A device and method for detecting a hidden crack in a pressure vessel

Abstract

The application discloses a kind of pressure vessel crack detection device and method, wherein detection device includes pivot, with to two ends axial extension pivot A and pivot B;Walking mechanism, radial is set on pivot, and is supported on the inner wall of pressure vessel during detection, to make the pivot with the pressure vessel coaxial arrangement;Magnetic particle detection mechanism is connected on pivot A of pivot, and under the drive of pivot A, it is detected that the inner wall of pressure vessel is ringly moved, detection;Synchronous dial, fixed on the outside end of pressure vessel, and with pivot B drive connection of pivot, to indicate the position detected by magnetic particle detection mechanism outside;Video player is connected with magnetic particle detection mechanism electrical signal, to play the detection picture of the inner wall of pressure vessel in real time.By the method of cooperating above-mentioned detection device, the precision detection of pressure vessel, especially the inside of small superhigh pressure pressure vessel weld is realized, and the safety when pressure vessel is delivered for use is guaranteed.

Description

Technical Field

[0001] This invention relates to a pressure vessel crack detection device, and more particularly to a pressure vessel microcrack detection device and method. Background Technology

[0002] Pressure vessels are specialized equipment widely used in the petroleum, chemical, and energy industries, and their safety is directly related to industrial production and personal safety. These vessels are typically constructed by welding multiple cylindrical sections, with the weld seams being the weakest point in the structure. Under harsh conditions such as high pressure and alternating loads, undetected defects such as microcracks, porosity, and lack of fusion within the weld seams can easily lead to crack propagation, causing vessel failure and serious accidents.

[0003] Ultra-high pressure vessels, as a typical example, operate at pressures reaching hundreds of megapascals, placing extremely stringent requirements on weld quality. Not only must the outer surface of the weld be inspected, but the inner surface must also be thoroughly examined. However, a common type of small ultra-high pressure vessel features a "small diameter (usually less than 500 mm) and large depth (greater than 2000 mm)" structure, which presents significant challenges to internal inspection: inspectors cannot enter the vessel; conventional handheld inspection equipment, due to its excessive depth, inability to stably center, and difficulty in circumferential positioning, cannot achieve effective and accurate internal wall inspection.

[0004] Currently, there is a lack of dedicated equipment for inspecting the inner surface of welds in such containers, integrating functions such as internal wall movement, defect detection, real-time observation, and synchronous internal and external positioning and marking. Existing magnetic particle inspection methods often suffer from the following problems: the inspection equipment cannot autonomously move and position itself inside the container; the internal inspection status cannot be transmitted to the outside in real time and clearly; it is difficult to accurately mark the location of defects on the outer surface of the container after they are discovered; and the magnetic suspension liquid easily contaminates the optical sensor during the inspection process, affecting the continuity and accuracy of the inspection.

[0005] Therefore, there is an urgent need to develop an automated microcrack detection device and method specifically for small-diameter, large-depth pressure vessels, capable of stable support of the vessel's inner wall, autonomous movement, accurate detection, real-time observation, and synchronization and marking of internal and external positions, thereby improving detection efficiency and reliability and ensuring the safe use of pressure vessels. Summary of the Invention

[0006] The purpose of this invention is to provide a pressure vessel microcrack detection device and method to solve the problem of difficulty in detecting the inner surface of weld seams in small ultra-high pressure vessels with small diameter and large depth using existing technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A pressure vessel microcrack detection device, comprising:

[0009] The pivot has a pivot A and a pivot B that extend axially to both ends;

[0010] The traveling mechanism is arranged in a spoke-like manner on the pivot body and is supported on the inner wall of the pressure vessel during testing, so that the pivot body and the pressure vessel are coaxially arranged.

[0011] The magnetic particle inspection mechanism is connected to the pivot A of the pivot body, and moves circumferentially against the inner wall of the pressure vessel under the drive of the pivot A to perform inspection.

[0012] A synchronization dial is fixed to the outer end of the pressure vessel and driven to the pivot B of the pivot body to indicate the position detected by the magnetic particle detection mechanism.

[0013] The video player is electrically connected to the magnetic particle inspection mechanism to display the inspection footage of the inner wall of the pressure vessel in real time.

[0014] Preferably, the magnetic particle detection mechanism includes a telescopic cylinder A, which is fixedly connected to a rotating shaft A and extends radially along the rotating shaft A. The telescopic end of the telescopic cylinder A is fixedly connected to a magnetic yoke. A magnetic suspension spraying tank with a nozzle facing the magnetized area of ​​the magnetic yoke is connected to one side of the magnetic yoke. A camera assembly is provided on the other side of the magnetic yoke, which faces the magnetized area of ​​the magnetic yoke. The camera assembly is electrically connected to a video player. A fluorescent lamp group is provided between the magnetic yokes.

[0015] Preferably, the camera assembly includes a camera facing the magnetized area of ​​the yoke, a motor A is disposed beside the camera, and a baffle A is connected to the output shaft of the motor A to block the camera; the fluorescent lamp assembly includes a fluorescent lamp disposed between the yokes, a motor B is disposed beside the fluorescent lamp, and a baffle B is disposed on the output shaft of the motor B to block the light irradiation port of the fluorescent lamp.

[0016] Preferably, a marking mechanism is also connected to the rotating shaft A. The marking mechanism includes a light source coaxially connected to the rotating shaft A, and a scale cover fixedly connected to the pivot body. The scale cover has light-transmitting scales evenly distributed around it. The light source illuminates the scale cover to project the scales onto the inner wall of the pressure vessel.

[0017] Preferably, the synchronization dial includes a fixed frame, with the dial coaxially arranged at the center of the fixed frame. The dial is rotatably connected to the fixed frame, and a through hole is opened at the center of the dial. It also includes a telescopic rod A, with the inner end of the telescopic rod A coaxially connected to the rotating shaft B. The outer end of the telescopic rod A passes through the through hole at the center of the dial and is provided with a radially extending scale indicator.

[0018] Preferably, the scale indicator includes a laser generator, and an optical fiber extending radially along the dial is provided at the light source outlet of the laser generator. The laser generator is also provided with a telescopic rod B, which is arranged parallel to the optical fiber. A light path deflector is provided at the end of the telescopic rod B away from the laser generator so that the laser emitted from the end of the optical fiber is converted to be parallel to the axis of the pressure vessel.

[0019] Preferably, the fixing frame includes a retaining ring coaxially arranged with the dial, the dial being rotatably disposed in the retaining ring, and a telescopic rod C being provided in a spoke-like shape on the outer edge of the retaining ring, with a gripper connected to the outer end of the telescopic rod C.

[0020] Preferably, the walking mechanism includes a telescopic cylinder B, which is shaped like a spoke and connected to the pivot body, and a walking device is connected to the telescopic end of the telescopic cylinder B.

[0021] Preferably, the walking device is a tracked walking device.

[0022] A detection method based on a pressure vessel microcrack detection device, including...

[0023] S1 Inspection Preparation Ⅰ: Send the pivot body into the pressure vessel to be inspected, and control the telescopic cylinder B in the walking mechanism to move so that the walking devices in the walking mechanism are all in contact with the inner surface of the pressure vessel, and the pivot body is at the center of the pressure vessel at this time.

[0024] S2 Inspection Preparation II: Connect the telescopic cylinder A in the synchronization dial to the rotating shaft B on the pivot body, and adjust the extension length of the telescopic rod B on the fixed frame so that the gripper is clamped on the outer end of the pressure vessel. At this time, the synchronization dial and the pivot body remain coaxial.

[0025] S3 Inspection Preparation Ⅲ: Control the operation of the light source in the marking mechanism. After the light emitted by the light source shines on the light-transmitting scale on the scale cover, it projects the corresponding scale value onto the inner surface of the pressure vessel. The staff observes the projected scale value through a video player connected to the camera assembly. Then, the staff rotates the dial so that the scale value indicated by the indicator on the dial corresponds to the scale value projected onto the pressure vessel.

[0026] S4 Inspection: The operator drives the telescopic cylinder A to extend, and the two magnetic poles of the magnetic yoke abut against both sides of the weld on the inner surface of the pressure vessel to magnetize the weld. Then, the magnetic suspension liquid spray can on one side of the magnetic yoke evenly sprays the magnetic suspension liquid onto the weld surface between the two magnetic poles. Immediately afterwards, the fluorescent lamp group lights up and shines on the weld sprayed with magnetic suspension liquid. The magnetic powder in the area of ​​magnetic leakage of the weld is enriched and presents obvious stripes. This phenomenon is captured by the camera component, and the operator can observe it in real time through the video player to understand the inspection results. It should be noted that during the spraying of magnetic suspension liquid, the camera component and the fluorescent lamp group are shielded to avoid contaminating the lens or light source.

[0027] S5 Marking: When a defect is detected, the staff makes a corresponding mark on the outer surface of the pressure vessel according to the position on the scale indicator and dial to facilitate subsequent statistics. It should be noted that in some schemes, after the laser emitted from the end of the optical fiber is deflected by the optical path diverter, the staff sets a baffle outside the weld to block the laser and thus locate the position of the weld defect.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] This solution utilizes a pivot, a walking mechanism, and a magnetic particle inspection mechanism to achieve movement, support, and inspection of the inner surface of welds inside small-diameter ultra-high-pressure vessels. A video player enables real-time monitoring of the detected weld surface defects. Simultaneously, a synchronized dial allows for the location of detected weld defects outside the pressure vessel, facilitating easy marking and subsequent statistical analysis by personnel.

[0030] This solution avoids unnecessary contamination of the optical components in the pressure vessel microcrack detection device during the spraying of magnetic levitation liquid by setting shielding plate A and shielding plate B, thereby achieving continuous and stable operation of the detection device.

[0031] This solution incorporates a marking mechanism on rotating shaft A. During inspection, this mechanism projects clear coordinates onto the dimly lit inner surface of the pressure vessel, allowing operators to easily pinpoint the inspection location. Furthermore, these projected coordinates correspond to the scale on the external dial, facilitating cross-referencing and enabling precise location of internal defects on the external surface. This significantly simplifies subsequent statistical analysis and observation.

[0032] By setting the scale indicator as a combination of a laser generator and an optical fiber, it can not only correspond with the dial and accurately indicate the internal detection position, but also redirect the laser emitted from the end of the optical fiber to be parallel to the outer surface of the pressure vessel through the optical path deflector. Then, with just a baffle on the outer surface of the weld being inspected, the staff can more accurately identify the location of the weld with problems and make the corresponding position record on the outside. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 for Figure 1 A sectional view;

[0035] Figure 3 This is a schematic diagram of the structure of the present invention after removing the external pressure vessel and the video player;

[0036] Figure 4 This is a diagram showing the state of the telescopic rod A in this invention after it has been extended to detect the weld located inside the pressure vessel.

[0037] Figure 5 This is a magnified view of a section marked I;

[0038] Figure 6 This is a magnified view of a section marked II;

[0039] Figure 7 This is a magnified view of a section marked III.

[0040] Reference numerals: 1. Pivot body; 11. Rotating shaft A; 12. Rotating shaft B; 2. Walking mechanism; 21. Telescopic cylinder B; 22. Walking device; 3. Magnetic particle detection mechanism; 31. Telescopic cylinder A; 32. Magnetic yoke; 33. Magnetic suspension spray can; 34. Camera assembly; 341. Camera; 342. Motor A; 353. Baffle A; 35. Fluorescent lamp assembly; 351. Fluorescent lamp; 352. Motor B; 353. Baffle B; 4. Synchronization dial; 41. Fixing bracket; 411. Snap ring; 412. Telescopic rod C; 413. Gripper; 42. Dial; 421. Through hole; 43. Telescopic rod A; 44. Scale indicator; 441. Laser generator; 442. Optical fiber; 443. Telescopic rod B; 444. Optical path converter; 5. Video player; 6. Marking mechanism; 61. Light source; 62. Scale cover; 63. Transparent scale. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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.

[0044] This solution discloses a device and method for detecting microcracks in pressure vessels. Its main application scenario is the inspection of the inner surface of welds in small ultra-high pressure vessels with a diameter of less than 500mm, which are difficult for inspectors to enter directly, and a depth of more than 2000mm, which cannot be inspected by handheld inspection equipment.

[0045] like Figures 1-7 The pressure vessel microcrack detection device shown includes a pivot 1, which has a rotating shaft A11 and a rotating shaft B12 extending to both ends.

[0046] like Figure 2 , Figure 3 As shown, three sets of walking mechanisms 2 are provided on the outer surface of the pivot body 1. These three sets of walking mechanisms 2 are arranged at equal intervals in a spoke-like manner. While ensuring that the pivot body 1 remains coaxial with the pressure vessel after entering the pressure vessel, it can also achieve axial movement within the pressure vessel.

[0047] Meanwhile, a set of magnetic particle inspection mechanism 3 is fixedly connected to the end of the rotating shaft A11 of the pivot body 1. Driven by the rotating shaft A11, the magnetic particle inspection mechanism 3 can move in contact with the inner surface of the pressure vessel weld, thereby performing magnetic particle inspection of the hidden cracks on the inner surface of the pressure vessel weld.

[0048] In order to accurately grasp the detection results and detection location, this solution also includes a synchronization dial 4 and a video player 5.

[0049] Specifically, the synchronization dial 4, through its connection with the rotating shaft B12, achieves synchronized rotation with the magnetic particle detection mechanism 3 on the rotating shaft A11. This transforms the positional changes of the magnetic particle detection mechanism 3, which is difficult to observe and judge from inside the pressure vessel, into changes that are easily observed on the external synchronization dial 4. The video player 5, on the other hand, broadcasts the detection results in real time during magnetic particle detection, facilitating observation and judgment by the staff.

[0050] It should be specifically noted that in the above scheme, the magnetic particle inspection mechanism 3 includes a telescopic cylinder A31 connected to the rotating shaft A11. The telescopic cylinder A31 extends radially along the rotating shaft A11, and a magnetic yoke 32 is fixedly mounted on the telescopic end of the cylinder A31 for magnetizing the weld area where microcracks need to be detected. It should be understood that, in situations such as... Figure 5 As shown, a magnetic levitation liquid spray can 33 is provided on one side of the magnetic yoke 32. The function of the magnetic levitation liquid spray can 33 is that after the weld is magnetized, the magnetic levitation liquid is sprayed onto the surface of the magnetized area, and the area with hidden cracks will show magnetic leakage. At this time, the location of the hidden crack will be enriched with a large amount of magnetic powder, forming a sharp contrast with the surrounding healthy area. It should be noted that when performing magnetic particle detection, in order to clearly observe the enrichment of magnetic powder, fluorescent illumination is also required. For this purpose, at least one set of fluorescent lamps 35 is also provided between the two magnetic poles of the magnetic yoke 32. After the magnetic levitation liquid is sprayed, the fluorescent lamps 35 can be turned on to illuminate the sprayed area to more clearly show the location of magnetic powder enrichment, that is, the location of magnetic leakage due to hidden cracks. It should be noted that, in order to transmit the detected results to the outside, a camera component 34 is also provided on the other side of the magnetic yoke 32 where the magnetic levitation liquid spray tank 33 is located. The camera component 34 is electrically connected to the video player 5 and can transmit the specific detection results to the external video player 5 through electrical signals for easy identification by staff.

[0051] It is important to know that the magnetic suspending liquid used in magnetic particle testing is a suspension containing a fluorescent agent. This is to prevent the magnetic suspending liquid from splashing onto the camera assembly 34 and the fluorescent lamp assembly 35 during spraying, which could affect the clear transmission of the test image by the camera assembly 34 and the normal intensity of fluorescence from the fluorescent lamp assembly 35. Figure 5As shown, the camera assembly 34 includes a camera 341 mounted between the two magnetic poles of the magnetic yoke 32. The camera 341 faces the magnetized area to be detected. It should be noted that a miniature motor A342 is mounted to the side of the camera 341, and a baffle plate A343 is connected to the output shaft of the motor A342. When the magnetic levitation liquid is sprayed, the baffle plate A343, driven by the motor A342, shields the lens of the camera 341, preventing the magnetic levitation liquid from splashing onto the lens and keeping the lens clean. Meanwhile, the fluorescent lamp assembly 35 in this solution includes a fluorescent lamp 351 mounted between the two magnetic poles, such as... Figure 5 As shown, a miniature motor B352 is mounted on the side of the fluorescent lamp 351, and a baffle B353 is connected to the output shaft of the motor B352. When the magnetic levitation liquid spray can 33 is performing spraying operations, the baffle B353, under the action of the motor B352, blocks the lamp head of the fluorescent lamp 351 to prevent the magnetic levitation liquid from splashing onto the lamp head of the fluorescent lamp 351 and affecting the light intensity of the fluorescent lamp 351.

[0052] However, it's important to understand that under the above structure, although staff can monitor the real-time internal inspection status through the camera component 34 and video player 5, and understand the inspection progress of the magnetic particle inspection mechanism 3 within the pressure vessel through the synchronization dial 4, they still cannot directly determine the change in the inspection position of the magnetic particle inspection mechanism 3 within the pressure vessel from the content displayed on the video player 5. In other words, they still need to verify the information with the synchronization dial 4, making the process relatively cumbersome.

[0053] Therefore, this solution addresses the issue of the rotating shaft.

[0054] A11 is also equipped with a marking mechanism 6, which marks the detection area with a cursor, allowing staff to make intuitive judgments based on the footage played by the video player 5. Specifically, such as... Figure 7 As shown, the marking mechanism 6 includes a scale cover 62 fixedly connected to the pivot 1. The scale cover 62 has multiple scale values ​​corresponding to circumferential angles on its annular surface. The number of scale values ​​is optimally divided into equal parts of the annulus, such as 120, 180, 240, and 360. These scale values ​​are hollowed out to form translucent scales 63. Meanwhile, on the rotating shaft...

[0055] A light source 61 is fixedly connected to A11. This light source 61 is a radiation source with a highly concentrated illumination area, ideally illuminating 2-3 graduations on the scale cover 62. The light source 61 extends radially along the scale cover 62, and after illuminating the scale cover 62, it projects a cursor onto the inner wall of the pressure vessel through the light-transmitting scale 63. At this time, the camera component 34 on the magnetic particle inspection mechanism 3 can simultaneously observe the accumulation of magnetic powder on the weld seam and the cursor on the inner wall of the pressure vessel. Operators can quickly determine the position of the cursor by observing the image. It should be noted that, through the marking mechanism 6, operators can also compare the light markings inside the pressure vessel with the scale on the synchronization dial 4 to verify whether the internal inspection of the pressure vessel is normal.

[0056] like Figure 3 , Figure 6 As shown, the synchronization dial 4 in this solution includes a mounting bracket 41, with a dial 42 mounted at its center. The dial 42 has several scale values ​​evenly distributed around its circumference to accurately reflect the detection position of the magnetic particle detection mechanism 3 within the pressure vessel during testing. It should be noted that the scale values ​​on the dial 42 correspond to the scale values ​​on the scale cover 62 located inside the pressure vessel. Furthermore, it should be understood that in this solution, there is no fixed connection between the synchronization dial 4 and the pivot 1; that is, the dial 42 and the pivot 1 are rotatable. Therefore, when the synchronization dial 4 is fixed to the outer end of the pressure vessel, there may be a mismatch between the scale values ​​on the dial 42 and the inner scale cover 62. This would require adjustment, which is obviously inconvenient and difficult. Therefore, this solution improves convenience by addressing this issue in the following ways. Specifically, an annular groove can be provided in the middle of the fixed frame 41. The dial 42 in this design can be rotatably embedded in this annular groove. When the scale on the dial 42 does not correspond to the scale on the scale cover 62, simply rotate the dial 42. Furthermore, it should be noted that the following structure is needed to synchronously map the changes in the detection position of the magnetic particle detection mechanism 3 through the dial 42. Specifically, the synchronous dial 4 also includes a telescopic rod A43, the inner end of which is coaxially connected to the rotating shaft B12. Simultaneously, a scale indicator 44 extending radially along the telescopic rod A43 is installed on the outer end of the telescopic rod A43. When the rotating shaft in the pivot 1 rotates, it simultaneously drives the rotating shaft A11 and rotating shaft B12 to rotate synchronously, and the scale indicated by the scale indicator 44 connected to the outer end of the telescopic rod A43 will also change synchronously.

[0057] It is also important to understand that, while the above structure visualizes the positional changes of the magnetic particle detection mechanism 3 within the container on the dial 42 and corroborates the cursor emitted by the marking mechanism 6, allowing operators to mark the corresponding outer surface of the pressure vessel using the scale value indicated by the scale indicator 44 on the synchronous dial 4, this marking method still requires the assistance of various additional tools, such as rulers, compasses, and extension lines. This not only introduces some errors but also makes operation very inconvenient. Therefore, this solution optimizes and improves upon the above approach. Specifically, the scale indicator 44 in this solution includes a laser generator 441 fixedly mounted on the outer end of the telescopic rod A43. This laser generator 441 extends radially along the dial 42, and an optical fiber 442 is also installed at the light source outlet of the laser generator 441, also extending radially along the dial 42. In this case, the optical fiber 442 acts as a scale pointer, and the scale it points to represents the position detected by the magnetic particle detection mechanism 3. In addition, a telescopic rod B443 is installed on the laser generator 441. An optical path converter 444 is installed at the end of the telescopic rod B443 furthest from the laser generator 441. When the laser generator 441 operates, a laser beam is emitted, entering from one end of the optical fiber 442 and exiting from the other. After the optical path converter 444 converts the optical path, it extends from the radial direction along the dial 42 to the axial direction along the pressure vessel. At this point, only a baffle needs to be erected on the outer surface of the weld to form a corresponding light spot. The location of the light spot is the position detected by the magnetic particle inspection mechanism 3 inside the pressure vessel. It should be noted that in this solution, the optical path converter 444 mainly uses a reflector at a 45° angle to both the radial direction of the dial 42 and the axial direction of the pressure vessel. Furthermore, it should be explained that in this solution, the optical path converter 444 is mounted on a telescopic rod B443. By adjusting the extension length of the telescopic rod, it can adapt to the inspection needs of pressure vessels of various diameters.

[0058] Furthermore, it should be noted that in the above solution, the fixing frame 41 includes a retaining ring 411 coaxially arranged with the dial 42. The retaining ring 411 has an annular groove on its inner side, in which the dial 42 is rotatably mounted. Simultaneously, three telescopic rods C412 are mounted in a spoke-like pattern on the outer rim of the retaining ring 411. A clamping jaw 413, capable of gripping the outer end face of the pressure vessel, is connected to the outer end of each telescopic rod C412. It should be understood that this solution uses the telescopic rods C412 to adjust the position of the clamping jaw 413, thus better adapting to the clamping and fixing requirements of pressure vessels of various specifications.

[0059] Additionally, it should be noted that, in order to adapt to the testing needs of pressure vessels of various specifications, the traveling mechanism 2 in this solution includes three sets of spoke-shaped telescopic cylinders B21 connected to the pivot body 1. A set of traveling actuators 22 is connected to the telescopic ends of the telescopic cylinders B21 to drive the movement of the pivot body 1 within the pressure vessel. It is important to understand that by ensuring the synchronous extension and retraction of the telescopic cylinders B21, the three sets of traveling actuators 22 can press against the inner wall of the pressure vessel in a triangular star shape, thereby keeping the pivot body 1 coaxial with the pressure vessel.

[0060] In addition, it should be noted that the walking device 22 in this solution is a tracked walking device, which is adapted to the walking needs inside the pressure vessel.

[0061] It should be noted that this solution also discloses a detection method based on a pressure vessel microcrack detection device, including...

[0062] S1 Inspection Preparation Ⅰ: Send the pivot body into the pressure vessel to be inspected, and control the telescopic cylinder B in the walking mechanism to move so that the walking devices in the walking mechanism are all in contact with the inner surface of the pressure vessel, and the pivot body is at the center of the pressure vessel at this time.

[0063] S2 Inspection Preparation II: Connect the telescopic cylinder A in the synchronization dial to the rotating shaft B on the pivot body, and adjust the extension length of the telescopic rod C on the fixed frame so that the gripper is clamped on the outer end of the pressure vessel. At this time, the synchronization dial and the pivot body remain coaxial.

[0064] S3 Inspection Preparation Ⅲ: Control the operation of the light source in the marking mechanism. After the light emitted by the light source shines on the light-transmitting scale on the scale cover, it projects the corresponding scale value onto the inner surface of the pressure vessel. The staff observes the projected scale value through a video player connected to the camera assembly. Then, the staff rotates the dial so that the scale value indicated by the indicator on the dial corresponds to the scale value projected onto the pressure vessel.

[0065] S4 Inspection: The operator drives the telescopic cylinder A to extend, and the two magnetic poles of the magnetic yoke abut against both sides of the weld on the inner surface of the pressure vessel to magnetize the weld. Then, the magnetic suspension liquid spray can on one side of the magnetic yoke evenly sprays the magnetic suspension liquid onto the weld surface between the two magnetic poles. Immediately afterwards, the fluorescent lamp group lights up and shines on the weld sprayed with magnetic suspension liquid. The magnetic powder in the area of ​​magnetic leakage of the weld is enriched and presents obvious stripes. This phenomenon is captured by the camera component, and the operator can observe it in real time through the video player to understand the inspection results. It should be noted that during the spraying of magnetic suspension liquid, the camera component and the fluorescent lamp group are shielded to avoid contaminating the lens or light source.

[0066] S5 Marking: When a defect is detected, the staff makes a corresponding mark on the outer surface of the pressure vessel according to the position on the scale indicator and dial to facilitate subsequent statistics. It should be noted that in some schemes, after the laser emitted from the end of the optical fiber is deflected by the optical path diverter, the staff sets a baffle outside the weld to block the laser and thus locate the position of the weld defect.

[0067] Based on the above structure and matching method, this solution effectively solves the problem of difficult inspection of existing pressure vessels, especially small ultra-high pressure vessels, due to their small diameter and large depth.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pressure vessel crack detection apparatus, characterized by: Comprising a pivot body (1) having a rotating shaft A (11) and a rotating shaft B (12) extending axially to both ends; a walking mechanism (2) arranged on the pivot body (1) in a spoke shape and supported on the inner wall of the pressure container during detection, so that the pivot body (1) is coaxially arranged with the pressure container; a magnetic powder detection mechanism (3) connected to the rotating shaft A (11) of the pivot body (1) and driven by the rotating shaft A (11) to move around the inner wall of the pressure container and detect; a synchronous dial (4) fixed on the outer side of the pressure container and drivingly connected with the rotating shaft B (12) of the pivot body (1) to externally indicate the detected position of the magnetic powder detection mechanism (3); a video player (5) electrically connected with the magnetic powder detection mechanism (3) to play the detection picture of the inner wall of the pressure container in real time; the rotating shaft A (11) is further connected with a marking mechanism (6), the marking mechanism (6) comprises a light source (61) coaxially connected with the rotating shaft A (11), and further comprises a scale cover (62) fixedly connected with the pivot body (1), the scale cover (62) is uniformly distributed with light transmission scales (63) around, and the light source (61) irradiates on the scale cover (62) to project scales on the inner wall of the pressure container; the synchronous dial (4) comprises a fixed frame (41), a dial (42) coaxially arranged at the center of the fixed frame (41), the dial (42) is rotatably connected with the fixed frame (41), a through hole (421) is formed at the center of the dial (42), and a telescopic rod A (43) is further arranged, the inner side of the telescopic rod A (43) is coaxially connected with the rotating shaft B (12), and the outer side of the telescopic rod A (43) is provided with a radial scale indicator (44) after penetrating through the through hole (421) at the center of the dial (42); the scale indicator (44) comprises a laser generator (441), the light source of the laser generator (441) is provided with a fiber (442) extending radially along the dial (42), a telescopic rod B (443) is further arranged on the laser generator (441), the telescopic rod B (443) is arranged in parallel with the fiber (442), and a light path diverter (444) is arranged at the end of the telescopic rod B (443) away from the laser generator (441), so that the laser emitted from the end of the fiber (442) is converted to be parallel with the axial direction of the pressure container.

2. A pressure vessel crack detection apparatus as claimed in claim 1, wherein: the magnetic powder detection mechanism (3) comprises a telescopic cylinder A (31) fixedly connected with the rotating shaft A (11) and extending radially along the rotating shaft A (11), a magnetic yoke (32) fixedly connected at the telescopic end of the telescopic cylinder A (31), a magnetic suspension tank (33) with a nozzle connected to one side of the magnetic yoke (32) and facing the magnetization area of the magnetic yoke (32), a camera assembly (34) arranged at the other side of the magnetic yoke (32), the camera assembly (34) directly facing the magnetization area of the magnetic yoke (32), the camera assembly (34) is electrically connected with the video player (5), and a fluorescent lamp group (35) is arranged between the magnetic yokes (32).

3. A pressure vessel crack detection apparatus as claimed in claim 2, wherein: The camera assembly (34) includes a camera (341) facing the magnetized area of ​​the magnetic yoke (32). A motor A (342) is provided on the side of the camera (341). A baffle A (353) is connected to the output shaft of the motor A (342) and blocks the camera (341). The fluorescent lamp assembly (35) includes a fluorescent lamp (351) disposed between the magnetic yokes (32). A motor B (352) is provided on the side of the fluorescent lamp (351). A baffle B (353) is provided on the output shaft of the motor B (352) and blocks the light irradiation port of the fluorescent lamp (351).

4. A pressure vessel crack detection apparatus as defined in claim 1, wherein: The fixing frame (41) includes a retaining ring (411) coaxially arranged with the dial (42). The dial (42) is rotatably disposed in the retaining ring (411). The outer edge of the retaining ring (411) is provided with a telescopic rod C (412) in the shape of spokes. A gripper (413) is connected to the outer end of the telescopic rod C (412).

5. A pressure vessel crack detection apparatus as defined in claim 1, wherein: The walking mechanism (2) includes a telescopic cylinder B (21) connected to the pivot (1) in the shape of spokes, and a walking device (22) is connected to the telescopic end of the telescopic cylinder B (21).

6. A pressure vessel crack detection apparatus as claimed in claim 5, wherein: The walking device (22) is a tracked walking device.

7. A detection method based on a pressure vessel microcrack detection device, comprising: S1 Inspection Preparation Ⅰ: Send the pivot body into the pressure vessel to be inspected, and control the telescopic cylinder B in the walking mechanism to move so that the walking devices in the walking mechanism are all in contact with the inner surface of the pressure vessel, and the pivot body is at the center of the pressure vessel at this time. S2 Inspection Preparation II: Connect the telescopic cylinder A in the synchronization dial to the rotating shaft B on the pivot body, and adjust the extension length of the telescopic rod B on the fixed frame so that the gripper is clamped on the outer end of the pressure vessel. At this time, the synchronization dial and the pivot body remain coaxial. S3 Inspection Preparation Ⅲ: Control the operation of the light source in the marking mechanism. After the light emitted by the light source shines on the light-transmitting scale on the scale cover, it projects the corresponding scale value onto the inner surface of the pressure vessel. The staff observes the projected scale value through a video player connected to the camera assembly. Then, the staff rotates the dial so that the scale value indicated by the indicator on the dial corresponds to the scale value projected onto the pressure vessel. S4 Inspection: The operator drives the telescopic cylinder A to extend, and the two magnetic poles of the magnetic yoke abut against both sides of the weld on the inner surface of the pressure vessel to magnetize the weld. Then, the magnetic suspension liquid spray can on one side of the magnetic yoke evenly sprays the magnetic suspension liquid onto the weld surface between the two magnetic poles. Immediately afterwards, the fluorescent lamp group lights up and shines on the weld sprayed with magnetic suspension liquid. The magnetic powder in the area of ​​magnetic leakage of the weld is enriched and presents obvious stripes. This phenomenon is captured by the camera component, and the operator can observe it in real time through the video player to understand the inspection results. During the spraying of magnetic suspension liquid, the camera component and the fluorescent lamp group are shielded to avoid contaminating the lens or light source. S5 Marking: When a defect is detected, the staff will make a corresponding mark on the outer surface of the pressure vessel according to the position on the scale indicator and dial to facilitate subsequent statistics.

8. A method of inspection using a device for detecting an incipient failure in a pressure vessel as claimed in claim 7, characterised in that: In step S5, after the laser emitted from the end of the optical fiber is redirected by the optical path deflector, the operator sets up a baffle outside the weld to block the laser, thereby locating the position of the weld defect.

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