Automatic detection robot for ultrasonic flaw detection of butt weld of large pressure vessel

Abstract

The utility model discloses a large pressure vessel butt weld ultrasonic flaw detection automatic detection robot, and belongs to the technical field of weld detection equipment. The mechanical arm is arranged on one side of the bearing device, the flaw detection device and the coupling agent smearing device are both mounted on the mechanical arm, and the flaw detection device is connected with a translation device for driving the flaw detection device to move along the bearing device. According to the automatic ultrasonic flaw detection robot for the butt weld of the large pressure vessel, the bearing device can bear the pressure vessel, the translation device drives the mechanical arm to translate, so that the position of the mechanical arm can be adjusted, the mechanical arm drives the flaw detection device and the coupling agent smearing device to move, and a to-be-detected part can be smeared with a coupling agent; the flaw detection of the pressure vessel is realized from the outer side of the pressure vessel, the degree of freedom is higher during flaw detection, the automation degree is high, and the detection is more accurate.

Description

Technical Field

[0001] The invention discloses an automatic ultrasonic flaw detection robot for butt welds of large pressure vessels, belonging to the technical field of weld detection equipment. Background Art

[0002] There are many butt welds in pressure vessel equipment. In order to ensure the welding quality, timely discover the problems in the welds, and ensure the safety performance of the pressure vessel, it is necessary to perform ultrasonic flaw detection on the butt welds of the pressure vessel. For large pressure vessels, the ultrasonic flaw detection task of butt welds is large and the flaw detection environment is relatively poor. It requires a series of actions such as manual application of coupling agent, reciprocating motion of ultrasonic probe, real-time observation of flaw detection data, and calibration of flaw detection defect positions. The whole process requires a long flaw detection time, which not only increases the labor intensity of flaw detection workers and is prone to fatigue, but also leads to low ultrasonic flaw detection efficiency, missed detection, and errors in results, which seriously affects the weld inspection quality and safety performance of large pressure vessels.

[0003] The Chinese utility model patent with application number 201420191405.3 discloses a wheel-driven ultrasonic flaw detection robot, but the flaw detection robot is limited by wheel drive and can only work inside the pressure vessel. It has high requirements for the stability and coaxiality of the pressure vessel's rotation. At the same time, the wheel-driven robot has poor stability and cannot achieve a higher degree of freedom of automated flaw detection. It also requires a lot of manual auxiliary work, which increases the difficulty of realizing automated ultrasonic flaw detection of large pressure vessel butt welds. Therefore, it is necessary to design a large pressure vessel butt weld ultrasonic flaw detection robot with higher automation, more accurate detection, more stable performance and higher flexibility and freedom. Utility Model Content

[0004] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art and to provide a large-scale pressure vessel butt weld ultrasonic flaw detection automated detection robot which can detect the weld of the pressure vessel through the outer wall of the pressure vessel, has a high degree of freedom and can detect more accurately.

[0005] The technical solution adopted by the utility model to solve the technical problem is: the large-scale pressure vessel butt weld ultrasonic flaw detection automated detection robot is characterized by comprising a supporting device, a mechanical arm, a flaw detection device and a coupling agent coating device, the mechanical arm is arranged on one side of the supporting device, the flaw detection device and the coupling agent coating device are both installed on the mechanical arm, and the flaw detection device is connected to a translation device that drives it to move along the supporting device.

[0006] Preferably, the supporting device includes a driving roller and a driven roller, at least two driving rollers are arranged at intervals, the driving rollers and the driven rollers correspond to each other one by one, and the driving rollers and the corresponding driven rollers are arranged at intervals, and a space for accommodating the pressure vessel is formed between the driving rollers and the driven rollers, and each driving roller is connected to a driving motor.

[0007] Preferably, a spacing adjustment device is provided between each of the driving rollers and the corresponding driven roller.

[0008] Preferably, the spacing adjustment device includes a moving seat, a spacing adjustment screw and a spacing adjustment motor. The driving roller and the corresponding driven roller can be rotatably installed on an independent moving seat. Each moving seat is threadedly connected to the spacing adjustment screw, and the spacing adjustment motor is connected to the spacing adjustment screw.

[0009] Preferably, the translation device includes a translation motor and a translation screw, the mechanical arm is movably arranged on one side of the supporting device, the translation screw is threadedly connected to the mechanical arm, and the translation motor is connected to the translation screw.

[0010] Preferably, the coupling agent applying device comprises a coupling agent nozzle and an application brush, both of which are mounted on the robotic arm, and the coupling agent nozzle is arranged on a side of the application brush close to the robotic arm.

[0011] Preferably, the coupling agent application device also includes an electric telescopic rod, the application brush and the outer shell of the electric telescopic rod are relatively fixedly arranged, the movable end of the electric telescopic rod is connected to the coupling agent nozzle, and the electric telescopic rod drives the coupling agent nozzle to move in a direction close to or away from the application brush.

[0012] Preferably, the flaw detection device comprises a position adjustment device, a rotating device and an ultrasonic probe, the rotating device is mounted on the mechanical arm, the position adjustment device is mounted on the rotating device, and the ultrasonic probe is mounted on the position adjustment device.

[0013] Preferably, a buffer device is provided between the ultrasonic probe and the position adjustment device.

[0014] Preferably, it also includes a marking device, which is also installed on the robot arm.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The supporting device of this large-scale pressure vessel butt weld ultrasonic flaw detection automated inspection robot can support the pressure vessel, the translation device drives the mechanical arm to translate, so as to adjust the position of the mechanical arm, and the mechanical arm drives the flaw detection device and the coupling agent coating device to move, which can not only apply the coupling agent to the part to be inspected, but also drive the flaw detection device to realize the flaw detection of the pressure vessel weld, realize the flaw detection of the pressure vessel from the outside of the pressure vessel, have a higher degree of freedom during flaw detection, and a high degree of automation, and more accurate detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional schematic diagram of an automated ultrasonic flaw detection robot for butt welds of large pressure vessels;

[0018] Figure 2 It is a three-dimensional schematic diagram of the coupling agent coating device and the flaw detection device after installation;

[0019] Figure 3 It is a three-dimensional schematic diagram of the flaw detection device;

[0020] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0021] Figure 5 It is a schematic diagram of the main cross-section of the flaw detection device;

[0022] Figure 6 This is a three-dimensional schematic diagram of the coupling agent coating device.

[0023] In the figure: 1. platform; 101. spacing adjustment motor; 102. coupling; 103. spacing adjustment guide rail; 104. first moving seat; 105. driving roller; 106. driving motor; 107. driven roller; 108. second moving seat; 2. translation screw; 3. mechanical arm; 301. translation seat; 4. connecting arm; 5. coupling agent application device; 501. application brush; 502. coupling agent nozzle; 503. electric telescopic rod; 6. flaw detection device; 601. ultrasonic probe; 602. position adjustment motor; 603. position adjustment screw; 604. probe mounting seat; 605. buffer spring; 606. rotating motor; 607. marking pen; 608. probe pressure plate; 609. movable seat; 610. rotating seat; 611. probe mounting tube; 7. probe placement rack; 8. connecting plate; 9. translation motor. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with specific embodiments. However, people familiar with the art should understand that the detailed description given here in conjunction with the drawings is for better explanation, and the structure of the present invention necessarily exceeds these limited embodiments. For some equivalent replacement schemes or common means, they are no longer described in detail herein, but still fall within the scope of protection of the present application.

[0025] Figures 1 to 6 It is the best embodiment of the utility model, and the following Figures 1 to 6 The utility model is further described.

[0026] A large-scale pressure vessel butt weld ultrasonic flaw detection automated inspection robot comprises a supporting device, a mechanical arm 3, a flaw detection device 6 and a coupling agent coating device 5. The mechanical arm 3 is arranged at one side of the supporting device. The flaw detection device 6 and the coupling agent coating device 5 are both installed on the mechanical arm 3. The flaw detection device 6 is connected to a translation device that drives it to move along the supporting device. The supporting device of the large-scale pressure vessel butt weld ultrasonic flaw detection automated inspection robot can support the pressure vessel. The translation device drives the mechanical arm 3 to translate, so that the position of the mechanical arm 3 can be adjusted. The mechanical arm 3 drives the flaw detection device 6 and the coupling agent coating device 5 to move, which can not only apply the coupling agent to the part to be inspected, but also drive the flaw detection device 6 to realize the flaw detection of the pressure vessel weld, realize the flaw detection of the pressure vessel from the outside of the pressure vessel, have a higher degree of freedom during flaw detection, and have a high degree of automation and more accurate detection.

[0027] Specifically, Figure 1 As shown, the supporting device includes a platform 1, a driving roller 105, a driven roller 107 and a spacing adjustment device, wherein the spacing adjustment device includes a first moving seat 104, a second moving seat 108, a moving lead screw and a moving crossbow machine 101.

[0028] In this embodiment, the platform 1 is a rectangular parallelepiped, and both ends of the platform 1 are provided with spacing adjustment rails 103, and each spacing adjustment rail 103 is slidably provided with a first moving seat 104 and a second moving seat 108, and each first moving seat 104 is rotatably provided with a driving roller 105, and each second moving seat 108 is rotatably provided with a driven roller 107, and the driving roller 105 and the driven roller 107 are arranged at intervals, and a space for accommodating the pressure vessel is formed between the driving roller 105 and the driven roller 107. Each first moving seat 104 is provided with a driving motor 106, and the output shaft of the driving motor 106 is connected to the corresponding driving roller 105 and drives it to rotate.

[0029] Both ends of the platform 1 are rotatably installed with spacing adjustment screws, which are arranged horizontally. The two ends of the spacing adjustment screws are respectively threadedly connected to the first moving seat 104 and the second moving seat 108 on the corresponding side, and the rotation direction of the threads at both ends of the spacing adjustment screws is opposite. Both ends of the platform 1 are installed with spacing adjustment motors 101, and the output shafts of each spacing adjustment motor 101 are connected to the spacing adjustment screws through couplings 102 and drive the spacing adjustment screws to rotate.

[0030] The pressure vessel to be inspected is placed between the driving roller 105 and the driven roller 107, and is supported by the driving roller 105 and the driven roller 107. When the pressure vessel needs to rotate, the driving motor 106 drives the driving roller 105 to rotate, and the driving roller 105 drives the pressure vessel to rotate through friction.

[0031] The spacing adjustment motor 101 can drive the spacing adjustment screw to rotate, and the spacing adjustment screw drives the first movable seat 104 and the second movable seat 108 on the corresponding side to move closer or farther synchronously, so as to adjust the spacing between the driving roller 105 and the driven roller 107 on the same side, thereby adapting to the support of pressure vessels of different sizes.

[0032] The translation device is arranged on one side of the platform 1, and the translation device includes a translation screw 2, a translation motor 9 and a translation seat 301. A translation guide rail is arranged on one side of the platform 1, and the translation seat 301 is slidably installed on the translation guide rail. The translation screw 2 is rotatably installed on one side of the platform 1. The translation screw 2 is threadedly connected to the translation seat 301, and the translation motor 9 is installed on the platform 1. The output shaft of the translation motor 9 is fixedly connected to the translation screw 2 and drives it to rotate. The robotic arm 3 is installed on the translation seat 301.

[0033] The translation motor 9 drives the translation screw 2 to rotate, and then drives the translation seat 301 to move horizontally along the translation screw to adjust the position of the robot arm 3, so as to adjust the distance between the flaw detection device 6 and the coupling agent coating device 5, and also realize the detection of the axial weld on the pressure vessel.

[0034] The mechanical arm 3 is provided with a connecting arm 4, and the coupling agent coating device 5 and the flaw detection device 6 are both provided on the connecting arm 4. Furthermore, a marking device is also provided on the connecting arm 4, and the marking device can mark the pressure vessel so as to mark the unqualified weld when it is detected.

[0035] A probe placement rack 7 is provided on one side of the platform 1 , and the probe placement rack 7 is installed at the end of the translation device to facilitate the placement of different ultrasound probes 601 .

[0036] like Figure 2-5As shown, a connecting plate 8 is installed on the connecting arm 4, and the coupling agent coating device 5 and the flaw detection device 6 are both installed on the connecting plate 8. Furthermore, the connecting plate 8 is L-shaped, the vertical portion of the connecting plate 8 is fixedly connected to the connecting arm 4, the coupling agent coating device 5 is installed on the vertical portion of the connecting plate 8, and the flaw detection device 6 is installed on the horizontal portion of the connecting plate 8.

[0037] The flaw detection device 6 includes a position adjustment device, a rotating device, and an ultrasonic probe 601. The rotating device is mounted on the connecting plate 8, the position adjustment device is mounted on the rotating device and rotates with the rotating device, and the ultrasonic probe 601 is mounted on the position adjustment device, so that the position of the ultrasonic probe 601 can be adjusted. The marking device is mounted on the position adjustment device on one side of the ultrasonic probe 601. In this embodiment, the marking device is a marking pen 607.

[0038] The rotating device includes a rotating motor 606 and a rotating seat 610. The rotating motor 606 is installed on the horizontal part of the connecting plate 8. The output shaft of the rotating motor 606 is connected to the rotating seat 610 and drives it to rotate. The position adjustment device is installed on the rotating seat 610 to realize the adjustment of the ultrasonic probe 601.

[0039] The position adjustment device includes a position adjustment motor 602, a position adjustment screw 603 and a probe mounting seat 604. A position adjustment guide rail is installed on the rotating seat 610. The probe mounting seat 604 is slidably installed on the position adjustment guide rail. The position adjustment screw 603 is rotatably installed on the rotating seat 610. The position adjustment screw 603 is threadedly connected to the probe mounting seat 604. The position adjustment motor 602 is installed on the rotating seat 610. The output shaft of the position adjustment motor 602 is connected to the position adjustment screw 603 and drives it to rotate.

[0040] The position adjustment motor 602 drives the position adjustment lead screw 603 to rotate, and then moves the probe mounting seat 604 to translate, so as to adjust the position of the ultrasonic probe 601, and the adjustment is more convenient.

[0041] A buffer device is provided between the ultrasonic probe 601 and the probe mounting seat 604 , and the buffer device can ensure that a certain pre-tightening force is maintained between the ultrasonic probe 610 and the pressure vessel, thereby ensuring more accurate detection.

[0042] The buffer device includes a movable seat 609, a buffer spring 605 and a telescopic rod. An installation cavity is arranged on the probe mounting seat 604. The lower part of the movable seat 609 can be slidably extended into the installation cavity. A telescopic rod is arranged in the installation cavity. The lower end of the telescopic rod is fixedly connected to the probe mounting seat 604, and a support plate is installed at the upper end. A buffer spring 605 is arranged on the outer sleeve of the telescopic rod. The two ends of the buffer spring 605 are respectively connected to the probe mounting seat 604 and the support plate. The buffer spring 605 is in a compressed state, so that the telescopic rod maintains an extended state.

[0043] When the ultrasonic probe 601 contacts the pressure vessel, as the robot arm 3 continues to move, the movable seat 609 moves into the mounting cavity of the probe mounting seat 604 until it contacts and presses the support plate. At this time, the buffer spring 609 can maintain a stable preload between the ultrasonic probe 601 and the pressure vessel.

[0044] An inwardly protruding limiting portion is provided on the probe mounting seat 604 to prevent the movable seat 609 from being separated from the probe mounting seat 604 .

[0045] A cylindrical probe mounting tube 611 is provided on one side of the movable seat 609 away from the probe mounting seat 604. The ultrasonic probe 601 is movably arranged in the probe mounting tube 601. A probe pressing plate 608 is provided on one side of the probe mounting tube 611. The probe pressing plate 608 is slidably mounted on the probe mounting tube 611, and the ultrasonic probe 601 is pressed by the probe pressing plate 608. Damping or locking bolts can be provided between the probe pressing plate 608 and the probe mounting tube 611 to prevent the ultrasonic probe 601 from falling due to the free movement of the probe pressing plate 608. The marking pen 607 is installed on one side of the probe mounting tube 611.

[0046] like Figure 2 , 6 As shown, the coupling agent application device 5 includes an electric telescopic rod 503, a coupling agent nozzle 502 and a coating brush 501. A mounting tube is provided on the connecting plate 8. The electric telescopic rod 503 is installed in the mounting tube. The coating brush 501 is installed at the end of the mounting tube. The coating brush 501 and the mounting tube are spaced apart. The movable end of the telescopic rod 503 is driven to be fixedly connected with the coupling agent nozzle 502 and to drive it to reciprocate in a direction close to or away from the coating brush 501 to adjust the distance between the coupling agent nozzle 502 and the coating brush 501.

[0047] The working process of this large pressure vessel butt weld ultrasonic flaw detection automated inspection robot is as follows:

[0048] According to the diameter parameters of large pressure vessels, the distance between the driving roller 105 and the driven roller 107 is adjusted to a suitable position by controlling the spacing adjustment motor 101, and the pressure vessel is placed on the driving roller 105 and the driven roller 107. According to the thickness of the butt weld of the pressure vessel, the corresponding type of ultrasonic probe 601 is selected. After determining the type of ultrasonic probe 601, the robot arm 3 is moved to the vicinity of the probe position frame 7 by the translation motor 9, and the ultrasonic probe 601 can be manually replaced by adjusting the position of the flaw detection device 6 at the end of the arm 3. The probe pressing plate 608 can also be replaced with an automatically tightened pneumatic clamp to realize the automatic clamping of the ultrasonic probe 601.

[0049] For the girth weld, the robot arm 3 is moved to the vicinity of the girth weld flaw detection area by the translation motor 9, and the various rotating joints of the robot arm 3 are adjusted to adjust the posture of the flaw detection device 6 and the coupling agent coating device 5. First, the coating brush 501 of the coupling agent coating device 5 is aligned with the flaw detection area, and the electric telescopic rod 503 is adjusted to adjust the coupling agent nozzle 502 to the optimal position, and the driving motor 106 is started. The driving motor 106 drives the driving roller 105 to rotate, and the speed of the pressure vessel is controlled to the speed required for flaw detection. The coupling agent spraying work is started, and the coupling agent is sprayed from the coupling agent nozzle 502. The coating brush 501 uniformly applies a circle to the flaw detection area along one side of the girth weld as the pressure vessel rotates. After the coating is completed, the coupling agent spraying work is ended. The end posture of the robot arm 3 is adjusted, and the rotating motor 606 is assisted to align the ultrasonic probe 601 of the flaw detection device 6 with the flaw detection area and fit the outer wall of the pressure vessel. The position adjustment motor 602 is started to drive the ultrasonic flaw detection 601 to perform the flaw detection task of the Z-shaped trajectory. The flaw detection curve is detected in real time. If the curve shows feedback of weld defects, the driving roller 105 and the position adjustment motor 602 are stopped in time, the ultrasonic probe 601 is adjusted away from the flaw detection area, and the marking pen 607 is aligned with the flaw detection defect position to mark. After marking, the flaw detection is continued until the flaw detection is completed, the rotation of the pressure vessel is stopped, and the robot arm 3 is adjusted to the initial position.

[0050] For the longitudinal weld, which is different from the circumferential weld, start the driving roller 105, and by adjusting the rotation angle of the driving roller 105, move the longitudinal weld of the pressure vessel to the side facing the robot arm 3. Then, turn off the driving roller 105 and do not start it again in the subsequent flaw detection process. During the entire ultrasonic flaw detection process, the pressure vessel is in a stationary state. Move the robot arm 3 to the vicinity of the flaw detection area at one end of the longitudinal weld of the pressure vessel by the translation motor 9, adjust the various rotating joints of the robot arm 3, and adjust the posture of the flaw detection device 6 and the coupling agent coating device 5. First, align the coating brush 501 of the coupling agent coating device 5 with the flaw detection area, adjust the electric telescopic rod 503 to adjust the coupling agent nozzle 502 to the optimal position, and then start the translation motor 9 again, so that the coating brush 501 applies the coupling agent along the longitudinal weld direction, and brushes to the other end of the longitudinal weld, stops the brushing work, and completes the brushing task. Adjust the end position of the robot arm 3, assist with the rotating motor 606, align the ultrasonic probe 601 of the flaw detection device 6 with the flaw detection area and fit the outer wall of the pressure vessel. Start the translation motor 9 to drive the ultrasonic flaw detection 601 to move along the axial direction of the pressure vessel. At the same time, under the action of the position adjustment motor 602, the ultrasonic sleeve 601 performs the flaw detection task of the Z-shaped trajectory. Real-time detection of the flaw detection curve, if the curve shows feedback of weld defects, stop driving the roller 105, the position adjustment motor 602 and the translation motor 9 in time, move the ultrasonic probe 601 away from the flaw detection area, align the marking device 607 with the flaw detection defect position, and mark it. After marking, continue the flaw detection until the flaw detection is completed, and the robot arm 3 is adjusted to the initial position.

[0051] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. An automatic ultrasonic flaw detection robot for butt welds of large pressure vessels, characterized by: The invention comprises a supporting device, a mechanical arm (3), a flaw detection device (6) and a coupling agent coating device (5), wherein the mechanical arm (3) is arranged on one side of the supporting device, the flaw detection device (6) and the coupling agent coating device (5) are both mounted on the mechanical arm (3), and the flaw detection device (6) is connected to a translation device for driving the flaw detection device (6) to move along the supporting device.

2. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 1 is characterized by: The supporting device comprises a driving roller (105) and a driven roller (107), wherein at least two driving rollers (105) are arranged at intervals, the driving rollers (105) and the driven rollers (107) correspond to each other one by one, and the driving rollers (105) and the corresponding driven rollers (107) are arranged at intervals, and a space for accommodating the pressure vessel is formed between the driving rollers (105) and the driven rollers (107), and each driving roller (105) is connected to a driving motor (106).

3. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 2 is characterized by: A spacing adjustment device is provided between each of the driving rollers (105) and the corresponding driven roller (107).

4. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 3 is characterized by: The spacing adjustment device comprises a moving seat, a spacing adjustment screw and a spacing adjustment motor (101); the driving roller (105) and the corresponding driven roller (107) are both rotatably mounted on an independent moving seat; each moving seat is threadedly connected to the spacing adjustment screw; and the spacing adjustment motor (101) is connected to the spacing adjustment screw.

5. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 1 is characterized by: The translation device comprises a translation motor (9) and a translation screw (2); the mechanical arm (3) is movably arranged on one side of the supporting device; the translation screw (2) is threadedly connected to the mechanical arm (3); and the translation motor (9) is connected to the translation screw (2).

6. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 1, characterized in that: The coupling agent smearing device (5) comprises a coupling agent nozzle (502) and a smearing brush (501); the coupling agent nozzle (502) and the smearing brush (501) are both mounted on the mechanical arm (3), and the coupling agent nozzle (502) is arranged on a side of the smearing brush (501) close to the mechanical arm (3).

7. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 6 is characterized by: The coupling agent smearing device (5) further comprises an electric telescopic rod (503), the smearing brush (501) and the outer shell of the electric telescopic rod (503) are fixedly arranged relative to each other, the movable end of the electric telescopic rod (503) is connected to the coupling agent nozzle (502), and the electric telescopic rod (503) drives the coupling agent nozzle (502) to move in a direction approaching or moving away from the smearing brush (501).

8. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 1 is characterized by: The flaw detection device (6) comprises a position adjustment device, a rotating device and an ultrasonic probe (601); the rotating device is mounted on the mechanical arm (3); the position adjustment device is mounted on the rotating device; and the ultrasonic probe (601) is mounted on the position adjustment device.

9. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 8, characterized in that: A buffer device is also provided between the ultrasonic probe (601) and the position adjustment device.

10. The large pressure vessel butt weld ultrasonic flaw detection automated inspection robot according to claim 1, characterized in that: It also includes a marking device, which is also mounted on the robot arm (3).

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