Visual inspection device and method for hull structure surface weld inspection

Abstract

The invention discloses a visual detection device and method for hull structure surface weld detection, and relates to the technical field of weld quality detection. The visual detection device and method for hull structure surface weld joint detection comprise a track device and a visual acquisition device, and the track device is adsorbed to the side face of a to-be-detected weld joint of a hull and used for installing and guiding the visual acquisition device to move along the weld joint and collect images; a plurality of supports are arranged to support the main track plate, a track extending in the welding seam direction is constructed, a visual collection device moves in the welding seam direction to conduct visual detection, the visual detection can be achieved without precise control, the equipment cost is low, continuous long-distance construction can be conducted, long-distance welding seams can be detected at a time, and the detection efficiency is improved. The position of the support does not affect the passing of the visual acquisition device, and the support is directly adsorbed on the surface of the ship body, is flexible to construct and convenient to disassemble and assemble, and is provided with two mounting modes, so that the adaptive range is wider.

Description

Technical Field

[0001] The invention relates to the technical field of weld quality detection, and in particular to a visual detection device and method for detecting welds on the surface of a hull structure. Background Art

[0002] The main purpose of hull weld quality inspection is to ensure the firmness and density of the welds to meet the requirements of design drawings and shipbuilding standards. Through inspection, defects in the welds can be discovered and dealt with in a timely manner to avoid structural damage or safety accidents during the use of the ship. The content of hull weld quality inspection mainly includes weld shape, weld size, welding strength and welding defects. The methods of hull weld quality inspection mainly include appearance inspection, tightness test and non-destructive testing.

[0003] For example, a ship hull weld defect detection and identification device and method disclosed in publication number CN116952944A, the ship hull weld defect detection and identification device includes a moving mechanism, a lifting mechanism, a detection mechanism and an industrial control host, the lifting mechanism is arranged on the moving mechanism, the detection mechanism includes a mechanical arm and a detection component, the mechanical arm is arranged on the lifting mechanism, the detection component is arranged on the mechanical arm, the detection component includes a visual sensor and a laser emitter, and the industrial control host is connected to the moving mechanism, the lifting mechanism and the detection mechanism respectively. The invention can automatically collect images of the morphological features of the ship hull weld and identify whether there are defects on the weld according to the collected images, thereby reducing the workload of detecting ship hull weld defects, which helps to improve the detection efficiency of ship hull weld defect detection and reduce safety hazards during detection.

[0004] As shown in the above technology, currently, the inspection of welds usually uses visual inspection image analysis to perform appearance inspection of welds. However, as shown in the device, it is necessary to build a larger movable inspection device outside the hull, which occupies a large area, is costly, and has a limited range of movement. If it is a larger ship, after the inspection is completed within the inspection range, the equipment needs to be moved to the next location for continued inspection. The operation is cumbersome, inefficient, and it is difficult to maintain continuous inspection. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a visual inspection device and method for inspecting welds on the surface of a hull structure, which solves the problems that still exist when the above-mentioned visual inspection device is used for inspecting welds on a hull.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A visual inspection device for detecting welds on the surface of a hull structure, comprising a track device and a visual acquisition device, wherein the track device is adsorbed on the side of the hull weld to be inspected and is used to install and guide the visual acquisition device to move along the weld and collect images, and the track device comprises: The main track plate is made of a light and hard material and is used to guide the moving track of the visual acquisition device, and the visual acquisition device is sleeved on the main track plate and moves; A plurality of supports are installed at two sections of the main track plate and are used to connect two adjacent main track plates. One end of the support is adsorbed on the surface of the hull to support the main track plate. The position where the support connects to the main track plate forms a continuous track with the main track plate. The position where the support is connected to the main track plate can be deformed to connect the main track plates on both sides with different axes to adapt to the curvature change of the hull surface or the weld; The part of the support adsorbed to the surface of the hull adopts one of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions. The support adopts magnetic adsorption through magnet adsorption, and the support is also provided with a lifting structure for lifting one side of the magnet to reduce the adsorption force when separating the magnet.

[0007] Preferably, the support includes a riser, one end of the riser is equipped with a connector connected to the main track plate, the other end of the riser is equipped with an adsorption member for adsorbing the surface of the hull, the connector and the adsorption member are both threadedly connected to the riser and sealed with a sealing ring, and the adsorption member is divided into a magnetic adsorption member and a negative pressure adsorption member according to the difference between magnetic adsorption and negative pressure adsorption.

[0008] Preferably, the connecting piece includes a threaded tube threadedly connected to the top of the vertical pipe, and a plug plate is fixedly connected to the top of the threaded tube, a plurality of T-shaped shafts are inserted in parallel on the front side of the plug plate, the T-shaped shafts are elastic, and the plurality of T-shaped shafts are divided into two outer T-shaped shafts on both sides of the outermost periphery and an inner T-shaped shaft on the inner side, one end of the outer T-shaped shaft is fixedly connected to the plug plate, and one end of the inner T-shaped shaft is slidably connected to the plug plate, the corners of the outer T-shaped shaft and the inner T-shaped shaft are fixedly sleeved as a whole by an elastic glue stick, the upper and lower ends of the outer T-shaped shaft and the inner T-shaped shaft are sleeved by rubber sleeves, and a movable groove for the movement of the end of the inner T-shaped shaft is opened in the rubber sleeve corresponding to the inner T-shaped shaft.

[0009] Preferably, square shafts are fixed at both ends of the glue stick, and the other two ends of the outer T-shaped shaft are bent to the side. Sockets matching the square shaft and the bending section of the outer T-shaped shaft are respectively provided in the middle and upper and lower sides of the end face of the main track plate. The main track plates on both sides apply bending force to the outer T-shaped shaft through the square shaft and the bending section of the outer T-shaped shaft, and the elasticity of the glue stick and the rubber sleeve are combined to make the outer T-shaped shaft and the inner T-shaped shaft deform evenly and transitionally as a whole.

[0010] Preferably, the magnetic adsorption component includes: The outer shell has two magnets symmetrically arranged inside the outer shell, and the bottom of the magnets extends out of the bottom of the outer shell. The top center of the outer shell is also provided with a threaded head connected with the vertical pipe thread; A transfer lifting frame, the two sides of which are rotatably connected to the magnets on both sides respectively, and the middle part of the transfer lifting frame is in the form of an internal threaded tube and the top end extends to the inside of the threaded head; A rocker, the bottom end of which is an external thread that matches the internal thread of the transfer lifting frame, and a stopper that presses on the top of the connecting piece is provided on the surface of the rocker. The transfer lifting frame can be raised by screwing the bottom end of the rocker into the transfer lifting frame and shaking it.

[0011] Preferably, the magnet is provided with notches on both the front and rear sides of one end away from the transfer lifting frame, and a roller is rotatably connected to the notch through an axle passing through the magnet, and the surface of the roller exceeds the end face of the magnet, so that when the other side of the magnet is lifted, the side located on the roller leaves the adsorption surface, and an inner edge is provided inwardly on the bottom surface of the outer shell, and the two ends of the axle overlap the inner edges on both sides to limit the magnet from sliding out of the outer shell, and a groove is provided on the surface of the axle and on the side opposite to the two rollers, and a clamp is provided in the groove to limit the roller from separating from the axle.

[0012] Preferably, the negative pressure adsorption component comprises: A pressure plate, the top of which is threadedly connected to the bottom end of the riser, and the pressure plate is hollow; The suction cup is hollow and the top is inserted and fixed to the center of the pressure plate; The top of the plug plate is fixedly connected with a valve connected with the vertical pipe, and the air in the suction cup is extracted through the valve docking the air extraction device and cooperating with the threaded pipe and the vertical pipe.

[0013] Preferably, the visual acquisition device comprises: A sliding sleeve, which is arranged on the main track plate; The CCD camera is fixed on the side of the main track plate through a bracket; A driving structure is installed on the sliding sleeve to drive the visual acquisition device to move as a whole through engagement with the main track plate and the rubber sleeve; The control module is fixed on the bracket and connected to the driving structure and the CCD camera through wires. The control module is connected to the control host through wired or wireless means.

[0014] Preferably, the driving structure includes a reduction motor fixed on the sleeve, the output end of the reduction motor passes through the interior of the sleeve and is fixedly connected to a gear, the main track plate and the top of the rubber sleeve are both provided with tooth grooves that mesh with the gear, and a protective cover covering the gear is provided on the top of the sleeve.

[0015] The present invention also discloses a visual inspection method for inspecting welds on the surface of a hull structure, comprising the following steps: S1. Selection of track device construction method: Consider whether the position of the weld to be inspected on the hull is steel or smooth surface. For steel surface, choose magnetic suction installation method, and for non-steel but smooth surface, choose negative pressure adsorption installation method; S2. Track device construction: After selecting suitable supports, they are initially installed on one side of the weld and evenly dispersed, and then the main track plate is inserted between adjacent supports. At this time, the support positions are adjusted and fixed after adjustment until the track device of the required length is built; S3. Visual inspection: After the track device is built, put the visual inspection device on the track device from one end, start and control the visual inspection device to move along the track device while shooting the weld image, and transmit the image to the control host for image processing and weld quality analysis.

[0016] The present invention provides a visual inspection device and method for inspecting welds on the surface of a hull structure. Compared with the prior art, the device and method have the following beneficial effects: 1. The visual inspection device and method for detecting welds on the surface of a hull structure, by setting up multiple supports to prop up the main track plate, construct a track extending along the direction of the weld, for the visual acquisition device to move along the direction of the weld for visual inspection, which can be achieved without precise manipulation, and the equipment cost is low. It can be built continuously over long distances, and thus welds over a long distance can be detected at one time. The position of the support does not affect the passage of the visual acquisition device, and the support is directly adsorbed on the surface of the hull, which is flexible to build and easy to assemble and disassemble. At the same time, it is equipped with two forms of installation methods, with a wider range of adaptation, and the support can also adapt to changes in multiple directions of the main track plates on both sides to connect, thereby adapting to changes in the curvature of the hull surface, or changes in the angle in the general direction of the weld, ensuring continuous and complete image acquisition and detection.

[0017] 2. The visual inspection device and method for detecting welds on the surface of a hull structure, the part where the support is connected to the main track plate, uses a number of parallel T-shaped shafts with glue sticks and rubber sleeves to build a track with an outer contour consistent with the main track plate. At the same time, the T-shaped shafts, glue sticks and rubber sleeves can all be elastically deformed by the force applied by the main track plate, so that the position where the connecting piece transfers to the main track plate is smoother, so that the visual acquisition device will not be stuck when moving, and the design here can adapt to distortion in multiple directions, can better adapt to changes in the curvature of the hull, and the connection method is also relatively simple and convenient.

[0018] 3. The visual inspection device and method for detecting welds on the surface of the hull structure are provided with two types of adsorption parts, both of which are installed based on the riser. When in use, only an additional driving part needs to be added, and there is no need to directly replace a set of facilities as a whole. The installation and replacement are quick and the cost is reduced. In the whole set of track devices, they can be mixed and used according to actual conditions, and the installation is more flexible.

[0019] 4. The visual inspection device and method for detecting welds on the surface of a hull structure, the visual acquisition device is directly mounted on the main track plate through a sliding sleeve, and is driven by a driving structure, and can perform mobile inspection at a uniform speed. The overall device has a high degree of integration and can be disassembled as a whole for storage, and is not limited by the length of the overall track device, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the magnetic installation method of the present invention; Figure 2 It is a schematic diagram of the overall structure of the negative pressure installation method of the present invention; Figure 3 It is a schematic diagram of the installation of the main track plate and the support of the present invention; Figure 4 An exploded view of the connector of the present invention; Figure 5 It is a schematic diagram of a support in a magnetic attraction manner of the present invention; Figure 6 This is an exploded view of the support of the magnetic attraction method of the present invention; Figure 7 It is a schematic diagram of the separation of the magnet and the roller of the present invention; Figure 8 It is a cross-sectional schematic diagram of the support of the present invention in a flat state of the magnet; Fig. 9 It is a cross-sectional schematic diagram of the support of the present invention in a state where the magnet is lifted; Fig.10 It is a partial cross-sectional view of the support of the magnetic attraction method of the present invention; Fig.11 is a stereoscopic diagram of the visual acquisition device of the present invention; Fig.12 It is an exploded diagram of the visual acquisition device of the present invention.

[0021] In the figure: 1- visual acquisition device, 11- sliding sleeve, 12- CCD camera, 13- bracket, 14- control module, 15- reduction motor, 16- gear, 17- protective cover; 2-main track plate, 21-jack, 22-tooth groove; 3-support, 31-connecting part, 311-threaded pipe, 312-insert plate, 313-external T-shaft, 314-inner T-shaft, 315-rubber stick, 316-rubber sleeve, 317-movable groove, 318-square shaft, 32-magnetic adsorption part, 321-housing, 322-magnet, 323-threaded seat, 324-transfer lifting frame, 325-rocker, 326-block, 327-axle, 328-roller, 329-slot, 3210-clamp, 33-negative pressure adsorption part, 331-pressure plate, 332-suction cup, 333-valve, 34-riser. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 3 The present invention discloses a visual inspection device for detecting welds on the surface of a hull structure, and provides the following four technical solutions: The first embodiment includes a track device and a visual acquisition device 1. The track device is adsorbed on the side of the weld to be detected on the hull to install and guide the visual acquisition device 1 to move along the weld and collect images. The track device includes: The main track plate 2 is made of a light and hard material and is used to guide the moving track of the visual acquisition device 1. The visual acquisition device 1 is sleeved on the main track plate 2 and moves; A plurality of supports 3 are installed at two sections of the main track plate 2 and are used to connect two adjacent main track plates 2. One end of the support 3 is adsorbed on the surface of the hull to support the main track plate 2. The position where the support is connected to the main track plate 2 forms a continuous track with the main track plate 2. The position where the support 3 is connected to the main track plate 2 can be deformed to connect the main track plates 2 on both sides of the same axis to adapt to the curvature change of the hull surface or the weld. The angle between the main track plates 2 on both sides is not less than 175°, that is, the deflection angle relative to the coaxial line is not greater than 5°, so as to avoid the sliding of the visual acquisition device 1 due to the small curvature; The part of the support 3 adsorbed to the surface of the hull adopts one of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions. The support 3 adopting magnetic adsorption is adsorbed by the magnet 322. The support 3 is also provided with a lifting structure for lifting one side of the magnet 322 to reduce the adsorption force when the magnet 322 is separated.

[0024] By setting up multiple supports 3 to prop up the main track plate 2, a track extending along the direction of the weld is constructed, for the visual acquisition device 1 to move along the direction of the weld for visual inspection, which can be achieved without precise manipulation. The equipment cost is low, and it can be built continuously over long distances, so that welds over a longer distance can be inspected at one time. The position of the support 3 does not affect the passage of the visual acquisition device 1, and the support 3 is directly adsorbed on the surface of the hull, which is flexible to build and easy to assemble and disassemble. At the same time, it is equipped with two forms of installation methods, with a wider range of adaptation, and the support 3 can also adapt to the changes in multiple directions of the main track plates 2 on both sides to connect, so as to adapt to the changes in the curvature of the hull surface, or the changes in the angle in the general direction of the weld, ensuring continuous and complete image acquisition and detection.

[0025] The second embodiment is mainly different from the first embodiment in that: the support 3 includes a riser 34, one end of the riser 34 is equipped with a connector 31 connected to the main track plate 2, and the other end of the riser 34 is equipped with an adsorption member for adsorbing the surface of the hull, the connector 31 and the adsorption member are both threadedly connected to the riser 34 and sealed with a sealing ring, and the adsorption member is divided into a magnetic adsorption member 32 and a negative pressure adsorption member 33 according to the difference between magnetic adsorption and negative pressure adsorption; The connecting member 31 includes a threaded tube 311 threadedly connected to the top of the vertical tube 34, and a plug plate 312 is fixedly connected to the top of the threaded tube 311, and a plurality of T-shaped shafts are inserted in parallel on the front side of the plug plate 312. The T-shaped shafts are elastic, and the plurality of T-shaped shafts are divided into two outer T-shaped shafts 313 on both sides of the outermost periphery and an inner T-shaped shaft 314 on the inner side. One end of the outer T-shaped shaft 313 is fixedly connected to the plug plate 312, and one end of the inner T-shaped shaft 314 is slidably connected to the plug plate 312. The corners of the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are fixedly sleeved as a whole by an elastic glue stick 315. The upper and lower ends of the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are sleeved by a rubber sleeve 316, and the rubber sleeve 31 6, a movable groove 317 for the end of the inner T-shaped shaft 314 to move is provided in correspondence with the inner T-shaped shaft 314, and the movable groove 317 is used for the movement of the inner T-shaped shaft 314 when it is deformed; square shafts 318 are fixed at both ends of the glue stick 315, and the other two ends of the outer T-shaped shaft 313 are bent to the side, and the middle and upper and lower sides of the end surface of the main track plate 2 are respectively provided with jacks 21 adapted to the square shaft 318 and the bending section of the outer T-shaped shaft 313. The main track plates 2 on both sides apply bending force to the outer T-shaped shaft 313 through the square shaft 318 and the bending section of the outer T-shaped shaft 313, and the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are deformed uniformly and transitionally as a whole in combination with the elasticity of the glue stick 315 and the rubber sleeve 316.

[0026] The support 3 is connected to the main track plate 2 by using several parallel T-shaped shafts, rubber sticks 315 and rubber sleeves 316 to build a track whose outer contour is consistent with the main track plate 2. At the same time, the T-shaped shafts, rubber sticks 315 and rubber sleeves 316 can all be elastically deformed by the force applied by the main track plate 2, so that the position of the connecting piece 31 connecting the main track plate 2 can be turned more smoothly, so that the visual acquisition device 1 will not be stuck when moving. The design here can adapt to distortion in multiple directions, can better adapt to changes in the curvature of the hull, and the connection method is also relatively simple and convenient.

[0027] The third embodiment is mainly different from the second embodiment in that the magnetic adsorption member 32 includes: The housing 321 has two magnets 322 symmetrically arranged inside the housing 321 , and the bottom of the magnet 322 extends out of the bottom of the housing 321 . The top center of the housing 321 is also provided with a threaded seat 323 threadedly connected to the standpipe 34 . The transfer lifting frame 324, the two sides of the transfer lifting frame 324 are rotatably connected to the magnets 322 on both sides respectively, the middle part of the transfer lifting frame 324 is in the form of an internal threaded tube and the top end extends to the inside of the threaded seat 323; A rocker 325, the bottom end of which is an external thread adapted to the internal thread of the transfer lifting frame 324, and a stopper 326 pressed on the top of the connecting member 31 is provided on the surface of the rocker 325, and the transfer lifting frame 324 is raised by screwing the bottom end of the rocker 325 into the transfer lifting frame 324 and shaking it; The magnet 322 is provided with a notch on both the front and rear sides of one end away from the transfer lifting frame 324, and a roller 328 is rotatably connected to the notch through an axle 327 that passes through the magnet 322, and the surface of the roller 328 exceeds the end surface of the magnet 322, so that when the other side of the magnet 322 is lifted, the side located on the roller 328 leaves the adsorption surface. When the magnet 322 is normally attached, the bottom surface of the roller 328 is flush with the surface of the magnet 322. The roller 328 is used for support. On the one hand, the magnet 322 can be slightly padded when the magnet 322 is tilted, and on the other hand, the friction of the magnet 322 on the adsorption surface can be avoided, which can reduce resistance and wear. The bottom surface of the shell 321 is provided with an inner edge inwardly, and the two ends of the axle 327 are overlapped on the inner edges on both sides to limit the magnet 322 from sliding out of the shell 321. The surface of the axle 327 and the side opposite to each other of the two rollers 328 are provided with a slot 329, and a clamp 3210 is sleeved in the slot 329 to limit the roller 328 from separating from the axle 327.

[0028] The magnetic adsorption component 32 has the function of lifting one side of the magnet 322 for removal on the basis of using the magnet 322 for adsorption. When the entire surface of the magnet 322 is in contact, when the magnet 322 is pulled outward perpendicularly to the adsorption surface, the entire surface of the magnet 322 is subjected to dispersed force, which makes it more difficult to pull it out. If the adsorption force of the magnet 322 is not enough, the adsorption is not strong enough. Therefore, the rocker 325 of this embodiment is used in conjunction with the transfer lifting frame 324 to lift one side of the magnet 322. At this time, the other side of the magnet 322 will also be slightly separated from the adsorption surface due to the roller 328, and then the magnetic adsorption component 32 can be easily removed, and the operation is simple and convenient.

[0029] The negative pressure adsorption component 33 includes: A pressure plate 331, the top of which is threadedly connected to the bottom of the riser 34, and the pressure plate 331 is hollow; The suction cup 332 is hollow in design and the top is inserted and fixed to the center of the pressure plate 331; The top of the plug plate 312 is fixedly connected with a valve 333 which is in communication with the vertical pipe 34 . The valve 333 is connected to the air extraction device and cooperates with the threaded pipe 311 and the vertical pipe 34 to extract the air in the suction cup 332 .

[0030] The negative pressure adsorption component 33 in this embodiment is integrated with the vertical pipe 34 and the connecting component 31 for use together. After the negative pressure adsorption component 33 is installed at the bottom of the vertical pipe 34, a vacuum device is connected to the valve 333 at the top of the connecting component 31 to achieve negative pressure vacuuming, so that the suction cup 332 is firmly adsorbed. The structure is simple and the operation is convenient.

[0031] The two types of adsorption parts are both installed based on the vertical pipe 34. When in use, only an additional driving part needs to be added without directly replacing a set of facilities as a whole. The installation and replacement are quick and the cost is reduced. They can also be mixed and used in the entire track device according to actual conditions, and the installation is more flexible.

[0032] The fourth embodiment is mainly different from the first embodiment in that the visual acquisition device 1 includes: The sliding sleeve 11 is arranged on the main track plate 2. The edges at both ends of the main track plate 2 are provided with large arc angles so that it can have a better transition when passing through the bend and reduce jamming; A CCD camera 12 is fixed to the side of the main track plate 2 through a bracket 13; The driving structure is installed on the sliding sleeve 11 and drives the visual acquisition device 1 to move as a whole through engagement with the main track plate 2 and the rubber sleeve 316; The control module 14 is fixed on the bracket 13 and connected to the driving structure and the CCD camera 12 through wires. The control module 14 is connected to the control host through wired or wireless means.

[0033] The driving structure includes a reduction motor 15 fixed on the sleeve 11, the output end of the reduction motor 15 passes through the interior of the sleeve 11 and is fixedly connected to a gear 16, the main track plate 2 and the top of the rubber sleeve 316 are both provided with tooth grooves 22 that mesh with the gear 16, and a protective cover 17 covering the gear 16 is provided on the top of the sleeve 11.

[0034] The visual acquisition device 1 is directly mounted on the main track plate 2 via the sliding sleeve 11 and is driven by the driving structure. It can perform mobile detection at a uniform speed. The overall device has a high degree of integration and can be disassembled as a whole for storage. It is not limited by the length of the overall track device and is easy to use.

[0035] The present invention also discloses a visual inspection method for inspecting welds on the surface of a hull structure, comprising the following steps: S1. Selection of track device construction method: Consider whether the position of the weld to be inspected on the hull is steel or smooth surface. For steel surface, choose magnetic suction installation method, and for non-steel but smooth surface, choose negative pressure adsorption installation method; S2. Track device construction: After selecting the appropriate support 3, install it on one side of the weld and spread it evenly: For the installation of magnetic attraction, select the magnetic attraction piece 32, screw its threaded seat 323 to the bottom end of the vertical tube 34, then insert the rocker 325 into the vertical tube 34, and rotate and screw it into the transfer lifting frame 324. When the stopper 326 on the rocker 325 is against the plug plate 312, continue to rotate the rocker 325 to pull the transfer lifting frame 324, thereby pulling the magnets 322 on both sides to tilt, and then put the magnetic attraction piece 32 in the selected position, and use magnetism for preliminary positioning; then place the main track plate 2 between adjacent supports 3, so that the socket 21 of the main track plate 2 is sleeved on the two ends of the side of the outer T-shaped shaft 313 and the square shaft 318, at this time adjust the position of the support 3 to tighten the main track plate 2, reverse the rocker 325 after adjustment, so that the magnet 322 is gradually reset until it is sucked on the surface of the hull to fix the position, and repeat the above operation until the track device of the required length is built; For the negative pressure installation method, screw the pressure plate 331 of the negative pressure adsorption member 33 to the bottom end of the vertical pipe 34, and connect the exhaust device to the valve 333, then wipe the surface to be adsorbed clean, and press the suction cup 332 to the surface to be adsorbed to initially fix the position; then place the main track plate 2 between the adjacent supports 3, so that the insertion hole 21 of the main track plate 2 is sleeved on the two ends of the side of the outer T-shaped shaft 313 and the square shaft 318, at this time, adjust the position of the support 3 to insert the main track plate 2 tightly, open the valve 333 after adjustment, start the exhaust device to extract the air in the suction cup 332 through the threaded pipe 311 and the vertical pipe 34, so that the suction cup 332 is firmly sucked on the surface of the hull, and close the valve 333 after sucking tightly, and repeat the above operation until the track device of the required length is built; S3. Visual inspection: After the track device is built, the visual inspection device 1 is put onto the rubber sleeve 316 from one end through the sliding sleeve 11, and then slid onto the main track plate 2, the reduction motor 15 is started to drive the gear 16 to rotate, and the engagement with the tooth groove 22 is used to drive the visual acquisition device 1 to move as a whole, and at the same time, the CCD camera 12 is controlled to move along the track device while shooting the weld image, and the image is transmitted to the control host for image processing and weld quality analysis.

[0036] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual inspection device for detecting welds on the surface of a hull structure, comprising a track device and a visual acquisition device, wherein the track device is adsorbed on the side of the weld to be inspected on the hull and used to install and guide the visual acquisition device to move along the weld and collect images, characterized in that: The track device comprises: The main track plate is made of a light and hard material and is used to guide the moving track of the visual acquisition device, and the visual acquisition device is sleeved on the main track plate and moves; A plurality of supports are installed at two sections of the main track plate and are used to connect two adjacent main track plates. One end of the support is adsorbed on the surface of the hull to support the main track plate. The position where the support connects to the main track plate forms a continuous track with the main track plate. The position where the support is connected to the main track plate can be deformed to connect the main track plates on both sides with different axes to adapt to the curvature change of the hull surface or the weld; The part of the support adsorbed to the surface of the hull adopts one of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions. The support adopts magnetic adsorption through magnet adsorption, and the support is also provided with a lifting structure for lifting one side of the magnet to reduce the adsorption force when separating the magnet.

2. A visual inspection device for detecting welds on the surface of a hull structure according to claim 1, characterized in that: The support includes a riser, one end of which is equipped with a connector connected to the main track plate, and the other end of which is equipped with an adsorption component for adsorbing the surface of the hull. The connector and the adsorption component are both threadedly connected to the riser and sealed with a sealing ring. The adsorption component is divided into a magnetic adsorption component and a negative pressure adsorption component according to the difference between magnetic adsorption and negative pressure adsorption.

3. A visual inspection device for detecting welds on the surface of a hull structure according to claim 2, characterized in that: The connecting piece includes a threaded tube threadedly connected to the top of the vertical pipe, and a plug plate is fixedly connected to the top of the threaded tube, a plurality of T-shaped shafts are inserted in parallel on the front side of the plug plate, the T-shaped shafts are elastic, and the plurality of T-shaped shafts are divided into two outer T-shaped shafts on both sides of the outermost periphery and an inner T-shaped shaft on the inner side, one end of the outer T-shaped shaft is fixedly connected to the plug plate, and one end of the inner T-shaped shaft is slidably connected to the plug plate, the corners of the outer T-shaped shaft and the inner T-shaped shaft are fixedly sleeved as a whole by an elastic glue stick, the upper and lower ends of the outer T-shaped shaft and the inner T-shaped shaft are sleeved by rubber sleeves, and a movable groove for the inner T-shaped shaft end to move is opened in the rubber sleeve corresponding to the inner T-shaped shaft.

4. A visual inspection device for detecting welds on the surface of a hull structure according to claim 3, characterized in that: Square shafts are fixed at both ends of the glue stick, and the other two ends of the outer T-shaped shaft are bent to the side. Sockets adapted to the square shaft and the bending section of the outer T-shaped shaft are respectively provided in the middle and on the upper and lower sides of the end face of the main track plate. The main track plates on both sides apply bending force to the outer T-shaped shaft through the square shaft and the bending section of the outer T-shaped shaft, and the elasticity of the glue stick and the rubber sleeve is combined to make the outer T-shaped shaft and the inner T-shaped shaft deform evenly and transitionally as a whole.

5. A visual inspection device for detecting welds on the surface of a hull structure according to claim 2, characterized in that: The magnetic adsorption component comprises: The outer shell has two magnets symmetrically arranged inside the outer shell, and the bottom of the magnets extends out of the bottom of the outer shell. The top center of the outer shell is also provided with a threaded head connected with the vertical pipe thread; A transfer lifting frame, the two sides of which are rotatably connected to the magnets on both sides respectively, and the middle part of the transfer lifting frame is in the form of an internal threaded tube and the top end extends to the inside of the threaded head; A rocker, the bottom end of which is an external thread that matches the internal thread of the transfer lifting frame, and a stopper that presses on the top of the connecting piece is provided on the surface of the rocker. The transfer lifting frame can be raised by screwing the bottom end of the rocker into the transfer lifting frame and shaking it.

6. A visual inspection device for detecting welds on the surface of a hull structure according to claim 5, characterized in that: The magnet is provided with notches on both the front and rear sides of one end away from the transfer lifting frame, and a roller is rotatably connected to the notch through an axle passing through the magnet, and the surface of the roller exceeds the end face of the magnet, so that when the other side of the magnet is lifted, the side located on the roller leaves the adsorption surface, and an inner edge is provided inwardly on the bottom surface of the shell, and the two ends of the axle overlap on the inner edges on both sides to limit the magnet from sliding out of the shell, and a groove is provided on the surface of the axle and on the side opposite to the two rollers, and a clamp is sleeved in the groove to limit the roller from leaving the axle.

7. A visual inspection device for detecting welds on the surface of a hull structure according to claim 3, characterized in that: The negative pressure adsorption component comprises: A pressure plate, the top of which is threadedly connected to the bottom end of the riser, and the pressure plate is hollow; The suction cup is hollow and the top is inserted and fixed to the center of the pressure plate; The top of the plug plate is fixedly connected with a valve communicated with the vertical pipe, and the air in the suction cup is extracted through the valve docking the air extraction device and cooperating with the threaded pipe and the vertical pipe.

8. A visual inspection device for detecting welds on the surface of a hull structure according to claim 3, characterized in that: The visual acquisition device comprises: A sliding sleeve, which is arranged on the main track plate; The CCD camera is fixed on the side of the main track plate through a bracket; A driving structure is installed on the sliding sleeve to drive the visual acquisition device to move as a whole through engagement with the main track plate and the rubber sleeve; The control module is fixed on the bracket and connected to the driving structure and the CCD camera through wires. The control module is connected to the control host through wired or wireless means.

9. A visual inspection device for detecting welds on the surface of a hull structure according to claim 8, characterized in that: The driving structure includes a reduction motor fixed on the sleeve, the output end of the reduction motor passes through the interior of the sleeve and is fixedly connected to a gear, the main track plate and the top of the rubber sleeve are both provided with tooth grooves meshing with the gear, and a protective cover covering the gear is provided on the top of the sleeve.

10. A visual inspection method for detecting welds on the surface of a hull structure, implemented using the visual inspection device for detecting welds on the surface of a hull structure according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Selection of track device construction method: Consider whether the position of the weld to be inspected on the hull is steel or smooth surface. For steel surface, choose magnetic suction installation method, and for non-steel but smooth surface, choose negative pressure adsorption installation method; S2. Track device construction: After selecting suitable supports, they are initially installed on one side of the weld and evenly dispersed, and then the main track plate is inserted between adjacent supports. At this time, the support positions are adjusted and fixed after adjustment until the track device of the required length is built; S3. Visual inspection: After the track device is built, put the visual inspection device on the track device from one end, start and control the visual inspection device to move along the track device while shooting the weld image, and transmit the image to the control host for image processing and weld quality analysis.

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