An integrated device for polishing and detecting inner surface of a fillet weld

Abstract

This invention relates to the field of weld inspection technology, and more particularly to an integrated device for grinding and inspecting the inner surface of fillet welds. The device includes a circumferential rotation device, a position adjustment device, a laser grinding device, and a phased array detection device. The position adjustment device is fixedly mounted on the circumferential rotation device. The laser grinding device and the phased array detection device are respectively mounted on both sides of the position adjustment device. The circumferential rotation device drives the position adjustment device and the laser grinding device and phased array detection device mounted thereon to rotate circumferentially. The position adjustment device drives the laser grinding device and the phased array detection device to move radially. First, the inner surface of the fillet weld is laser-ground by the laser grinding device; then, the ground area is inspected by the phased array detection device. This device is automated and efficient, enabling high-precision grinding and non-destructive testing, improving safety, optimizing the inspection process, and meeting diverse needs.

Description

Technical Field

[0001] This invention relates to the field of weld inspection technology, and in particular to an integrated device for grinding and inspecting the inner surface of fillet welds. Background Technology

[0002] Large spherical tanks, hot-wall hydrogenation reactors, coke towers, and high-pressure hydrogen storage containers are core equipment in modern industry, characterized by complex structures and harsh operating conditions. Fillet welds, a common connection type in these devices, are prone to various defects during use, posing potential leakage and explosion risks. Traditional fillet weld inspection methods require scaffolding, requiring inspectors to enter the container and manually grind the welds with hand-held grinders or angle grinders before inspection. This method is not only time-consuming and labor-intensive but also poses safety hazards and makes it difficult to guarantee the accuracy and consistency of grinding and inspection. Currently, China has robotic technology for grinding and inspecting butt welds without obstacles, but there is still a technological gap for grinding and inspecting complex structures such as the inner surface of fillet welds on pipe fittings. Existing technologies cannot achieve automated operation, still relying on manual intervention, resulting in low efficiency, high costs, and the inability to avoid quality fluctuations caused by human factors. Furthermore, manual grinding can easily cause localized changes in material properties, and traditional inspection methods struggle to achieve high-precision defect location and assessment. Summary of the Invention

[0003] The main objective of this invention is to overcome the shortcomings of existing technologies and provide an integrated device for grinding and inspecting the inner surface of fillet welds. This device effectively solves the problems of low efficiency, poor accuracy, and insufficient safety in traditional fillet weld inspection, providing an efficient, accurate, and safe solution for weld maintenance of heavy-duty pressure equipment, and has significant technical advantages and application prospects.

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

[0005] A circumferential rotation device drives the entire device to rotate circumferentially along the nozzle, achieving circumferential coverage for grinding and inspection. A position adjustment device controls the radial movement of the laser grinding device and the phased array inspection device to accommodate fillet welds of different sizes. The laser grinding device performs high-precision grinding of the inner surface of the fillet weld using a laser beam. The phased array inspection device performs non-destructive testing on the ground area to ensure weld quality.

[0006] Preferably, the circumferential rotation device includes a base plate, a driving gear, and a driven gear; The base plate is fixed to the connecting pipe with screws. The driven gear is configured as a gear ring structure and is fitted onto the port of the connecting pipe, meshing with the driving gear. The base plate serves as a fixed base, ensuring the stability of the device. The driving gear and the driven gear transmit power through gear meshing, driving the driven gear and the components mounted on it to rotate circumferentially.

[0007] Preferably, the circumferential rotation device further includes a slider, a ball bearing, and a groove; The driven gear has a groove at its bottom end, and the slider is located in the groove. Both sides of the groove and the slider have arc-shaped grooves, in which ball bearings are disposed. The slider and groove restrict the radial displacement of the driven gear, ensuring it can only rotate circumferentially. The ball bearings reduce friction, making rotation smoother.

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

[0009] The first and second racks mesh with the drive gear and are constrained on the motor mounting plate by the first and second pressure plates, respectively. The drive gear rotates to drive the first and second racks to move in opposite directions, thereby adjusting their radial position. The first and second pressure plates ensure the stability of the rack movement.

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

[0011] The motor mounting plate is fixed to the driven gear, and the grinding rod and the inspection rod are respectively connected to the first rack and the second rack. This achieves linkage between circumferential rotation and radial movement, ensuring that grinding and inspection are carried out synchronously.

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

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

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

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

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

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

[0018] Preferably, the phased array detection device further includes a phased array detector, a data connection cable, and an encoder; An encoder is installed at the other end of the ultrasonic phased array probe. The output ports of the ultrasonic phased array probe and the encoder are electrically connected to a phased array detector via a data connection line. The encoder records the probe position information, and the phased array detector processes the detection data and generates real-time images.

[0019] Preferably, magnetic wheels are fixedly fitted onto the outer walls of both the grinding pole in the laser grinding device and the detection pole in the phased array detection device. The magnetic wheels fit snugly against the inner wall of the connecting pipe, enhancing the stability of the grinding pole and the detection pole and ensuring balance during circumferential rotation and radial movement.

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

[0021] This integrated device for grinding and inspecting the inner surface of fillet welds enables high-precision grinding. Utilizing laser grinding technology, it uses a laser rangefinder to adjust the distance between the grinding gun head and the weld in real time, ensuring grinding accuracy. Laser grinding is non-contact, avoiding mechanical stress damage to the material and eliminating the unevenness problems associated with manual grinding.

[0022] This integrated device for grinding and inspecting the inner surface of fillet welds enables non-destructive testing. The phased array detection device, combined with colloidal wedge acoustic conductors and encoder technology, can accurately locate defects and generate real-time scanning images. The telescopic function of the electrically operated telescopic rod allows the probe to adapt to the shape of the weld, further improving inspection accuracy.

[0023] This integrated device for grinding and inspecting the inner surface of fillet welds improves safety. The device eliminates the need for scaffolding or manual entry into the container, reducing operational risks and ensuring the safety of operators.

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

[0025] This integrated device for grinding and inspecting the inner surface of fillet welds has a wide range of applications. The device can be adapted to fillet welds of different sizes and can achieve radial movement through a position adjustment device to meet diverse needs. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the main sectional view of an integrated device for grinding and inspecting the inner surface of fillet welds.

[0027] Figure 2 for Figure 1 A top-view structural diagram.

[0028] Figure 3 for Figure 1 A schematic diagram of the left-side view structure.

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

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

[0031] Figure 6 for Figure 1 A magnified schematic diagram of part A in the middle.

[0032] in: 1-Laser grinding gun head; 2-Laser rangefinder; 3-Fillet weld; 4-Screw; 5-Base plate; 6-First motor; 7-Driving gear; 8-Driven gear; 9-Motor mounting plate; 10-Laser grinding device; 11-Drive gear; 12-Second motor; 13-Phase array detection device; 14-Connecting pipe; 15-Magnetic wheel; 16-Electric telescopic rod; 17-Ultrasonic phased array probe; 18-Cylinder body; 19-Phase array detector; 20-Data connection cable; 21-Laser... 22-Optical transmission cable; 23-Laser generator; 24-Laser control cable; 25-Control operation platform; 26-Power cable; 27-Distance measuring signal cable; 28-First pressure plate; 29-First rack; 30-Second rack; 31-Second pressure plate; 32-XZ two-axis platform; 33-Connecting plate; 34-Base plate; 35-Grinding pole; 36-Detection pole; 37-Connecting frame; 38-Wedge block; 39-Encoder; 40-Slider; 41-Ball bearing; 42-Groove Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

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

[0035] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0036] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1

[0037] Please see Figures 1-6 An integrated device for grinding and inspecting the inner surface of fillet welds includes a circumferential rotation device, a position adjustment device, a laser grinding device 10, and a phased array detection device 13.

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

[0039] Please see Figures 1-3 and Figure 6 Based on the above embodiments, the integrated device for grinding and inspecting the inner surface of fillet welds has a circumferential rotation device fixedly installed on the connecting pipe 14. The circumferential rotation device includes a base plate 5, a first motor 6, a driving gear 7, a driven gear 8, a slider 39, a ball bearing 40, and a groove 41.

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

[0041] Specifically, in use, the first motor 6 is started to drive the drive gear 7 to rotate. When the drive gear 7 rotates, it drives the driven gear 8 to rotate relative to the base plate 5. The sliding groove 41, the slider 39, the arc-shaped groove and the ball 40 make the driven gear 8 rotate more smoothly on the base plate 5. The position adjustment device is fixedly installed on the driven gear 8, which is configured as a gear ring structure. The laser polishing device 10 and the phased array detection device 13 are respectively fixedly installed on both sides of the position adjustment device. The laser polishing device 10 and the phased array detection device 13 can pass through the driven gear 8 and extend to the fillet weld 3 between the pipe 14 and the cylinder 18. When the driven gear 8 and the position adjustment device rotate together, they drive the laser polishing device 10 and the phased array detection device 13 to perform circumferential rotational position adjustment inside the cylinder 18.

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

[0043] Please see Figures 1-3 Based on the above embodiments, the integrated device for grinding and inspecting the inner surface of the fillet weld includes a position adjustment device comprising a motor mounting plate 9, a drive gear 11, a second motor 12, a first pressure plate 27, a first rack 28, a second rack 29, and a second pressure plate 30.

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

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

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

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

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

[0049] Please see Figures 1-3 and Figure 4Based on the above embodiments, the integrated device for grinding and inspecting the inner surface of fillet welds includes a laser grinding gun head 1, a laser rangefinder 2, a laser transmission cable 21, a laser generator 22, a laser control cable 23, a control operation platform 24, a power cable 25, a ranging signal cable 26, an XZ two-axis platform 31, a connecting plate 32, a base plate 33, and a grinding pole 34.

[0050] The laser grinding gun head 1 and the laser rangefinder 2 are set at the same horizontal height and are both fixedly mounted on the XZ two-axis platform 31. The laser rangefinder 2 measures the distance between the laser grinding gun head 1 and the weld seam to be ground in real time, and adjusts the distance in real time according to the set laser focal length to control the grinding time of the laser grinding gun head 1 in order to improve the grinding accuracy. Furthermore, by setting the laser grinding gun head 1 and the laser rangefinder 2 at the same horizontal height, the laser rangefinder 2 can better measure the distance, reduce grinding errors, and improve accuracy. The XZ two-axis platform 31 is fixedly connected to the base plate 33 through the connecting plate 32, and the base plate 33 is fixedly connected to the lower end of the grinding pole 34.

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

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

[0053] Furthermore, in this embodiment, a magnetic wheel 15 is fixedly sleeved on the outer wall of the grinding pole 34. The magnetic wheel 15 fits against the inner wall of the connecting pipe 14, thereby increasing the connection stability of the grinding pole 34. When the grinding pole 34 rotates circumferentially or moves back and forth, the magnetic wheel 15 can rotate along the inner wall of the connecting pipe 14 together with the grinding pole 34. When the grinding pole 34 moves back and forth, the magnetic wheel 15 will not obstruct the back and forth movement of the grinding pole 34.

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

[0055] Specifically, in use, the laser grinding gun head 1 emits a laser beam, forming a high-energy light spot at the grinding point for grinding. Through the control operation platform 24, the laser rangefinder 2 can measure the distance between the laser grinding gun head 1 and the weld seam in real time. The distance is adjusted in real time according to the set laser focal length to control the grinding time of the laser grinding gun head 1 in order to improve grinding accuracy. Furthermore, by using the laser grinding gun head 1 and the laser rangefinder 2, which are set at the same horizontal height, grinding errors are reduced and accuracy is improved.

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

[0057] Please see Figures 1-3 and Figure 5 Based on the above embodiments, this integrated device for grinding and inspecting the inner surface of fillet welds... The phased array detection device 13 includes an electric telescopic rod 16, an ultrasonic phased array probe 17, a phased array detector 19, a data connection cable 20, a detection pole 35, a connecting frame 36, a wedge block 37, and an encoder 38.

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

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

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

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

[0062] Furthermore, in this embodiment, a magnetic wheel 15 is also fixedly sleeved on the outer wall of the detection rod 35. The magnetic wheel 15 fits against the inner wall of the connecting pipe 14, and the magnetic wheel 15 facilitates the increase of the connection stability of the detection rod 35. When the detection rod 35 rotates circumferentially or moves back and forth, the magnetic wheel 15 can rotate along the inner wall of the connecting pipe 14 together with the circumferential rotation of the detection rod 35. When the detection rod 35 moves back and forth, the magnetic wheel 15 will not obstruct the back and forth movement of the detection rod 35.

[0063] Specifically, in use, after the phased array detection device 13 rotates to the polished position, the electric telescopic rod 16 retracts upward, causing the ultrasonic phased array probe 17 to move to the vicinity of the inner corner weld 3. The circumferential rotation device rotates, thereby driving the ultrasonic phased array probe 17 to rotate around the inner corner weld 3. The ultrasonic phased array probe 17 rotates around the inner corner weld 3 once to detect the inner corner weld 3, and transmits the collected data to the phased array detector 19 in real time, thereby realizing automatic ultrasonic phased array detection of the weld.

[0064] It should also be noted that in this embodiment, a special C-scan technology is also used. The system records position information and ultrasonic information, which are then processed to form a real-time scan image. The automatic scanning system can perform projection scanning, so that the probe position and the position of the defect in the fillet weld are in a one-to-one correspondence.

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

[0066] Please see Figures 1-6Based on the above embodiments, this invention also provides an integrated device for grinding and inspecting the inner surface of fillet welds. The detailed process of laser grinding is as follows: S1. Adjust the position of the laser polishing device 10 and the phased array detection device 13 by adjusting the position adjustment device. When the magnetic wheel 15 touches the inner wall of the pipe 14, the position adjustment device stops.

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

[0068] S3. The laser grinding gun head 1 can be a fiber laser with a front-end galvanometer. The XY galvanometer is then used to adjust the laser so that it is aligned with the inner surface 3 of the fillet weld to be ground. When the laser rangefinder 2 detects the set focal length, it stops, and the laser grinding gun head 1 begins grinding.

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

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

[0071] After all tests are completed, the electric telescopic rod 16 extends downwards, causing the ultrasonic phased array probe 17 to leave the inner corner weld 3. The position adjustment device is then activated, causing the laser grinding device 10 and the phased array detection device 13 to move simultaneously toward the axis of the connecting pipe 14. Once in position, the screw 4 is loosened, allowing the device to be removed from the connecting pipe 14.

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

[0073] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of this invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of this invention, or equivalent structural, procedural, or functional transformations made using the description and drawings of this invention, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of protection of this invention.

Claims

1. A device for integrated welding seam inner surface grinding and detection, characterized in that: It includes a circumferential rotation device, a position adjustment device, a laser polishing device (10), and a phased array detection device (13). The position adjustment device is fixedly installed on the circumferential rotation device; the laser polishing device (10) and the phased array detection device (13) are respectively installed on both sides of the position adjustment device; The circumferential rotation device drives the position adjustment device and the laser polishing device (10) and phased array detection device (13) mounted thereon to rotate circumferentially; the position adjustment device drives the laser polishing device (10) and phased array detection device (13) to move radially; First, the inner surface of the fillet weld (3) is laser-polished using the laser polishing device (10); then, the polished area is inspected using the phased array detection device (13). The circumferential rotation device includes a base plate (5), a driving gear (7), and a driven gear (8). The base plate (5) is fixed to the connecting pipe (14) by screws (4), and the driven gear (8) is configured as a toothed ring structure and sleeved at the port of the connecting pipe (14), and meshes with the driving gear (7); The position adjustment device includes a motor mounting plate (9), a drive gear (11), a first pressure plate (27), a first rack (28), a second rack (29), and a second pressure plate (30); The first rack (28) and the first pressure plate (27) are connected by a sliding connection, and the second rack (29) and the second pressure plate (30) are connected by a sliding connection. The first rack (28) and the second rack (29) are respectively restricted on the motor mounting plate (9) by the first pressure plate (27) and the second pressure plate (30). When the drive gear (11) rotates, the drive gear (11) drives the first rack (28) and the second rack (29) meshed with it to move in opposite directions at the same time; The phased array detection device (13) includes an electric telescopic rod (16), an ultrasonic phased array probe (17), a detection pole (35), a connecting frame (36), and a wedge (37). One end of the ultrasonic phased array probe (17) is fixedly mounted on the wedge (37), and a connecting frame (36) is fixedly mounted on one end of the wedge (37). An electric telescopic rod (16) is fixedly mounted on one end of the connecting frame (36). The electric telescopic rod (16) is fixed to the bottom of the detection stand (35). The distance between the ultrasonic phased array probe (17) and the inner surface of the fillet weld (3) is adjusted by the extension and retraction of the electric telescopic rod (16).

2. The integrated welding seam inner surface grinding and inspecting device according to claim 1, characterized in that: The circumferential rotation device also includes a slider (39), a ball (40), and a groove (41). The driven gear (8) has a groove (41) at its bottom end, and the slider (39) is located in the groove (41). Both sides of the groove (41) and the slider (39) are provided with arc-shaped grooves, and ball bearings (40) are provided in the arc-shaped grooves.

3. The integrated weld seam inner surface grinding and inspection apparatus of claim 1, wherein: The motor mounting plate (9) is fixedly mounted on the driven gear (8) in the circumferential rotating device; The upper end of the grinding rod (34) on the laser grinding device (10) is fixedly installed on the first rack (28), and the upper end of the detection rod (35) on the phased array detection device (13) is fixedly installed on the second rack (29).

4. The integrated weld seam inner surface grinding and inspection apparatus of claim 1, wherein: The laser polishing device includes a laser polishing gun head (1), a laser rangefinder (2), an XZ two-axis platform (31), a connecting plate (32), a base plate (33), and a polishing pole (34). The laser polishing gun head (1) and the laser rangefinder (2) are set at the same horizontal height and are both fixedly installed on the XZ two-axis platform (31). The XZ two-axis platform (31) is fixedly connected to the base plate (33) through the connecting plate (32). The base plate (33) and the lower end of the polishing pole (34) are fixedly connected.

5. The integrated weld seam inner surface grinding and inspection apparatus of claim 4, wherein: The laser polishing device also includes a laser transmission cable (21), a laser generator (22), a laser control cable (23), a control operation platform (24), and a ranging signal cable (26). The laser polishing gun head (1) is electrically connected to a laser generator (22) via a laser transmission cable (21). The laser generator (22) controls the laser polishing gun head (1) to emit a laser beam, forming a high-energy light spot at the polishing point for polishing. Meanwhile, the laser generator (22) is electrically connected to the control platform (24) via the laser control cable (23), and the control platform (24) is also electrically connected to the laser rangefinder (2) via the ranging signal cable (26).

6. The integrated weld seam inner surface grinding and inspection apparatus of claim 1, wherein: The phased array detection device (13) also includes a phased array detector (19), a data connection line (20), and an encoder (38). An encoder (38) is provided at the other end of the ultrasonic phased array probe (17), and the output ports of the ultrasonic phased array probe (17) and the encoder (38) are electrically connected to the phased array detector (19) via a data connection line (20).

7. The integrated weld seam inner surface grinding and inspection apparatus of claim 1, wherein: The grinding pole (34) in the laser grinding device (10) and the detection pole (35) in the phased array detection device (13) are both fixedly fitted with magnetic wheels (15).

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