to connect the fixed plate 403 and the adjustment plate, and a pin is provided at the connection between the adjustment plate and the side, so that the adjustment plate can rotate on the side through the pin. A battery and a control processor are provided inside the processing module, and the sent signal can be processed. Side panel cameras 210 are provided on both sides of the main vehicle side panel 201, and a side camera 211 is provided in the moving direction of the detection vehicle to detect the route of the vehicle when it moves.

[0055] Working principle: the side panel cameras 210 on both sides of the main vehicle side panel 201 first shoot the tank pipe wall, and transmit the photographed information to the processing module 407 via Bluetooth. At the same time, the horizontal sensors in the two adjustment plates start to detect whether the adjustment plates are at a horizontal angle. If not, the signal is sent to the processing module 407. The processing module 407 controls the lifting rod 404 to adjust the adjustment plate to deflect the adjustment plate and put the adjustment plate in a horizontal position. After it is horizontal, the signal is sent to the processing module 407, and the lifting rod stops; at this time, the processing module 407 judges the distance from the infrared transmitter 406 on both sides to the tank pipe wall through the visual capture signal of the side panel cameras 210 on both sides to control the rotation of the two-way screw rod 408. At this time, the two sliding blocks 402 move relative to each other to align the infrared transmitter 406 with the inner and outer tank side walls. At this time, the horizontal sensor in the adjustment plate performs a detection and judgment to prevent displacement when sliding on the two-way screw rod 408. The infrared transmitter 406 irradiates along the inner and outer tank walls. When the infrared laser irradiates on the ground and reflects back to the infrared receiver in the processing module 407, the processing module 407 calculates the height distance between the inside and the outside according to the time of reflection, and then calculates the deviation angle of the tank wall to the ground according to the height distance between the inside and the outside. If the calculated deviation angle exceeds the rated value, a signal will be immediately sent to the background staff to go to the site for investigation.

[0056] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0057] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A weld seam and ground deviation angle quality detector for a super-large LNG cryogenic storage tank, wherein a tank seam detection trolley is arranged on the tank wall (1), and the characteristics are: The tank seam inspection vehicle comprises a horizontal walking module (2), and an imaging plate vertical walking module (3) and a X-ray machine vertical walking module (7) are arranged on both sides of the horizontal walking module (2); A main vehicle side panel (201) is arranged on the horizontal walking module (2), side panel cameras (210) are arranged on both sides of the main vehicle side panel (201), a ground deviation angle detection module (4) is arranged on the bottom side of the main vehicle side panel (201), a base (401) is arranged on the ground deviation angle detection module (4), a notch is opened in the middle part of the base (401), a bidirectional screw rod (408) is arranged in the notch, the spiral patterns at both ends of the bidirectional screw rod (408) are opposite, the bidirectional screw rod (408) is rotated in the notch by a motor drive, and at both ends of the bidirectional screw rod (408) A sliding block (402) is provided, and internal threads matching the two ends of a bidirectional screw rod (408) are provided in the sliding block (402). The sliding blocks (402) on both sides are moved closer to and farther from each other by rotating the bidirectional screw rod (408). A fixing plate (403) and an adjusting plate are provided on the sliding block (402). The fixing plate (403) and the adjusting plate are connected via a lifting rod (404). A level sensor is provided in the adjusting plate. An infrared transmitter (406) and a processing module (407) are provided on the adjusting plate. An infrared receiver is also provided in the processing module (407). The infrared transmitter (6) emits an infrared laser to illuminate the ground. The infrared laser is reflected on the ground and then returned to the infrared receiver in the processing module (407). The processing module (407) calculates the height distance between the inside and outside according to the time of the reflection, and then calculates the deviation angle of the tank wall from the ground according to the height distance between the inside and outside.

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

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

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

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

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

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

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

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

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

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