An automated inspection device for digital radiographic imaging of tank welds

Abstract

This invention discloses an automated digital radiographic imaging inspection device for storage tank welds, relating to the field of storage tank weld inspection technology. It includes a frame, with a synchronous drive mechanism disposed on the inner side of the frame. The synchronous drive mechanism includes two lead screws rotating on the inner side of the frame, each lead screw being threadedly connected to a lifting seat. A receiving mechanism is disposed above one of the lifting seats. This invention introduces digital radiographic technology, obtaining digital images through the interaction of X-rays with matter, combined with photoelectric conversion materials and image sensors. It not only allows for precise movement at the top of the storage tank, achieving accurate coordination between the X-ray machine and the imaging plate on both sides of the tank wall, but also significantly reduces equipment adjustment time and defect feedback time, improving inspection efficiency and defect detection rate, reducing reliance on manual labor, and significantly enhancing the intelligence and automation level of storage tank weld inspection, providing crucial assurance for the safety and reliability of industrial production.

Description

Technical Field

[0001] This invention relates to the field of tank weld inspection technology, specifically to an automated digital radiographic imaging inspection device for tank welds. Background Technology

[0002] Large storage tanks are important equipment in industries such as petrochemicals, grain and oil storage, transportation, and fire protection. They are widely used in modern industry due to their advantages such as simple structure, large storage capacity, and convenient installation. During the tank wall installation stage, the quality and safety of the tank largely depend on the welding quality of the tank wall welds. Therefore, the quality of the tank wall welds directly affects the load-bearing capacity and service life of the tank, and its testing results are related to the construction progress and the overall performance of the tank.

[0003] Currently, ultrasonic testing and radiographic testing are commonly used for butt welds on storage tank walls. However, both methods have several shortcomings. While ultrasonic testing achieves non-destructive testing, its defect detection rate and efficiency are low, and the operation is labor-intensive. Radiographic testing, on the other hand, is limited by the complexity of high-altitude film placement, making automation difficult. It is also costly and inefficient, and when inspecting the lowest-level tanks, it cannot be applied to tanks with different longitudinal dimensions. Therefore, the industry urgently needs a more efficient, accurate, and automated testing technology to solve these problems. Summary of the Invention

[0004] The purpose of this invention is to provide an automated digital radiographic imaging inspection device for tank welds, which solves the problems of low defect detection rate and inspection efficiency of traditional automated digital radiographic imaging inspection devices for tank welds, as well as high labor intensity during operation; while film radiographic inspection is limited by the complexity of high-altitude film placement, making it difficult to automate, and is also costly and inefficient, and cannot be used for inspecting tanks of different longitudinal dimensions when inspecting the lowest tank.

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions, the present invention comprising:

[0006] The frame has a synchronous drive mechanism on its inner side, which includes two lead screws rotating on the inner side of the frame. Both lead screws are threaded to a lifting seat. A receiving mechanism is located above one of the lifting seats, and a flaw detector and a camera are located above the other lifting seat. A traveling mechanism is located on the inner side of the frame, and multiple adjusting wheel mechanisms are located on the inner side of the frame. Lead cloth is located on the outer side of the frame.

[0007] Two self-changing components are respectively disposed on both sides of the traveling mechanism. The self-changing components are used to lock the traveling mechanism onto the tank walls with different longitudinal dimensions. Each self-changing component includes a displacement member and two locking members. The locking members are used to lock the displacement member. The displacement member includes two upper gears and two lower gears rotating outside the frame. A perforated belt is provided between the two upper gears and the two lower gears. A connecting plate is fixed to the outside of the two perforated belts. The two connecting plates are fixed above the traveling mechanism and slide on the inside of the frame via sliding feet.

[0008] Preferably, the inner sides of both upper gears are provided with multi-branch air chambers, the interior of the multi-hole belt is provided with multiple insertion holes, the locking member includes a sliding strip that slides inside the multi-branch air chamber, a sliding seat that slides inside the multi-branch air chamber, and a push-pull member provided at the opening of the multi-branch air chamber. One end of the right part of the sliding strip is fixed with a first spring, one end of the left part of the sliding strip is fixed with an insertion post, the other end of the left part of the sliding strip is provided with a sloping groove, the upper end face of the sliding seat is fixed with a push plate, the lower end face of the sliding seat is fixed with a second spring, and one end of the second spring is fixed inside the multi-branch air chamber (75) by a mounting bracket.

[0009] Preferably, the push-pull component is used to fill the multi-branch air chamber with external air. The filling of air will push the sliding seat to drive the push plate into the corresponding inclined groove, thereby pushing one end of the plug-in post out of the multi-branch air chamber and inserting it into the corresponding plug-in hole, locking the multi-hole belt and the upper gear. The push-pull component includes a connecting pipe fixed at the opening of the multi-branch air chamber, two connecting buckles fixed on the inner side of the frame, and an air supply pipe fixed on the inner side of the frame. One end of the connecting pipe is connected to one end of the air supply pipe through a rotary joint. A double one-way valve is provided on the inner side of the air supply pipe. A rubber-side piston plate slides inside the air supply pipe. A rod is fixed above the rubber-side piston plate. Sliding columns slide inside the two connecting buckles. A fixing strip is fixed between one end of the two sliding columns. One end of the rod is fixed below the fixing strip. A lifting lug is fixed above the fixing strip.

[0010] Preferably, the synchronous drive mechanism includes a dual-axis motor fixed to the inside of the frame, two first guide rods and two second guide rods fixed to the inside of the frame, and first bevel gears respectively fixed to one end of two lead screws. Both ends of the output shaft of the dual-axis motor are fixed with connecting rods. Both connecting rods are set on the inside of the frame through support seats. One end of each connecting rod is fixed with a second bevel gear. The two first bevel gears mesh with the two second bevel gears respectively.

[0011] Preferably, one of the lifting seats slides outside the two first guide rods via two first guide rod sleeves, and the other lifting seat slides outside the two second guide rods via two second guide rod sleeves.

[0012] Preferably, the receiving mechanism includes a servo motor fixed above the lifting seat, two slide rails fixed above the lifting seat, two first photoelectric sensors disposed above the lifting seat, and two longitudinal encoders disposed on one side of the lifting seat. One end of the output shaft of the servo motor is fixed with a threaded rod. A movable seat slides between the outer sides of the two slide rails. The lower part of the movable seat is threadedly connected to the outer side of the threaded rod through a connecting sleeve. An imaging plate is disposed above the movable seat, and an inkjet printer is disposed outside the imaging plate.

[0013] Preferably, the walking mechanism includes a beam fixed below the connecting plate, two slot plates are provided below the beam, a walking wheel is provided below the beam, an adjustable wheel is provided outside the walking wheel, two transverse stepper motors are provided on one side of the beam, the output ends of the two transverse stepper motors are respectively fixedly connected to one side of the two walking wheels, and two circumferential encoders are provided on one side of the beam.

[0014] Preferably, the adjusting wheel mechanism includes a small motor fixed to the inside of the frame, a rail fixed to the inside of the frame, and two second photoelectric sensors disposed on the inside of the frame. One end of the output shaft of the small motor is fixed with a screw. A mounting seat is slidably disposed on the outside of the rail. The mounting seat is threadedly connected to the outside of the screw. A hollow cylinder is fixed inside the mounting seat. A connecting rod is disposed inside the hollow cylinder. An adjusting frame is fixed to one end of the connecting rod. A third spring is disposed on the outside of the connecting rod. A magnet is disposed on one side of the adjusting frame. An adjusting wheel is disposed on the inside of the adjusting frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. By introducing digital X-ray technology, digital images are obtained through the interaction between X-rays and matter, combined with photoelectric conversion materials and image sensors. This not only allows for fixed-point movement at the top of the storage tank, enabling precise coordination between the X-ray machine and the imaging plate on both sides of the tank wall, but also significantly reduces the adjustment time of the inspection equipment and the defect feedback time, improves inspection efficiency and defect detection rate, reduces reliance on manual labor, and significantly enhances the intelligence and automation level of storage tank weld inspection, providing an important guarantee for the safety and reliability of industrial production.

[0017] 2. When the device is lifted, the lifting lug pulls the rod upward through the fixing bar, the rubber side piston plate moves up to extract the gas from the multi-branch gas chamber, the push plate moves out of the inclined groove under the reset of the second spring, the insertion post moves out of the insertion hole under the reset of the first spring, the lifting lug continues to lift the device upward, the traveling mechanism moves down under its own weight, the device moves to the wall of the detection tank and then descends to the bottom of the device and touch the ground. The limiting of the detection tank wall allows the traveling wheels of the traveling mechanism to be locked on the tank wall of different longitudinal dimensions at the bottom. When the entire device is lowered, the lifting lug, fixing bar and rubber side piston plate reset, thereby filling the multi-branch gas chamber with gas, the push plate pushes the insertion post into the insertion hole, locking the multi-hole belt and the upper gear, preventing the traveling mechanism from being shaken and detached from the detection tank wall later. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the present invention covered with lead cloth;

[0020] Figure 3 This is a schematic diagram of the synchronous drive mechanism in this invention;

[0021] Figure 4 This is a schematic diagram of the receiving mechanism in this invention;

[0022] Figure 5 This is a schematic diagram of the walking mechanism in this invention;

[0023] Figure 6 This is a schematic diagram of the adjusting wheel mechanism in this invention;

[0024] Figure 7 This is a partial cross-sectional view of the self-variant component in this invention;

[0025] Figure 8 for Figure 7 Enlarged schematic diagram of part A in the middle.

[0026] 1. Rack;

[0027] 2. Synchronous drive mechanism; 21. Lead screw; 22. Lifting seat; 23. Dual-axis motor; 24. First guide rod; 25. Second guide rod; 26. First bevel gear; 27. Connecting rod; 28. Second bevel gear;

[0028] 3. Receiving mechanism; 31. Servo motor; 32. Slide rail; 33. First photoelectric sensor; 34. Longitudinal encoder; 35. Threaded rod; 36. Moving base; 37. Imaging plate; 38. Inkjet printer;

[0029] 4. Flaw detector; 5. Camera;

[0030] 6. Walking mechanism; 61. Beam; 62. Slot plate; 63. Walking wheel; 64. Adjustable wheel; 65. Lateral stepper motor; 66. Circumferential encoder;

[0031] 7. Self-changing component; 71. Upper gear; 72. Lower gear; 73. Perforated belt; 74. Connecting plate; 75. Multi-branch air chamber; 76. Sliding bar; 77. Sliding seat; 78. Insertion hole; 79. First spring; 710. Insertion post; 711. Inclined groove; 712. Push plate; 713. Second spring; 714. Connecting pipe; 715. Connecting buckle; 716. Air supply pipe; 717. Double one-way valve; 718. Rubber-side piston plate; 719. Rod; 720. Sliding post; 721. Fixing bar;

[0032] 8. Adjusting wheel mechanism; 81. Small motor; 82. Rail; 83. Screw; 84. Mounting base; 85. Hollow cylinder; 86. Connecting rod; 87. Adjusting frame; 88. Third spring; 89. Magnet; 810. Adjusting wheel; 811. Second photoelectric sensor;

[0033] 9. Lifting lugs; 10. Lead cloth. Detailed Implementation

[0034] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0035] This invention provides a technical solution: an automated digital radiographic imaging inspection device for tank welds, such as... Figure 1-8 As shown, the system includes a frame 1 and two automatic transmission components 7. A lead cloth 10 is installed on the outside of the frame 1 to prevent the X-rays from the flaw detector 4 from affecting the human body. The lead cloth 10 is durable, provides high protection, and does not affect the signal transmission of the imaging plate 37. A synchronous drive mechanism 2 is installed inside the frame 1 to synchronously drive the lifting of the flaw detector 4 and the imaging plate 37, ensuring that the flaw detector 4 and the imaging plate 37 can be lifted and lowered completely synchronously, accurately completing the inspection task of the longitudinal weld seam of the storage tank. The synchronous drive mechanism 2 includes two lead screws 21 rotating inside the frame 1. Both lead screws 21 are threadedly connected to a lifting seat 22. A receiving mechanism 3 is installed above one lifting platform 22, and a flaw detector 4 and a camera 5 are installed above the other lifting platform 22. The flaw detector 4 and the imaging plate 37 move up and down through the lifting platform 22. This means that a section of the cable will be under a "relaxation-tensioning-relaxation" cyclic load. Therefore, a cable chain is installed to prevent fatigue, fix the cable in the cable chain, and ensure that the bending radius of the cable is not less than the minimum bending radius requirement of the cable chain to avoid damage to the cable due to excessive bending. The installation of the cable chain should ensure that its movement is smooth and avoid jamming. At the same time, it should ensure that the cable has a certain amount of room to move within the cable chain to prevent compression.

[0036] To address the specific characteristics of different strip plates, two sets of equipment can be used: one for single-strip plates (3.2m high, unlike the 3m height of the second and above strip plates, requiring separate inspection; due to the safety height of the bottom of the first equipment above the ground, its effective inspection height is 2.93m, resulting in a 0.27m blind zone, which needs to be manually inspected), and another for multi-strip plates (the longitudinal seam height of multi-strip plates is 3m, and the effective inspection height of the second equipment can reach 3.20m, allowing the bottom of the equipment to extend beyond the weld seam and cover the entire longitudinal seam size; the reserved 100mm ensures that the T-junction is within the inspection range, fully meeting the inspection requirements of multi-strip plates).

[0037] The synchronous drive mechanism 2 also includes a dual-axis motor 23 fixed to the inside of the frame 1, two first guide rods 24 and two second guide rods 25 fixed to the inside of the frame 1, and a first bevel gear 26 fixed to one end of each of the two lead screws 21. Both ends of the output shaft of the dual-axis motor 23 are fixed with connecting rods 27. Both connecting rods 27 are set on the inside of the frame 1 through support seats. One end of each connecting rod 27 is fixed with a second bevel gear 28. The two first bevel gears 26 mesh with the two second bevel gears 28 respectively. One lead screw 21 is set between the two first guide rods 24, and the other lead screw 21 is set between the two second guide rods 25. One lifting seat 22 slides outside the two first guide rods 24 through the sliding sleeves of the two first guide rods, and the other lifting seat 22 slides outside the two second guide rods 25 through the sliding sleeves of the two second guide rods.

[0038] The receiving mechanism 3 includes a servo motor 31 fixed above the lifting seat 22, two slide rails 32 fixed above the lifting seat 22, two first photoelectric sensors 33 disposed above the lifting seat 22, and two longitudinal encoders 34 disposed on one side of the lifting seat 22. A threaded rod 35 is fixed to one end of the output shaft of the servo motor 31. The threaded rod 35 is located between the two slide rails 32 and supported above the lifting seat 22 by a support plate. A movable seat 36 slides between the outer sides of the two slide rails 32. The lower part of the movable seat 36 is threadedly connected to the outer side of the threaded rod 35 via a connecting sleeve. An imaging plate 37 is disposed above the movable seat 36. Because the imaging plate 37 is a precision component, any form of collision may affect its normal operation and thus the normal operation of the entire device. Therefore, it is necessary to add protection around it without damaging the imaging capability of the imaging plate 37. Thus, an aluminum edge is provided on the outer side of the imaging plate 37 to protect it as much as possible. To extend service life, ball-bearing casters are installed on the outer end of the imaging plate 37 to enhance contact stability. An inkjet printer 38 is installed on the outside of the imaging plate 37. According to the imaging principle of the flaw detector 4, the imaging plate 37 should be 10-15mm away from the tank wall. This requires the imaging plate 37 to be extremely close to the tank wall. If the position of the imaging plate 37 is fixed, it is easy for the imaging plate 37 to collide with the tank wall when the detection device is installed from top to bottom, which will affect the imaging or even damage the local device. Therefore, the imaging plate 37 is designed to be movable with the cooperation of the servo motor 31, threaded rod 35, slide rail 32 and moving seat 36. Before installation, the servo motor 31 rotates to move the moving seat 36 to move the imaging plate 37 to the inside. When the detection device is successfully installed on the tank wall, the servo motor 31 rotates to move the imaging plate 37 towards the tank wall. When it moves to 10-15mm, the servo motor 31 is de-energized. At this time, the imaging plate 37 can form a clear image.

[0039] The deviation between the X-ray flaw detector 4, the imaging plate 37, and the weld centerline is within 5mm. During the design, the distance between the flaw detector 4 and the tank wall is ensured to be within the range of 600-700mm. The imaging plate 37 is telescopic, ensuring that the distance between the imaging plate 37 and the tank wall is within the range of 10-15mm. The error between the position of the repair part tracked by the device and the actual position does not exceed 5mm. The marking point of the inkjet printer 38 is located on the right side of the image. By determining the positional relationship between the marking point and the tank wall fault point through the positional relationship between the point on the right side of the image and the image fault point, the position of the tank wall fault point is determined.

[0040] A traveling mechanism 6 is installed inside the frame 1. The traveling mechanism 6 includes a beam 61 fixed to the bottom of the connecting plate 74 by bolts. Two slotted plates 62 are installed below the beam 61, forming a relatively enclosed space, which helps to protect the traveling wheels 63. The traveling wheels 63 are installed below the beam 61. To ensure that the device moves smoothly along the upper edge of the tank wall without slippage or jamming, the surface of the traveling wheels 63 is embossed. Adjustable wheels 64 are installed on the outside of the traveling wheels 63. The traveling wheels 63 have grooves with different gear holes in the middle. The adjustable wheels 64 can be adjusted by different... The slotted engagement of the gear shift hole allows for adjustment of the distance between the adjustable wheel 64 and the traveling wheel 63, making it suitable for traveling on tank walls of different thicknesses and applicable to various working conditions. Two transverse stepper motors 65 are installed on one side of the beam 61, and the output ends of the two transverse stepper motors 65 are fixedly connected to one side of the two traveling wheels 63 respectively. Two circumferential encoders 66 are installed on one side of the beam 61, which can accurately record the traveling distance. The circumferential traveling error is controlled within ±1mm, and the traveling error of the circumferential weld seam for every 12m of travel is controlled within ±5mm.

[0041] The inner side of the frame 1 is provided with 12 sets of adjusting wheel mechanisms 8. The adjusting wheel mechanism 8 includes a small motor 81 fixed to the inner side of the frame 1, a rail 82 fixed to the inner side of the frame 1, and two second photoelectric sensors 811 set to the inner side of the frame 1. One end of the output shaft of the small motor 81 is fixed with a screw 83. A mounting seat 84 slides on the outside of the rail 82. The mounting seat 84 is threaded to the outside of the screw 83. A hollow cylinder 85 is fixed inside the mounting seat 84. A connecting rod 86 is set inside the hollow cylinder 85. One end of the connecting rod 86 is fixed with an adjusting wheel. A third spring 88 is installed on the outside of the frame 87 and connecting rod 86. A magnet 89 is installed on one side of the adjusting frame 87, and an adjusting wheel 810 is installed on the inside of the adjusting frame 87. To prevent excessive impact when the adjusting wheel 810 contacts the tank wall, which could damage the precision of the adjusting wheel device, a third spring 88 is installed between the hollow cylinder 85 and the adjusting frame 87 to provide a buffering effect. With the close cooperation of the traveling mechanism 6 and the 12 sets of adjusting wheel mechanisms 8, the detection device can run smoothly on the tank wall without being affected even if there are some obstacles on the tank wall. When the detection device is installed on the tank wall, the small motor 81 is energized and starts to run. It drives the mounting seat 84 installed on the rail 82 to slide through the screw 83. When the adjusting wheel 810 contacts the tank wall, the front magnet 89 is attracted to the tank wall to fix it. At the same time, the second photoelectric sensor 811 detects that the device has moved to the appropriate position and sends an electrical signal to the control board to command the small motor 81 to cut off the power so that the adjusting wheel 810 stops moving.

[0042] Two self-changing components 7 are respectively set on both sides of the traveling mechanism 6. The self-changing components 7 are used to lock the traveling mechanism 6 onto the tank wall with different longitudinal dimensions. The self-changing components 7 include a displacement component and two locking components. The locking components are used to lock the displacement component. The displacement component includes two upper gears 71 that rotate outside the frame 1 and lower gears 72 that rotate outside the frame 1 and correspond to the two upper gears 71 respectively. A perforated belt 73 is provided between the two upper gears 71 and the two lower gears 72. A connecting plate 74 is fixed to the outside of the two perforated belts 73. The two connecting plates 74 are fixed above the traveling mechanism 6. The connecting plates 74 in the two symmetrical displacement components stably support the traveling mechanism 6 on the inside of the frame 1. A vertical groove is opened on the inside of the frame 1 close to the connecting plate 74. The connecting plate 74 slides in the vertical groove on the frame 1 through the sliding foot to ensure the stability of the beam 61 during the lifting process.

[0043] Both upper gears 71 have multi-branch air chambers 75 on their inner sides. The number of branches is the same as the number of teeth, and the positions of the branches and teeth correspond. The porous belt 73 has multiple insertion holes 78 inside. Two locking members are respectively disposed inside the two multi-branch air chambers 75. The locking members include a sliding strip 76 that slides inside the multi-branch air chamber 75, a sliding seat 77 that slides inside the multi-branch air chamber 75, and a push-pull member disposed at the opening of the multi-branch air chamber 75. The push-pull member is used to fill the multi-branch air chamber 75 with external air. One end of the right part of the sliding strip 76 is fixed with a first A spring 79 and a sliding bar 76 are each fixed with a plug pin 710 at one end of the left part. When the first spring 79 is at its original length, one end of the plug pin 710 does not extend to the outside of the teeth in the upper gear 71. The other end of the sliding bar 76 is provided with a sloping groove 711. A push plate 712 is fixed on the upper end face of the sliding seat 77. A second spring 713 is fixed on the lower end face of the sliding seat 77. The second spring 713 is used to reset the sliding seat 77 and remove the push plate 712 from the sloping groove 711. One end of the second spring 713 is fixed inside the multi-branch air chamber 75 by a mounting bracket.

[0044] The push-pull component includes a connecting pipe 714 fixed at the opening of the multi-branch air chamber 75, two connecting buckles 715 fixed to the inside of the frame 1, and an air supply pipe 716 fixed to the inside of the frame 1. One end of the connecting pipe 714 is connected to one end of the air supply pipe 716 via a rotary joint. A double one-way valve 717 is provided on the inside of the air supply pipe 716, which realizes one-way gas flow when the rubber side piston plate 718 moves, without manual control. A spring-type one-way valve (spring check valve) or a gravity one-way valve can be selected. When the rubber side piston plate 718 moves down, the valve disc of one of the one-way valves is pushed open, and gas flows into the air supply pipe 716, realizing the automatic one-way valve. When the valve is opened, the other one-way valve is pushed open when the rubber side piston plate 718 moves upward, and the gas is drawn out of the gas supply pipe 716. The rubber side piston plate 718 slides inside the gas supply pipe 716. A rod 719 is fixed above the rubber side piston plate 718. Sliding pins 720 slide inside the two connecting buckles 715. A fixing strip 721 is fixed between one end of the two sliding pins 720. One end of the rod 719 is fixed below the fixing strip 721. A lifting lug 9 is fixed above the fixing strip 721. When preparing for operation, the device can be lifted and moved to the top of the tank wall to be tested and then lowered onto the tank wall through the lifting lug 9.

[0045] When using the device for longitudinal seam inspection of a single sheet, first adjust the distance between the travel wheels 63 and adjustable wheels 64 in the travel mechanism 6 according to the thickness of the welded plate being inspected. For a single sheet, the travel wheel 63 should be adjusted to the widest setting. Before hoisting, press the device start button and the zeroing button. The device will start working, and the small motor 81 in the 12 adjusting wheel mechanism 8 will rotate, causing the adjusting wheel 810 to retract. The photoelectric switch at the end of the small motor 81 will be energized, and the small motor 81 will stop rotating. The servo motor 31 will rotate, causing the moving seat 36 to retract the imaging plate 37. The photoelectric switch at the end of the servo motor 31 will be energized, and the servo motor 31 will stop rotating. The dual-axis motor 23 of the synchronous drive mechanism 2 will drive the two second bevel gears 28 to rotate through the two connecting rods 27, thereby driving the first bevel gear 26 to rotate, which will cause the lead screw 21 to rotate. The two lifting seats 22 will simultaneously drive the receiving mechanism 3 and the flaw detector 4 to descend. The lower limit switch will be energized, and the dual-axis motor 23 will stop rotating. At this point, the device will return to zero.

[0046] The device is lifted by the lifting lug 9, which pulls the fixing bar 721 upward. The fixing bar 721, limited by the sliding column 720 and the connecting buckle 715, pulls the rod 719 upward. The rod 719 then moves the connected rubber piston plate 718 upward. The rubber piston plate 718 extracts gas from the multi-branch air chamber 75. After extraction, the internal air pressure decreases, and the sliding seat 77 and push plate 712 are reset by the second spring 713. The push plate 712 then moves out of the inclined plane. Under the reset of the first spring 79, the insertion post 710 moves out of the insertion hole 78, thereby releasing the restriction on the perforated belt 73. Then, under the lifting action of the hoist, the lifting lug 9 continues to move upward a short distance, lifting the device. When the device is lifted, the traveling mechanism 6 pulls the perforated belt 73 down under its own weight, thereby causing the upper gear 71 and the lower gear 72 to rotate. When the device moves to the top of the test tank wall and slowly descends, the traveling mechanism 6 will first contact the test tank wall. As the device continues to move downward, the restriction of the test tank wall causes the traveling mechanism 6 to move vertically upward under the sliding restriction of the connecting plate 74 and the vertical groove. When moving upward, it drives the perforated belt 73, the upper gear 71, and the lower gear 72 to rotate until the bottom of the device is stopped when it descends to the ground where the test tank wall is placed. At this time, the position of the traveling mechanism 6 is restricted and it is in contact with the tank wall, so that the device can be adapted to test tank walls of different longitudinal dimensions. Then the lifting lug 9 is... When lowered, under the weight of the fixed bar 721 and the sliding column 720, the rubber-side piston plate 718 will move downward, thereby filling the gas in the air supply pipe 716 into the multi-branch air chamber 75. The filling of gas will push the sliding seat 77 to drive the push plate 712 into the inclined groove 711, thereby pushing the plug-in column 710 out of the multi-branch air chamber 75 and inserting it into the plug-in hole 78, locking the multi-hole belt 73 and the upper gear 71, and preventing the walking mechanism 6 from shaking up and down and detaching from the detection tank wall due to bumps and vibrations later.

[0047] Once the device is positioned correctly, a total of 12 sets of adjusting wheels 810 extend from both sides and fit against the tank wall surface to improve the device's load-bearing capacity and stability. After the detection button is activated, the screw 83 is rotated by the small motor 81, which moves the mounting base 84 to extend the 12 adjusting wheels 810. The photoelectric switch at the wheel end is energized, the small motor 81 stops rotating, and the adjusting wheels 810 are tightly pressed against the tank wall to ensure the device is stable and moves smoothly. The threaded rod 35 is rotated by the servo motor 31, which moves the moving base 36 to extend the imaging plate 37. The photoelectric switch at the imaging plate 37 end is energized, the servo motor 31 stops rotating, and the imaging plate 37 is 10mm away from the tank wall.

[0048] The two transverse stepper motors 65 of the walking mechanism 6 simultaneously drive the walking wheels 63 to move the device along the top of the tank to the longitudinal seam inspection area. The two transverse stepper motors 65 of the walking mechanism 6 stop rotating, and the circumferential encoder 66 records the position as the starting point. The magnet 89 of the adjusting wheel mechanism 8 is energized, and the magnet 89 attracts the tank wall, constraining the circumferential movement of the device. The dual-axis motor 23 of the synchronous drive mechanism 2 rotates, causing the X-ray flaw detector 4 module to move upward. After each certain distance of travel, the system automatically takes an image to ensure that the entire weld area is within the radiation range. The X-ray flaw detector 4 emits X-rays, which penetrate the weld and are received by the imaging plate 37 to generate a high-resolution image. These images are displayed in real time on the operating computer interface through a remote transmission system, facilitating real-time imaging inspection.

[0049] The X-ray flaw detector module 4 moves upward, and the imaging plate 37 touches the upper limit switch. The limit switch is energized, and the dual-axis motor 23 of the synchronous drive mechanism 2 stops rotating. At this time, the device completes the inspection of the first weld. Then, the magnet 89 is de-energized and leaves the tank wall. The transverse stepper motor 65 of the traveling mechanism 6 rotates and will automatically move to the position of the second weld. The transverse stepper motor 65 stops rotating, and the magnet 89 is energized again and attracts the tank wall. The device is constrained in circumferential movement. The dual-axis motor 23 of the synchronous drive mechanism 2 rotates, causing the X-ray flaw detector module 4 to move downward. The inspection steps are repeated. After the inspection is completed, the zeroing button is pressed. After the zeroing is completed, the device is hoisted down.

[0050] The inkjet printer 38 installed on one side of the imaging plate 37 (sprays the upper, lower, left, and right edges before detecting a new location, with the inkjet printing fixed at the outer edge) marks and divides the tank wall into grids by inkjet printing. When the system automatically identifies weld defects in the image, the coordinates of the fault location are accurately determined by the circumferential encoder 66 and the longitudinal encoder 34. Workers can quickly locate the fault area based on the coordinates and inkjet markings, thereby efficiently carrying out rework. The X-ray imaging technology uses a detector (DR imaging plate) instead of conventional film to complete the detection and photoelectric conversion of X-rays. By observing the intensity changes of X-rays penetrating the intact and defective parts of the workpiece, a digital image is obtained, thereby realizing the detection of defects.

[0051] For longitudinal seam inspection of plates with two or more strips, the inspection process is the same as described above. The difference is that the longitudinal stroke is longer, which can cross the circumferential weld and realize inspection from the lowest node of the longitudinal seam upward. This feature effectively avoids blind spots in inspection, ensures complete coverage of the entire longitudinal seam area, and improves inspection efficiency and accuracy. For plates with two strips, the second widest setting is adjusted, and the setting is gradually adjusted according to different weld plate types.

[0052] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. An automated digital radiographic imaging inspection device for tank welds, characterized in that, include: A frame (1) is provided with a synchronous drive mechanism (2) on its inner side. The synchronous drive mechanism (2) includes two lead screws (21) that rotate on the inner side of the frame (1). The two lead screws (21) are threadedly connected to a lifting seat (22). A receiving mechanism (3) is provided above one of the lifting seats (22), and a flaw detector (4) and a camera (5) are provided above the other lifting seat (22). A walking mechanism (6) is provided on the inner side of the frame (1). Multiple adjusting wheel mechanisms (8) are provided on the inner side of the frame (1). Lead cloth (10) is provided on the outer side of the frame (1). Two self-changing components (7) are respectively disposed on both sides of the walking mechanism (6). The self-changing components (7) are used to clamp the walking mechanism (6) on the tank wall with different longitudinal dimensions. The self-changing components (7) include a displacement component and two locking components. The locking components are used to lock the displacement component. The displacement component includes two upper gears (71) rotating outside the frame (1) and two lower gears (72) rotating outside the frame (1). A perforated belt (73) is provided between the two upper gears (71) and the two lower gears (72). A connecting plate (74) is fixed to the outside of the two perforated belts (73). The two connecting plates (74) are fixed above the walking mechanism (6). The two connecting plates (74) slide on the inside of the frame (1) through sliding feet. Both upper gears (71) have multi-branch air chambers (75) on their inner sides. The porous belt (73) has multiple insertion holes (78) inside. The number of branches in the multi-branch air chambers (75) is the same as the number of teeth in the upper gears (71), and the positions of each branch and each tooth correspond one-to-one. The locking component includes a sliding strip (76) that slides inside the multi-branch air chambers (75), a sliding seat (77) that slides inside the multi-branch air chambers (75), and a locking element disposed in the multi-branch air chambers (75). The push-pull component at the opening has a first spring (79) fixed at one end of the right part of the sliding bar (76), a plug-in post (710) fixed at one end of the left part of the sliding bar (76), and a sloping groove (711) opened at the other end of the left part of the sliding bar (76). A push plate (712) is fixed on the upper end face of the sliding seat (77), and a second spring (713) is fixed on the lower end face of the sliding seat (77). One end of the second spring (713) is fixed inside the multi-branch air chamber (75) by a mounting bracket. The push-pull component is used to fill the multi-branch air chamber (75) with external air. The filling of the air will push the sliding seat (77) to drive the push plate (712) into the corresponding inclined groove (711), thereby pushing one end of the plug post (710) out of the multi-branch air chamber (75) and inserting it into the corresponding plug hole (78), locking the perforated belt (73) and the upper gear (71). The push-pull component includes a connecting pipe (714) fixed at the opening of the multi-branch air chamber (75), two connecting buckles (715) fixed on the inner side of the frame (1), and an air supply pipe (716) fixed on the inner side of the frame (1). The connecting pipe (714) One end of the air supply pipe (716) is connected to the air supply pipe (716) via a rotary joint. The inner side of the air supply pipe (716) is provided with a double one-way valve (717). A rubber-side piston plate (718) slides inside the air supply pipe (716). A rod (719) is fixed above the rubber-side piston plate (718). Sliding pins (720) slide inside the two connecting buckles (715). A fixing strip (721) is fixed between one end of the two sliding pins (720). One end of the rod (719) is fixed below the fixing strip (721). A lifting lug (9) is fixed above the fixing strip (721).

2. The automated digital radiographic imaging inspection device for tank welds according to claim 1, characterized in that, The synchronous drive mechanism (2) includes a dual-axis motor (23) fixed inside the frame (1), two first guide rods (24) and two second guide rods (25) fixed inside the frame (1), and a first bevel gear (26) fixed to one end of two lead screws (21). Both ends of the output shaft of the dual-axis motor (23) are fixed with connecting rods (27). Both connecting rods (27) are set inside the frame (1) through support seats. One end of each connecting rod (27) is fixed with a second bevel gear (28). The two first bevel gears (26) mesh with the two second bevel gears (28) respectively.

3. The automated digital radiographic imaging inspection device for tank welds according to claim 2, characterized in that, One of the lifting seats (22) slides outside the two first guide rods (24) via two first guide rod sleeves, and the other lifting seat (22) slides outside the two second guide rods (25) via two second guide rod sleeves.

4. The automated digital radiographic imaging inspection device for tank welds according to claim 1, characterized in that, The receiving mechanism (3) includes a servo motor (31) fixed above the lifting seat (22), two slide rails (32) fixed above the lifting seat (22), two first photoelectric sensors (33) set above the lifting seat (22), and two longitudinal encoders (34) set on one side of the lifting seat (22). One end of the output shaft of the servo motor (31) is fixed with a threaded rod (35). A movable seat (36) slides between the two slide rails (32). The lower part of the movable seat (36) is threadedly connected to the outside of the threaded rod (35) through a connecting sleeve. An imaging plate (37) is set above the movable seat (36). An inkjet printer (38) is set outside the imaging plate (37).

5. The automated digital radiographic imaging inspection device for tank welds according to claim 1, characterized in that, The walking mechanism (6) includes a beam (61) fixed below the connecting plate (74), two slot plates (62) are provided below the beam (61), a walking wheel (63) is provided below the beam (61), an adjustable wheel (64) is provided outside the walking wheel (63), two transverse stepper motors (65) are provided on one side of the beam (61), the output ends of the two transverse stepper motors (65) are respectively fixedly connected to one side of the two walking wheels (63), and two circumferential encoders (66) are provided on one side of the beam (61).

6. The automated digital radiographic imaging inspection device for tank welds according to claim 1, characterized in that, The adjusting wheel mechanism (8) includes a small motor (81) fixed inside the frame (1), a rail (82) fixed inside the frame (1), and two second photoelectric sensors (811) set inside the frame (1). One end of the output shaft of the small motor (81) is fixed with a screw (83). A mounting seat (84) slides outside the rail (82). The mounting seat (84) is threaded to the outside of the screw (83). A hollow cylinder (85) is fixed inside the mounting seat (84). A connecting rod (86) is set inside the hollow cylinder (85). An adjusting frame (87) is fixed at one end of the connecting rod (86). A third spring (88) is set outside the connecting rod (86). A magnet (89) is set on one side of the adjusting frame (87). An adjusting wheel (810) is set inside the adjusting frame (87).

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