Device and method for automatically detecting surplus height of weld joint of pressure vessel

Abstract

The invention discloses a pressure vessel weld reinforcement automatic detection device and detection method, and relates to the technical field of weld detection. The automatic detection device for the surplus height of the welding seam of the pressure vessel comprises a pressing plate which can move downwards in the vertical direction; a plurality of arc-shaped clamping plates are evenly arranged on the inner side of the positioning ring in the circumferential direction, and the arc-shaped clamping plates are stressed to move inwards in the downward pressing process of the pressing plate, so that the outer wall of the connecting pipe is clamped; and the flexible track is arranged on the periphery of the connecting pipe in a surrounding mode, a laser detector is arranged on the flexible track, and the laser detector can move in the circumferential direction of the flexible track and is used for conducting continuous scanning detection on the excess weld metal of the saddle-shaped welding seam. The pressing plate, the positioning column, the limiting plate and the arc-shaped clamping plate form a multidirectional cooperative positioning and clamping mechanism, so that the integrated constraint of axial pressing, radial centering and circumferential limiting of the connecting pipe is realized, and the relative positioning precision and the overall structural stability between the detection device and the connecting pipe are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of weld detection, in particular to a pressure vessel weld reinforcement automatic detection device and detection method. BACKGROUND

[0002] The pressure vessel is a kind of special equipment for storing or transporting gas, liquid and other media and bearing significant internal or external pressure, and the shell thereof is usually spliced by welding steel plate and various pipes. The reinforcement detection is an important detection item in the welding quality evaluation, which mainly measures the height of the weld metal formed on the surface of the welded joint exceeding the surface of the base material. If the reinforcement is not properly controlled, it will not only cause stress concentration at the weld toe and significantly reduce the structural fatigue life, but also affect the corrosion resistance and appearance quality, so it must be strictly limited within the allowable range of specifications.

[0003] However, there are still the following problems in the process of detecting the reinforcement of the saddle-shaped weld formed at the connection between the pressure vessel cylinder and the pipe: The saddle-shaped weld is located in the intersecting area of the pipe and the pressure vessel cylinder, and its geometric shape is a spatially continuously changing high-curvature irregular surface. The existing detection device usually uses rigid guide rails or pre-set trajectories to guide the movement of the laser detector, which cannot adaptively adjust the actual profile of the weld, so that the laser optical axis is difficult to always align with the normal direction of the measured surface, and cannot maintain a constant optimal focusing distance. The detection process is often in an oblique incidence or defocusing state, which affects the accuracy and repeatability of the reinforcement measurement.

[0004] During the rotation detection of the laser detector around the weld, the common support structure is independent of the pipe and does not form a stable relative positioning therewith, and the overall rigidity is insufficient, which is easily caused by external vibration or motion inertia to shake or deviate, resulting in instability of the posture and spatial position of the laser detector relative to the complex weld surface, and weakening the continuity, stability and result reliability of the measurement. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a pressure vessel weld reinforcement automatic detection device and detection method, which solves the problems raised in the background art.

[0006] To achieve the above object, the present application is realized by the following technical scheme: A pressure vessel weld reinforcement automatic detection device, comprising: a pressing plate, the pressing plate can move downward along the vertical direction; a positioning ring, a plurality of arc-shaped clamping plates are uniformly arranged on the inner side of the positioning ring in the circumferential direction, the arc-shaped clamping plates move inward under stress during the pressing plate pressing process, thereby clamping the outer wall of the pipe; a flexible track, the flexible track is arranged around the outer periphery of the pipe, and a laser detector is arranged thereon, the laser detector can move along the flexible track in the circumferential direction, and is used for continuously scanning and detecting the reinforcement of the saddle-shaped weld; a support rod, the support rod is uniformly distributed on the outer side of the flexible track in the circumferential direction; and a self-adaptive fitting assembly, the self-adaptive fitting assembly is arranged at the lower end of the support rod, can fit the outer surface of the pressure vessel cylinder with the downward movement of the pressing plate, drive the flexible track to deform, and make the contour of the flexible track match the actual geometric path of the saddle-shaped weld.

[0007] Further, the self-adaptive fitting assembly comprises a mounting disc connected to the lower end of the support rod through a ball hinge, and a circumferentially uniformly distributed magnetic attraction strip is hinged to the lower end of the mounting disc, used for self-adaptive adsorption to the outer wall of the pressure vessel cylinder.

[0008] Further, the self-adaptive fitting assembly comprises an annular flexible belt, a plurality of support rods are commonly connected to the upper end of the annular flexible belt through ball hinges, a circumferentially uniformly distributed mounting slot is formed in the lower end of the annular flexible belt, a magnetic attraction block is slidably arranged in the mounting slot, and the magnetic attraction block and the slot wall of the mounting slot are connected through a connecting spring.

[0009] Further, the lower end of the positioning ring is fixedly connected with a support ring, a plurality of multistage elastic expansion rods are uniformly distributed on the lower end of the support ring in the circumferential direction, the expansion ends of the multistage elastic expansion rods are connected to the horizontal segment of the L-shaped plate through ball hinges; the outer side of the flexible track is provided with a circumferentially uniformly distributed bending plate, each L-shaped plate is fixedly installed on the upper end of the corresponding bending plate, a telescopic connecting rod is arranged between adjacent bending plates, and the two ends of the telescopic connecting rod are connected to the side surfaces of the corresponding bending plates through ball hinges; and the support rod is fixedly installed on the lower end of the horizontal segment of the bending plate.

[0010] Further, the expansion end of the multistage elastic expansion rod is installed with a limiting expansion rod on the side close to the inclined segment of the bending plate, and the expansion end of the limiting expansion rod is connected to the horizontal segment of the L-shaped plate through a ball hinge.

[0011] Further, a cross bar radially slidably connected with the positioning ring is installed on the outer side of the arc-shaped clamping plate, a wedge-shaped block is installed on the end of the cross bar away from the arc-shaped clamping plate after penetrating the positioning ring, a transverse spring sleeved on the outer side of the cross bar is connected between the wedge-shaped block and the positioning ring, a triangular block is slidably matched on the inclined surface of the wedge-shaped block, the inclined surfaces of the two are in close contact, a vertical column is installed on the upper end of the triangular block, the vertical column is slidably connected with a side plate in the up-down direction, the side plate is fixedly connected with the pressing plate, and a vertical spring located between the triangular block and the side plate is sleeved on the outer side of the vertical column.

[0012] Further, the upper end of the pressing plate is provided with circumferentially uniformly distributed connecting columns, each of which is slidably connected to the same push frame, and a reset spring is connected between the upper end of the connecting column and the push frame, and the lower end of the push frame is provided with a push rod corresponding to the position of each stand.

[0013] Further, the lower end of the pressing plate is circumferentially provided with positioning columns and limiting plates, the positioning columns are used for cooperating with the mounting holes in the upper end of the connecting pipe, and the limiting plates are used for cooperating with the inner wall of the connecting pipe; the pressing plate is provided with sliding grooves corresponding to the positions of the positioning columns and the limiting plates, the positioning columns and the limiting plates are slidably matched with the corresponding sliding grooves, the upper end of the positioning column is hingedly connected with an outer pull rod, the upper end of the limiting plate is hingedly connected with an inner pull rod, the other ends of the outer pull rod and the inner pull rod are respectively hingedly connected to the corresponding square plates, the upper end of the pressing plate is provided with a threaded column, the threaded column is slidably matched with the square plates, and the upper end of the square plate is rotatably provided with a threaded ring which is threadedly connected with the threaded column.

[0014] Further, the inner side of the flexible track is slidably provided with a moving seat, the laser detector is fixedly installed on the moving seat, the upper end of the moving seat is connected with an elastic telescopic column through a ball hinge, the elastic telescopic column is installed at the lower end of the tooth ring, the tooth ring is rotatably installed at the lower end of the supporting ring, one side of the tooth ring is engaged with a rotating gear, and the rotating gear is connected with the output shaft of the driving motor.

[0015] The application also provides a pressure vessel weld reinforcement automatic detection method, which is suitable for a pressure vessel weld reinforcement automatic detection device and comprises the following steps: Step one: the pressing plate is lowered to be tightly pressed against the upper end surface of the connecting pipe, so that the relative positioning of the pressing plate and the connecting pipe is realized, in this process, the positioning ring is synchronously lowered with the pressing plate and is sleeved on the outer side of the connecting pipe, the arc-shaped clamping plate is inwardly clamped to the outer wall of the connecting pipe, and the circumferential limiting of the connecting pipe is completed; Step two: the flexible track, the laser detector and the supporting rod are synchronously lowered while the pressing plate is lowered, the self-adaptive fitting assembly is fitted to the outer wall of the pressure vessel cylinder, the flexible track is deformed to match the actual three-dimensional geometric track of the saddle-shaped weld; Step three: the laser detector is driven to slide along the formed flexible track in the circumferential direction, the saddle-shaped weld is continuously scanned, and the weld reinforcement data is obtained.

[0016] The application has the following beneficial effects: (1) The pressure vessel weld reinforcement automatic detection device, through the pressing plate, the positioning column, the limiting plate and the arc-shaped clamping plate constitutes a multi-directional cooperative positioning and clamping mechanism, realizes the axial pressing, the radial centering and the circumferential limiting integrated constraint of the butt joint pipe, significantly improves the relative positioning accuracy and the overall structural stability between the detection device and the pipe, compared with the traditional single-point or rigid fixing mode, the structure can effectively inhibit the vibration and deviation in the detection process, and provides a stable, reliable and repeatable installation foundation for high-precision scanning of the weld reinforcement.

[0017] (2) The pressure vessel weld reinforcement automatic detection device, by setting the self-adaptive fitting assembly, the outer surface of the pressure vessel cylinder is fitted in real time during detection, and the curved surface shape is fed back to the flexible track, and the flexible track is driven to deform dynamically to accurately match the actual three-dimensional geometric path of the saddle-shaped weld, so that the scanning track of the laser detector always closely follows the weld contour, effectively avoids the detection deviation caused by the rigidity or mismatch of the track, not only significantly improves the fitting accuracy of the complex space weld, but also enhances the structural stability and anti-external disturbance ability of the whole machine in operation.

[0018] (3) The pressure vessel weld reinforcement automatic detection device, by setting the limiting telescopic rod, the limiting telescopic rod drives the self-adaptive fitting assembly to generate continuous inward folding pressing force in a specific posture, so that it is always closely pressed against the outer wall of the pressure vessel cylinder during downward movement and fitting, effectively overcoming the risk of separation caused by insufficient gravity or sudden change of curved surface, and significantly improving the contact stability, dynamic following reliability and anti-interference ability between the device and the cylinder.

[0019] Of course, implementing any product of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is the overall view of the present application; Figure 2 is a structural schematic view of the pushing frame, the pressing plate, the positioning ring and the supporting ring in the present application; Figure 3 is a partial sectional view of the pressing plate in the present application; Figure 4 is a partial sectional view of the pressing plate and the square plate in the present application; Figure 5 is a partial sectional view of the positioning ring and the supporting ring in the present application; Figure 6 is a partial sectional view of the supporting ring in the present application; Figure 7 is a partial structural schematic view of the flexible track and the self-adaptive fitting assembly in the first embodiment of the present application; Figure 8This is a partial cross-sectional view of the multi-stage elastic telescopic rod, the limiting telescopic rod, and the L-shaped plate in this invention. Figure 9 This is a schematic diagram of the adaptive bonding component in Embodiment 2 of the present invention; Figure 10 This is a partial cross-sectional view of the annular flexible strip in Embodiment 2 of the present invention; Figure 11 For the present invention Figure 10 An enlarged schematic diagram of region A in the middle.

[0021] In the diagram, 1. Fixing device; 2. Gantry frame; 21. Pressure plate; 211. Positioning column; 212. Limiting plate; 213. Sliding groove; 214. Outer tie rod; 215. Inner tie rod; 216. Square plate; 217. Threaded column; 218. Threaded ring; 22. Positioning ring; 221. Arc-shaped clamp; 222. Crossbar; 223. Wedge block; 224. Horizontal spring; 225. Triangular block; 226. Column; 228. Vertical spring; 229. Insert rod; 23. Push frame; 230. Connecting column; 231. Reset. 232. Spring; 24. Push rod; 25. Flexible track; 26. Moving seat; 27. Elastic telescopic column; 28. Gear ring; 29. ​​Rotary gear; 20. Drive motor; 21. Support ring; 22. Multi-stage elastic telescopic rod; 23. L-shaped plate; 24. Bending plate; 25. Telescopic connecting rod; 26. Support rod; 27. Mounting plate; 28. Magnetic strip; 29. ​​Limiting telescopic rod; 20. Annular flexible belt; 20. Magnetic block; 21. Connecting spring; 22. Cylinder; 22. Laser detector. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0023] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0024] The following reference Figures 1-11 This invention describes an automatic detection device and method for weld reinforcement height of pressure vessels provided in an embodiment of the present invention.

[0025] On the one hand, the present invention provides an automatic detection device for weld excess height of pressure vessels.

[0026] Example 1, please refer to this example. Figures 1-8 .

[0027] Please refer to Figure 1 The automatic pressure vessel weld height detection device includes a fixed device 1 for supporting and driving the rotation of the pressure vessel and a gantry 2 mounted above it. The fixed device 1 is a common cylinder clamping and rotating mechanism in the prior art, which can position the pressure vessel cylinder 3 and drive the cylinder 3 to rotate during the detection process, so that the saddle-shaped welds formed by the intersection of different nozzles and the cylinder 3 are sequentially rotated to the detection station. The gantry 2 spans above the fixed device 1 and integrates an X, Y, Z three-axis linkage motion system. The three axes work together to accurately position the nozzles and complete the alignment of the saddle-shaped welds, providing a stable and reliable motion foundation for subsequent laser scanning weld height detection.

[0028] Please refer to Figure 3 and Figure 4 To achieve precise positioning of the connecting pipe, a pressure plate 21 is provided below the drive end of the gantry 2. Positioning posts 211 and limiting plates 212 are evenly arranged circumferentially on the lower end of the pressure plate 21. The positioning posts 211 are used to cooperate with the mounting holes at the upper end of the connecting pipe, and the limiting plates 212 are used to cooperate with the inner wall of the connecting pipe. Under the action of the drive end of the gantry 2, the pressure plate 21 moves down vertically and presses against the upper end face of the connecting pipe, simultaneously driving the positioning posts 211 to insert into the mounting holes and the limiting plates 212 to abut against the inner wall. The surface of the limiting plates 212 is made of low-friction material, so that it maintains a small sliding resistance with the inner wall of the connecting pipe, ensuring smooth fit without jamming during the alignment process. This achieves dual positioning of the pressure plate 21 and the connecting pipe in the axial and radial directions, effectively constraining the displacement and deflection of the connecting pipe.

[0029] Please refer to Figure 3 and Figure 4 To accommodate pipes of different sizes, sliding grooves 213 are provided on the pressure plate 21 at the positions of each positioning post 211 and limiting plate 212. The positioning posts 211 and limiting plates 212 slide in cooperation with the corresponding sliding grooves 213, and their positions can be flexibly adjusted radially according to the diameter of the pipe. An outer pull rod 214 is hinged to the upper end of the positioning post 211, and an inner pull rod 215 is hinged to the upper end of the limiting plate 212. The other ends of the outer pull rod 214 and the inner pull rod 215 are respectively hinged to the corresponding square plates 216. A threaded post 217 is installed on the upper end of the pressure plate 21, and the threaded post 217 slides in cooperation with the square plate 216. A threaded ring 218 that is threadedly connected to the threaded post 217 is rotatably installed on the upper end of the square plate 216.

[0030] In use, by rotating the threaded ring 218, its axial position on the threaded post 217 can be adjusted, thereby driving the square plate 216 to move up and down along the threaded post 217. The lifting and lowering of the square plate 216 is achieved by the outer pull rod 214 and the inner pull rod 215 respectively pulling the positioning post 211 and the limiting plate 212, so that they slide radially synchronously along the sliding through groove 213 on the pressure plate 21, thereby adjusting the position of the positioning post 211 and the limiting plate 212 to adapt to pipes of different sizes.

[0031] Please refer to Figures 2-4 A positioning ring 22 is fixedly connected below the pressure plate 21. The positioning ring 22 can be sleeved on the outside of the pipe. Its inner diameter is larger than the outer diameter of the pipe to ensure smooth insertion and leave clamping stroke. Multiple arc-shaped clamping plates 221 are evenly arranged on the inner circumference of the positioning ring 22. The arc-shaped clamping plates 221 move inward under the force during the pressing of the pressure plate 21, thereby clamping the outer wall of the pipe and realizing circumferential limiting of the pipe, further enhancing the relative positioning accuracy and overall stability between the detection device and the pipe.

[0032] Specifically, a crossbar 222 is installed on the outside of the arc-shaped clamping plate 221 and is radially slidably connected to the positioning ring 22. A wedge block 223 is installed at the end of the crossbar 222 away from the arc-shaped clamping plate 221 after passing through the positioning ring 22. A transverse spring 224 is connected between the wedge block 223 and the positioning ring 22 and is sleeved on the outside of the crossbar 222. This spring is used to push the wedge block 223 to reset after the clamping action is completed, so that the arc-shaped clamping plate 221 can loosen the connecting pipe. A triangular block 225 is slidably fitted on the inclined surface of the wedge block 223. The inclined surfaces of the two are in contact. A column 226 is installed on the upper end of the triangular block 225. The column 226 is slidably connected to the side plate. The side plate is fixedly connected to the pressure plate 21. A vertical spring 228 is sleeved on the outside of the column 226 and located between the triangular block 225 and the side plate. This spring is used to pull the triangular block 225 to move upward and reset.

[0033] In use, the pressure plate 21 drives the positioning ring 22, the arc-shaped clamping plate 221, the crossbar 222 and the wedge block 223 to move down synchronously under the drive of the gantry frame 2. When the positioning column 211 is inserted into the mounting hole at the upper end of the pipe and the limiting plate 212 is attached to the inner wall of the pipe, the pressure plate 21 and the pipe are aligned axially and radially. Then, the column 226 is pushed by force to move the triangular block 225 down, the vertical spring 228 is stretched, and the triangular block 225 squeezes the inclined surface of the wedge block 223 through its inclined surface, forcing the wedge block 223 to overcome the elastic force of the transverse spring 224 and move outward. Then, the crossbar 222 drives the arc-shaped clamping plate 221 to move inward radially and clamp the outer wall of the pipe.

[0034] To enhance clamping reliability, an elastic rubber pad is provided on the inner side of the arc-shaped clamping plate 221, which effectively increases the friction with the surface of the connecting pipe, prevents relative sliding during the testing process, and ensures stable positioning. At the same time, a plug rod 229 that is inserted and cooperates with the pressure plate 21 is installed on the side of the wedge block 223 near the pressure plate 21 to enhance the connection rigidity between the wedge block 223 and the pressure plate 21.

[0035] Please refer to Figures 1-3 To further press down the column 226 after the pressure plate 21 presses down the upper end of the connecting pipe, a circumferentially evenly distributed connecting column 230 is installed on the upper end of the pressure plate 21. Each connecting column 230 is slidably connected to the same push frame 23. The upper end of the push frame 23 is fixedly connected to the drive end of the gantry 2. A return spring 231 sleeved on the outside of the connecting column 230 is connected between the upper end of the connecting column 230 and the push frame 23. A push rod 232 is installed at the lower end of the push frame 23 corresponding to the position of each column 226.

[0036] During operation, the gantry 2 drive end first drives the push frame 23 downward. When the return spring 231 is in the normal state, the push frame 23 drives the pressure plate 21 to move downward through the connecting column 230 until the pressure plate 21 presses against the upper end face of the pipe. At this time, the push rod 232 has not yet contacted the column 226. Subsequently, the push frame 23 continues to move downward, the return spring 231 is stretched, and the push rod 232 then abuts against and pushes the column 226 to move downward along the side plate, thereby realizing the secondary downward pressure on the column 226 and triggering the clamping action of the arc-shaped clamping plate 221 against the outer wall of the pipe. It should be noted that the return spring 231 has a large elastic coefficient and sufficient load-bearing capacity.

[0037] Please refer to Figures 5-7 To achieve accurate detection of the excess height of the saddle-shaped weld, a flexible track 24 is set below the positioning ring 22. The flexible track 24 adopts a structural form that combines a certain rigidity and controllable deformation capability in the existing technology. It can conform to the spatial curvature of the area where the nozzle and the cylinder 3 intersect under the action of external force, while maintaining its own shape stability. The flexible track 24 is set around the outer periphery of the nozzle, and a laser detector 4 is set on it. The laser detector 4 is tilted at a preset angle toward the weld area and can move circumferentially along the flexible track 24 for continuous scanning detection of the excess height of the saddle-shaped weld.

[0038] Specifically, please refer to Figure 2 and Figures 5-7A support ring 25 is fixedly connected to the lower end of the positioning ring 22. A multi-stage elastic telescopic rod 251 with uniform circumferential distribution is installed at the lower end of the support ring 25. The telescopic ends of each multi-stage elastic telescopic rod 251 are connected to the horizontal section of the L-shaped plate 252 through ball joints. A circumferentially uniformly distributed bent plate 253 is provided on the outer side of the flexible track 24. Its inclined surface is fixedly connected to the outer side of the flexible track 24, so that the flexible track 24 maintains a preset inclined posture, which facilitates the laser detector 4 to scan the saddle-shaped weld at the optimal incident angle. Each L-shaped plate 252 is fixedly installed on the upper end of the corresponding bent plate 253. When the device moves down to fit the cylinder 3, the multi-stage elastic telescopic rod 251 adaptively expands and contracts according to the local curvature of the outer wall of the cylinder 3, driving the L-shaped plate 252 to rotate around the ball joint, and transmitting the deformation to the flexible track 24 through the bent plate 253, so that its contour dynamically fits the actual path of the saddle-shaped weld formed by the pipe and the cylinder 3, ensuring that the detection trajectory is always consistent with the weld surface.

[0039] Please refer to Figure 8 Telescopic connecting rods 254 are provided between adjacent bending plates 253. The two ends of the telescopic connecting rods 254 are respectively connected to the sides of the corresponding bending plates 253 through ball joints. This allows the bending plates 253 to move in a coordinated manner as they deform with the curved surface of the cylinder 3 through the length adjustment of the telescopic connecting rods 254 and the rotational freedom of the ball joints. This ensures that the flexible track 24 deforms continuously and smoothly in the circumferential direction, avoids local jamming or stress concentration, and improves the fitting accuracy and stability of the detection trajectory.

[0040] Please refer to Figure 7 and Figure 8 To enable the laser detector 4 to continuously scan the circumferential weld along the saddle-shaped weld, a movable seat 241 is slidably installed inside the flexible track 24. The movable seat 241 can move smoothly along the actual deformation trajectory of the flexible track 24. The laser detector 4 is fixedly installed on the movable seat 241. An elastic telescopic column 242 is connected to the upper end of the movable seat 241 through a ball joint. The elastic telescopic column 242 is installed at the lower end of the toothed ring 243. When the flexible track 24 experiences local undulations or deformation due to its contact with the curved surface of the cylinder 3, the elastic telescopic column 242 can extend, retract, and swing accordingly, providing stable support for the movable seat 241 and ensuring that it always fits the track and runs smoothly.

[0041] Please refer to Figures 5-7A rotating gear 244 meshes with one side of the toothed ring 243. Both the toothed ring 243 and the rotating gear 244 are rotatably mounted on the lower end of the support ring 25. The rotating gear 244 is connected to the output shaft of the drive motor 245. The drive motor 245 is fixedly mounted on the upper end of the support ring 25. During operation, the drive motor 245 drives the rotating gear 244 to rotate, which in turn drives the toothed ring 243 to rotate circumferentially around the support ring 25. The toothed ring 243 pulls the moving seat 241 through the elastic telescopic column 242, so that it slides circumferentially along the flexible track 24 that has been fitted with the weld contour, thereby driving the laser detector 4 to perform continuous, stable, and high-precision residual height scanning detection on the saddle-shaped weld.

[0042] Please refer to Figure 2 A support rod 255 is fixedly installed at the lower end of the horizontal section of the bending plate 253. An adaptive fitting component is provided at the lower end of the support rod 255. The adaptive fitting component can fit the outer surface of the pressure vessel cylinder 3 as the pressure plate 21 moves down, causing the flexible track 24 to deform so that its contour matches the actual geometric path of the saddle-shaped weld, thereby ensuring that the scanning trajectory of the laser detector 4 always fits the weld surface.

[0043] Please refer to Figures 5-8 The adaptive bonding component includes a mounting plate 256, which is connected to the lower end of a support rod 255 via a ball joint. A circumferentially evenly distributed magnetic strip 257 is hinged to the lower end of the mounting plate 256 for adaptive adsorption onto the outer wall of the pressure vessel cylinder 3. When the support rod 255 moves down synchronously with the bending plate 253, the adaptive bonding component moves closer to the surface of the cylinder 3. During this process, the mounting plate 256 adjusts its posture via the ball joint to conform to the local curvature of the cylinder 3. Each magnetic strip 257 at its lower end rotates independently under the action of gravity and magnetic attraction, and tightly adheres to the outer wall of the cylinder 3. Through the multi-point adsorption and hinged freedom of the magnetic strips 257, adaptive following of the surface of the cylinder 3 is achieved, and the bonding feedback is transmitted to the support rod 255, the bending plate 253, and the flexible track 24, driving the flexible track 24 to dynamically deform, making its contour accurately match the actual geometric path of the saddle-shaped weld, while significantly improving the overall structural stability and anti-interference capability during the inspection process.

[0044] It should be noted that the magnetic attraction force of the magnetic strip 257 is moderate, so that it will not prematurely contact the connecting pipe during the downward movement and interfere with the positioning, nor will it affect the smooth detachment and reset of the device after the test is completed.

[0045] Please refer to Figure 8A limiting telescopic rod 258 is installed on the side of the telescopic end of the multi-stage elastic telescopic rod 251 near the inclined section of the bending plate 253. The telescopic end of the limiting telescopic rod 258 is connected to the horizontal section of the L-shaped plate 252 through a ball joint. When the multi-stage elastic telescopic rod 251 is in the initial state perpendicular to the horizontal section of the L-shaped plate 252, the limiting telescopic rod 258 is stretched to its maximum stroke. In this state, the limiting telescopic rod 258 applies an outward preload to the L-shaped plate 252, so that it only has the tendency to rotate outward around the ball joint. This tendency is transmitted to the bending plate 253 through the L-shaped plate 252, thereby driving the support rod 255 and the adaptive bonding assembly to generate an inward force, ensuring that they are always pressed tightly against the outer wall of the pressure vessel cylinder 3 during the bonding process, effectively improving the contact stability and following reliability between the device and the cylinder 3.

[0046] In actual operation (use), the gantry frame 2 drives the pusher frame 23, pressure plate 21, positioning ring 22, and support ring 25 to move as a whole above the target pipe and move downwards simultaneously. The pressure plate 21 first presses against the upper end face of the pipe, and the positioning ring 22 and support ring 25 are then fitted onto the outside of the pipe. During this process, the positioning pin 211 is inserted into the pipe mounting hole, and the limiting plate 212 fits against the inner wall, completing the initial axial and radial positioning. Subsequently, the pusher frame 23 continues to descend, and through the cooperation of the wedge block 223 and the triangular block 225, the arc-shaped clamping plate 221 is driven to retract inwards, achieving reliable clamping of the outer wall of the pipe. Meanwhile, the multi-stage elastic telescopic rod 251 adaptively expands and contracts according to the local curvature of the cylinder 3, and the adaptive fitting component is tightly adsorbed onto the outer wall of the pressure vessel cylinder 3, causing the bending plate 253 and the flexible track 24 to dynamically deform, so that its contour accurately matches the actual three-dimensional path of the saddle-shaped weld. After stabilization, the drive motor 245 starts, and drives the toothed ring 243 to rotate through the rotating gear 244. The toothed ring 243 pulls the moving seat 241 through the elastic telescopic column 242, so that the laser detector 4 slides circumferentially along the formed flexible track 24 to continuously and accurately scan and detect the weld reinforcement.

[0047] Example 2, please refer to this example. Figures 9-11 .

[0048] The difference between this embodiment and Embodiment 1 is that the adaptive fitting component here includes an annular flexible strip 259, and several support rods 255 are connected to the upper end of the annular flexible strip 259 by ball joints. The annular flexible strip 259 is synchronously close to the outer wall of the pressure vessel cylinder 3 under the drive of the support rods 255, and has a certain deformation ability due to its own flexibility. The lower end of the annular flexible strip 259 is provided with circumferentially evenly distributed mounting grooves, and magnetic blocks 260 are slidably arranged in the mounting grooves. The magnetic blocks 260 are connected to the groove wall of the mounting groove by connecting springs 261.

[0049] As the annular flexible belt 259 approaches the cylinder 3, the magnetic blocks 260 are automatically attracted to the outer wall of the cylinder 3 by magnetic force. When there are local unevenness or curvature changes on the surface of the cylinder 3, each magnetic block 260 can slide independently along the mounting groove, and the connecting spring 261 will extend and retract accordingly to achieve multi-point adaptive fitting. This not only effectively compensates for surface deviations, but also transmits the fitting state to the support rod 255 and the upper bending plate 253, causing the flexible track 24 to dynamically adjust its contour so that it accurately matches the actual trajectory of the saddle-shaped weld, thereby ensuring the smooth operation and detection accuracy of the laser detector 4 during the scanning process.

[0050] On the other hand, the present invention also provides an automatic detection method for weld reinforcement height of pressure vessels, applicable to automatic detection devices for weld reinforcement height of pressure vessels, combined with... Figure 2 , Figure 7 and Figure 8 This includes the following steps: Step 1: Move the pressure plate 21 down so that it presses against the upper end face of the pipe to achieve relative positioning between the pressure plate 21 and the pipe. During this process, the positioning ring 22 moves down synchronously with the pressure plate 21 and is sleeved on the outside of the pipe. The arc-shaped clamp 221 clamps the outer wall of the pipe inward to complete the circumferential positioning of the pipe. Step 2: As the pressure plate 21 moves down, the flexible track 24, the laser detector 4, and the support rod 255 move down simultaneously. The adaptive bonding component then bonds to the outer wall of the pressure vessel cylinder 3, causing the flexible track 24 to deform so that its outline matches the actual three-dimensional geometric trajectory of the saddle-shaped weld. Step 3: Drive the laser detector 4 to slide circumferentially along the formed flexible track 24 to continuously scan the saddle-shaped weld and obtain the weld height data.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic detection device for weld reinforcement height of pressure vessels, characterized in that, include: Pressure plate (21), which can move downward in the vertical direction; The positioning ring (22) has multiple arc-shaped clamps (221) evenly arranged on the inner circumference. The arc-shaped clamps (221) move inward under the force during the pressing of the pressure plate (21), thereby clamping the outer wall of the pipe. A flexible track (24) is arranged around the outer periphery of the pipe, and a laser detector (4) is provided on it. The laser detector (4) can move circumferentially along the flexible track (24) to continuously scan and detect the excess height of the saddle-shaped weld. Support rods (255) are evenly distributed circumferentially on the outside of the flexible track (24); An adaptive fitting component is provided at the lower end of the support rod (255). It can fit the outer surface of the pressure vessel cylinder (3) as the pressure plate (21) moves down, causing the flexible track (24) to deform so that its outline matches the actual geometric path of the saddle-shaped weld.

2. The automatic detection device for weld reinforcement height of pressure vessels according to claim 1, characterized in that, The adaptive bonding component includes a mounting plate (256), which is connected to the lower end of the support rod (255) via a ball joint. The lower end of the mounting plate (256) is hinged with circumferentially evenly distributed magnetic strips (257) for adaptive adsorption onto the outer wall of the pressure vessel cylinder (3).

3. The automatic detection device for weld reinforcement height of pressure vessels according to claim 1, characterized in that, The adaptive bonding component includes an annular flexible strip (259), and several support rods (255) are connected to the upper end of the annular flexible strip (259) by ball joints. The lower end of the annular flexible strip (259) is provided with circumferentially evenly distributed mounting grooves. A magnetic block (260) is slidably arranged in the mounting groove. The magnetic block (260) is connected to the groove wall of the mounting groove by a connecting spring (261).

4. An automatic detection device for weld reinforcement height of a pressure vessel according to claim 2 or 3, characterized in that, The lower end of the positioning ring (22) is fixedly connected to a support ring (25), and the lower end of the support ring (25) is equipped with a multi-stage elastic telescopic rod (251) evenly distributed in the circumference. The telescopic ends of each multi-stage elastic telescopic rod (251) are connected to the horizontal section of the L-shaped plate (252) through ball joints. The flexible track (24) is provided with circumferentially evenly distributed bent plates (253) on its outer side. Each L-shaped plate (252) is fixedly installed on the upper end of the corresponding bent plate (253). Telescopic connecting rods (254) are provided between adjacent bent plates (253). The two ends of the telescopic connecting rods (254) are respectively connected to the side of the corresponding bent plate (253) through ball joints. The support rod (255) is fixedly installed on the lower end of the horizontal section of the bent plate (253).

5. The automatic detection device for weld reinforcement height of pressure vessels according to claim 4, characterized in that, The telescopic end of the multi-stage elastic telescopic rod (251) is equipped with a limiting telescopic rod (258) on the side near the inclined section of the bending plate (253). The telescopic end of the limiting telescopic rod (258) is connected to the horizontal section of the L-shaped plate (252) by a ball joint.

6. The automatic detection device for weld reinforcement height of pressure vessels according to claim 1, characterized in that, A crossbar (222) is installed on the outer side of the arc-shaped clamp (221) and is radially slidably connected to the positioning ring (22). A wedge block (223) is installed at the end of the crossbar (222) away from the arc-shaped clamp (221) after passing through the positioning ring (22). A transverse spring (224) sleeved on the outer side of the crossbar (222) is connected between the wedge block (223) and the positioning ring (22). A triangular block (225) is slidably fitted on the inclined surface of the wedge block (223). The inclined surfaces of the two are in contact. A column (226) is installed on the upper end of the triangular block (225). The column (226) is slidably connected to the side plate. The side plate is fixedly connected to the pressure plate (21). A vertical spring (228) is sleeved on the outer side of the column (226) between the triangular block (225) and the side plate.

7. The automatic detection device for weld reinforcement height of pressure vessels according to claim 6, characterized in that, The upper end of the pressure plate (21) is equipped with circumferentially evenly distributed connecting columns (230). Each connecting column (230) is slidably connected to the same push frame (23). A return spring (231) sleeved on the outside of the connecting column (230) is connected between the upper end of the connecting column (230) and the push frame (23). A push rod (232) is installed at the lower end of the push frame (23) corresponding to the position of each column (226).

8. The automatic detection device for weld reinforcement height of pressure vessels according to claim 7, characterized in that, The pressure plate (21) is uniformly provided with positioning posts (211) and limiting plates (212) on its lower circumference. The positioning posts (211) are used to cooperate with the mounting holes at the upper end of the pipe, and the limiting plates (212) are used to cooperate with the inner wall of the pipe. The pressure plate (21) is provided with sliding grooves (213) at the positions of each positioning post (211) and limiting plate (212). The positioning post (211) and the limiting plate (212) are slidably engaged with the corresponding sliding grooves (213). An outer pull rod (214) is hinged to the upper end of the positioning post (211), and an inner pull rod (215) is hinged to the upper end of the limiting plate (212). The other ends of the outer pull rod (214) and the inner pull rod (215) are respectively hinged to the corresponding square plate (216). A threaded post (217) is installed on the upper end of the pressure plate (21). The threaded post (217) is slidably engaged with the square plate (216). A threaded ring (218) that is threadedly connected to the threaded post (217) is rotatably installed on the upper end of the square plate (216).

9. The automatic detection device for weld reinforcement height of pressure vessels according to claim 4, characterized in that, The flexible track (24) is slidably mounted on the inner side of the movable seat (241). The laser detector (4) is fixedly mounted on the movable seat (241). The upper end of the movable seat (241) is connected to the elastic telescopic column (242) through a ball joint. The elastic telescopic column (242) is mounted on the lower end of the toothed ring (243). The toothed ring (243) is rotatably mounted on the lower end of the support ring (25). A rotating gear (244) is meshed on one side of the toothed ring (243). The rotating gear (244) is connected to the output shaft of the drive motor (245).

10. An automatic detection method for weld reinforcement height of pressure vessels, applicable to the automatic detection device for weld reinforcement height of pressure vessels as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: Move the pressure plate (21) down so that it presses against the upper end face of the pipe to achieve relative positioning of the pressure plate (21) and the pipe. During this process, the positioning ring (22) moves down synchronously with the pressure plate (21) and is sleeved on the outside of the pipe. The arc-shaped clamp (221) clamps the outer wall of the pipe inward to complete the circumferential positioning of the pipe. Step 2: As the pressure plate (21) moves down, the flexible track (24), laser detector (4) and support rod (255) move down simultaneously. The adaptive bonding component then bonds to the outer wall of the pressure vessel cylinder (3), causing the flexible track (24) to deform so that its outline matches the actual three-dimensional geometric trajectory of the saddle-shaped weld. Step 3: Drive the laser detector (4) to slide circumferentially along the formed flexible track (24) to continuously scan the saddle-shaped weld and obtain the weld height data.

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