Full-automatic welding seam scanning frame and welding seam scanning method

Abstract

The invention provides a full-automatic welding seam scanning frame and a welding seam scanning method. The full-automatic welding seam scanning frame comprises an instrument scanning frame body, a handle, a stretching rod, a rail traveling wheel mechanism, a steel rail locking device, a laser positioning device, a collecting box, a main sliding block unit and an auxiliary sliding block unit. The steel rail locking device is used for realizing a stable clamping and fixing effect between the instrument scanning frame body and the steel rail when the instrument scanning frame body moves to a target welding seam scanning area; the main sliding block unit and the auxiliary sliding block unit are both arranged in the instrument scanning frame body and used for detecting the target weld joint. According to the full-automatic welding seam scanning frame and the welding seam scanning method provided by the invention, the traditional operation mode of manual welding seam flaw detection is changed, manual flaw detection is replaced, automation of flaw detection is realized, the labor intensity of flaw detection personnel is reduced, and the precision and efficiency of welding seam flaw detection are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of rail weld detection, and in particular relates to a full-automatic weld scanning frame and a weld scanning method. Background Art

[0002] Railway transportation is one of the most important modes of transportation in my country. With the development of the railway industry, the total mileage of railways has exceeded 140,000 kilometers. The longer the railway line, the more potential hidden dangers there are, which puts higher requirements on the daily maintenance and upkeep of the railway line. The application of rail flaw detection technology can timely understand the potential safety problems of the railway and avoid the occurrence of traffic accidents, especially for rail welds. It has an important driving significance for the development of the railway industry. Ultrasonic non-destructive detection technology has been widely used in current railway flaw detection work due to its accurate quantitative positioning of defects and high detection sensitivity.

[0003] The defects of rail flaw detectors in the prior art are: the existing weld flaw detection technology is generally purely manual, using a scanning frame or various probes to detect flaws in various parts of the weld. These operations require multiple manual positioning, which places high demands on the operator. The detection of each weld takes a long time and is inefficient. Summary of the invention

[0004] In view of the defects in the prior art, the present invention provides a fully automatic weld scanning frame and a weld scanning method, which can effectively solve the above problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention provides a fully automatic weld scanning frame, comprising: an instrument scanning frame (1), a handle (2), a stretching rod (3), a track wheel mechanism (4), a rail locking device (5), a laser positioning device (6), a collection box (7), a main slide unit (8) and a secondary slide unit (9);

[0007] The instrument scanning frame (1) is mounted above the rail (10);

[0008] The handle (2) is fixedly mounted on the top of the instrument scanning frame (1) to provide a gripping position for the operator when opening and closing the instrument and when going up and down the track;

[0009] The stretching rod (3) is hingedly connected to the top of the instrument scanning frame (1) and is used to drag the instrument scanning frame (1) to move longitudinally along the steel rail (10);

[0010] The track wheel mechanism (4) is symmetrically hingedly installed at the front and rear of the instrument scanning frame (1), and has two states: unfolded and folded. In the unfolded state, the instrument scanning frame (1) is supported to be located above the steel rail (10) and provides a guiding movement function for longitudinal movement along the steel rail (10); in the folded state, the instrument scanning frame (1) is made to fall and be clamped on the left and right sides of the steel rail (10);

[0011] The rail locking device (5) is used to achieve a stable clamping and fixing effect between the instrument scanning frame (1) and the rail (10) when the instrument scanning frame (1) moves to the target weld scanning area;

[0012] The laser positioning device (6) is fixedly mounted at the top center position of the instrument scanning frame (1) and is used to emit a horizontal laser line in a startup state so that the horizontal laser line is aligned with the center plane of the target weld, thereby realizing the positioning of the instrument scanning frame (1) in the longitudinal direction of the rail (10);

[0013] The collection box (7) is fixedly mounted on the top of the instrument scanning frame (1), and is used to be connected to the main slider unit (8) and the auxiliary slider unit (9), and is used to collect and store the detection results of the target weld;

[0014] The main slider unit (8) and the auxiliary slider unit (9) are both arranged inside the instrument scanning frame (1) and are used to detect the target weld.

[0015] Preferably, the instrument scanning frame (1) includes an instrument guard plate (11) and a main support plate (12) fixed at both ends of the instrument guard plate (11); rulers (13) are provided on the left and right sides of the instrument guard plate (11) along the longitudinal direction to assist in adjusting the longitudinal position of the instrument scanning frame (1) on the rail (10); an alignment baseline (14) is provided at the top center of the instrument guard plate (11) to align with the center plane of the target weld to achieve the longitudinal positioning of the instrument scanning frame (1) on the rail (10).

[0016] Preferably, the track wheel mechanism (4) comprises a track wheel (41), a left wheel leg (42), a right wheel leg (43), a free hinge (44) and a folding hinge (45);

[0017] The shape of the track wheel (41) matches the top shape of the steel rail (10) and is used for longitudinal sliding along the top of the steel rail (10); the left side of the track wheel (41) is hinged to one end of the left wheel leg (42), the other end of the left wheel leg (42) is fixed to the bottom of the free hinge (44), and the side of the free hinge (44) is fixed to the main support plate (12); the right side of the track wheel (41) is hinged to one end of the right wheel leg (43), the other end of the right wheel leg (43) is fixed to the bottom of the folding hinge (45), and the side of the folding hinge (45) is fixed to the main support plate (12);

[0018] The bottom of the free hinge (44) can be freely folded or freely unfolded relative to the side of the free hinge (44); the bottom of the folding hinge (45) can be folded or unfolded relative to the side of the folding hinge (45) under the action of external force.

[0019] Preferably, the rail locking device (5) comprises a top positioning block (51), a main side clamping block (52), a main side limiting rod (53), a main side spring (54), a secondary side clamping block (55), a secondary side limiting rod (56), a secondary side spring (57) and a quick clamp (58);

[0020] The top positioning block (51) is fixedly mounted on the side of the main support plate (12), and the bottom shape of the top positioning block (51) matches the top shape of the rail (10); the secondary side limiting rod (56) and the primary side limiting rod (53) are fixedly mounted on the left and right sides of the top positioning block (51) respectively along the width direction of the rail (10); the secondary side clamping block (55) is mounted on the outer surface of the secondary side limiting rod (56), and the secondary side spring (57) is mounted on the inner side of the secondary side clamping block (55); the primary side clamping block (52) is mounted on the outer surface of the primary side limiting rod (53), and the primary side spring (54) is mounted on the inner side of the primary side clamping block (52); the quick clamp (58) is mounted on the top of the primary side clamping block (52);

[0021] When the instrument scanning frame (1) is in a dragging state, under the elastic force of the secondary side spring (57) and the primary side spring (54), the secondary side clamping block (55) slides to the outermost side along the secondary side limiting rod (56), and the primary side clamping block (52) slides to the outermost side along the primary side limiting rod (53);

[0022] When the instrument scanning frame (1) falls and is in working state, the secondary side clamping block (55) and the primary side clamping block (52) move to the innermost side, and the secondary side clamping block (55), the primary side clamping block (52) and the top positioning block (51) are fixed by the quick clamp (58). At this time, the bottom of the top positioning block (51) is in contact with the top of the steel rail (10); the secondary side clamping block (55) and the primary side clamping block (52) are respectively clamped on the left and right sides of the bottom of the top of the steel rail (10); at this time, the left and right sides of the instrument scanning frame (1) are clamped on the left and right sides of the bottom of the rail (10), thereby fully realizing multi-point positioning and fixing between the instrument scanning frame (1) and the steel rail (10).

[0023] Preferably, the instrument scans the interior of the frame (1), and the main slider unit (8) and the auxiliary slider unit (9) are respectively installed on the left and right sides of the steel rail (10); wherein the longitudinal direction of the steel rail (10) is the X direction, the width direction of the steel rail (10) is the Y direction, and the height direction of the steel rail (10) is the Z direction;

[0024] The main slider unit (8) comprises a main slider X-direction driving mechanism (81), a main slider X-direction optical axis (82) and a main slider module (83); the auxiliary slider unit (9) comprises an auxiliary slider X-direction driving mechanism (91), an auxiliary slider X-direction optical axis (92) and an auxiliary slider module (93);

[0025] The main slider X-axis (82) and the auxiliary slider X-axis (92) are fixedly mounted on the left and right sides of the inside of the instrument scanning frame (1); the main slider module (83) is slidably connected to the main slider X-axis (82); and under the drive of the main slider X-axis driving mechanism (81), the main slider module (83) moves in the X-axis along the main slider X-axis (82);

[0026] The sub-slider module (93) is slidably connected to the sub-slider X-axis (92), and driven by the sub-slider X-axis driving mechanism (91), the sub-slider module (93) moves in the X-axis along the sub-slider X-axis (92).

[0027] Preferably, the main slider X-axis driving mechanism (81) and the auxiliary slider X-axis driving mechanism (91) are both stepper motors, which are respectively connected to a synchronous belt (A1); the main slider module (83) and the auxiliary slider module (93) are respectively fixed to the fixed points of the corresponding synchronous belts (A1) through synchronous belt clamping blocks (A2).

[0028] Preferably, the main slider module (83) comprises a main slider support plate (831), a main slider rail top surface detection component (832), a main slider rail top side surface K1 detection component (833), a main slider rail bottom inclined surface K2.5 detection component (834) and a main slider rail bottom side surface K1 detection component (835);

[0029] The main slider rail top surface detection component (832) includes a rail top surface Y-direction drive motor (8321), a rail top surface Y-direction optical axis (8322), a rail top surface probe slider seat (8323), a rail top surface K1 probe (8324), a rail top surface K0.8 probe (8325), a rail top surface 0 degree probe (8326), a rail top surface K2.5 probe (8327), and a rail top surface K2.5 probe driving steering gear (8328);

[0030] The rail top surface Y-direction optical axis (8322) is fixedly mounted on the upper portion of the main slider support plate (831); the rail top surface probe slider seat (8323) is sleeved on the outside of the rail top surface Y-direction optical axis (8322), and is driven by the rail top surface Y-direction drive motor (8321) to slide along the rail top surface Y-direction optical axis (8322);

[0031] The rail top surface K1 probe (8324), the rail top surface K0.8 probe (8325) and the rail top surface 0 degree probe (8326) are fixedly installed at the bottom of the rail top surface probe slider seat (8323), and the rail top surface K1 probe (8324), the rail top surface 0 degree probe (8326) and the rail top surface K0.8 probe (8325) are arranged in sequence along the Y direction; under the drive of the rail top surface Y direction drive motor (8321), the rail top surface K1 probe (8324), the rail top surface 0 degree probe (8326) and the rail top surface K0.8 probe (8325) are moved to the center position of the rail top surface in the Y direction in sequence to perform target weld flaw detection;

[0032] The rail top surface K2.5 probe driving servo (8328) is installed at the bottom of the rail top surface probe slider seat (8323), and the rail top surface K2.5 probe (8327) is installed at the bottom of the rail top surface K2.5 probe driving servo (8328); under the drive of the rail top surface K2.5 probe driving servo (8328), the rail top surface K2.5 probe (8327) is rotated by a certain angle to realize flaw detection at different positions of the rail top surface; at the same time, after the main slider module (83) crosses the target weld, the rail top surface K2.5 probe driving servo (8328) drives the rail top surface K2.5 probe (8327) to rotate 180°, and flaw detection is performed on the other side of the target weld;

[0033] The main slider rail top side K1 detection component (833) includes a rail top side motor (8331), a rail top side connecting rod (8332), a rail top side slideway (8333), a rail top side main bin (8334), a rail top side slide bin (8335) and a main slider rail top side K1 probe (8336);

[0034] The rail top side connecting rod (8332) is fixedly installed on the side of the main slider support plate (831), and the rail top side connecting rod (8332) is inclined at a certain angle to the Z axis; the rail top side slideway (8333) is arranged in the same direction as the rail top side connecting rod (8332) and is fixed to the rail top side connecting rod (8332); the rail top side main bin (8334) is driven by the rail top side motor (8331) and slides along the rail top side connecting rod (8332) and inside the rail top side slideway (8333); the rail top side sliding bin (8335) arranged along the Y direction is installed at the bottom of the rail top side main bin (8334), and the end face of the rail top side sliding bin (8335) is installed with the main slider rail top side K1 probe (8336) arranged along the Y direction;

[0035] Driven by the rail top side motor (8331), the rail top side main bin (8334) moves in the YZ direction along the inner wall of the rail top side slideway (8333), thereby driving the rail top side slide bin (8335) to move in the YZ direction. A compression spring is installed between the rail top side main bin (8334) and the rail top side slide bin (8335), thereby ensuring that the rail top side K1 probe (8336) of the main slider is in contact with the rail top side and moves in the Z-axis direction, thereby realizing a full-range scan of different heights of the rail top side.

[0036] The main slider rail bottom inclined surface K2.5 detection component (834) comprises a rail bottom inclined surface Y-direction driving motor (8341), a rail bottom inclined surface Y-direction screw rod (8342), a rail bottom inclined surface Y-direction optical axis (8343), a rail bottom inclined surface Y-direction slider (8344), a rail bottom inclined surface Z-direction optical axis (8345), a rail bottom inclined surface steering gear seat (8346), a rail bottom inclined surface steering gear (8347), a bottom inclined probe swing frame (8348), a bottom inclined probe limit plate (8349) and a main slider rail bottom inclined surface K2.5 probe (83410);

[0037] The bottom of the main slider support plate (831) is parallel to the rail bottom inclined surface Y-direction lead screw (8342) and the rail bottom inclined surface Y-direction optical axis (8343); the guide hole of the rail bottom inclined surface Y-direction slider (8344) is sleeved on the outside of the rail bottom inclined surface Y-direction optical axis (8343), and the rail bottom inclined surface Y-direction slider (8344) and the rail bottom inclined surface Y-direction lead screw (8342) are threadedly matched; when the rail bottom inclined surface Y-direction drive motor (8341) drives the rail bottom inclined surface Y-direction lead screw (8342) to rotate, the rail bottom inclined surface Y-direction slider (8344) is driven to move along the rail bottom inclined surface Y-direction optical axis (8343) in the Y direction. Sliding; the bottom of the rail bottom slope Y-direction slider (8344) is fixedly installed with the rail bottom slope Z-direction optical axis (8345); the rail bottom slope servo seat (8346) is sleeved on the outside of the rail bottom slope Z-direction optical axis (8345), and can move in the Z direction along the rail bottom slope Z-direction optical axis (8345); and the outer sleeve of the rail bottom slope Z-direction optical axis (8345) is installed with a compression spring, and the compression spring applies downward pressure to the rail bottom slope servo seat (8346), so that the main slider rail bottom slope K2.5 probe (83410) fits the rail bottom slope and adapts to the height difference of the rail bottom slope; the rail bottom slope The rail bottom inclined surface servo seat (8347) is installed at the bottom of the Z-direction slider (8346), the rail bottom inclined surface servo seat (8346) is equipped with the rail bottom inclined surface servo (8347), the bottom inclined probe swing frame (8348) is installed on the bottom surface of the rail bottom inclined surface servo (8347), which is used to drive the bottom inclined probe swing frame (8348) to rotate around the X-axis direction, the main slider rail bottom inclined surface K2.5 probe (83410) arranged along the Z direction is installed inside the bottom inclined probe swing frame (8348), and the bottom inclined probe limit plate (8349) is installed outside the bottom inclined probe swing frame (8348); The bottom inclined probe limit plate (8349) is used to prevent the main slider rail bottom inclined surface K2.5 probe (83410) from flipping over when moving along the Y-axis direction; the rail bottom inclined surface servo (8347) adjusts the deflection angle of the main slider rail bottom inclined surface K2.5 probe (83410) when driving the main slider rail bottom inclined surface K2.5 probe (83410) to rotate around the X-axis direction through the bottom inclined probe swing frame (8348). At the same time, when the main slider module (83) passes over the target weld, the main slider rail bottom inclined surface K2.5 probe (83410) is rotated 180° to achieve detection on the other side of the target weld;

[0038] The main slider rail bottom side K1 detection component (835) includes a rail bottom side slideway platform (8351), a rail bottom side Z-direction drive motor (8352), a rail bottom side Z-direction lead screw (8353), a rail bottom side Z-direction optical axis (8354), a rail bottom side probe frame (8355), a Y-direction electromagnetic push-pull rod (8356), a main slider rail bottom side K1 probe (8357) and a lifting baffle (8358); the bottom of the main slider support plate (831) is fixedly installed The rail bottom side slideway platform (8351); the rail bottom side Z-direction screw rod (8353) and the rail bottom side Z-direction optical axis (8354) are slidably installed on both sides of the rail bottom side slideway platform (8351) along the Z direction; the top of the rail bottom side Z-direction screw rod (8353) and the rail bottom side Z-direction optical axis (8354) can slide upward along the Z direction; the bottom thread of the rail bottom side Z-direction screw rod (8353) cooperates with the rail bottom side probe frame (8355) to be installed , and the rail bottom side probe frame (8355) is fixed to the bottom of the rail bottom side Z-direction optical axis (8354); when the rail bottom side Z-direction drive motor (8352) drives the rail bottom side Z-direction screw rod (8353) to rotate, the rail bottom side probe frame (8355) is driven to perform Z-direction lifting movement; the Y-direction electromagnetic push-pull rod (8356) is installed at the bottom of the rail bottom side probe frame (8355), and the bottom of the Y-direction electromagnetic push-pull rod (8356) The K1 probe (8357) on the bottom side of the main slider rail is installed along the Y direction; the lifting baffles (8358) are fixedly installed on both sides of the K1 probe (8357) on the bottom side of the main slider rail, and are used to drive the K2.5 detection component (834) on the bottom inclined surface of the main slider rail to be lifted upward synchronously when the K1 detection component (835) on the bottom side of the main slider rail is lifted upward to a certain height, so as to avoid collision with the weld protrusion when the main slider module (83) passes over the weld.

[0039] Preferably, the auxiliary slider module (93) comprises an auxiliary slider support plate (931), an auxiliary slider rail top surface detection component (932), an auxiliary slider rail top side surface K1 detection component (933), an auxiliary slider rail bottom inclined surface K2.5 detection component (934) and an auxiliary slider rail bottom side surface K1 detection component (935);

[0040] The auxiliary slider rail top surface detection component (932) is different from the main slider rail top surface detection component (832); the auxiliary slider rail top surface detection component (932) includes an auxiliary slider rail top surface probe bracket (9321) and an auxiliary slider rail top surface K0.8 probe (9322); the auxiliary slider rail top surface probe bracket (9321) is fixed to the auxiliary slider support plate (931); the auxiliary slider rail top surface K0.8 probe (9322) is fixedly installed at the end of the auxiliary slider rail top surface probe bracket (9321), so that when the fully automatic weld scanning frame is in working state, the auxiliary slider rail top surface K0.8 probe (9322) is pressed and fitted to the Y-direction center position of the rail top surface;

[0041] The structures of the auxiliary slider rail top side K1 detection component (933), the auxiliary slider rail bottom inclined surface K2.5 detection component (934) and the auxiliary slider rail bottom side K1 detection component (935) are respectively the same as the main slider rail top side K1 detection component (833), the main slider rail bottom inclined surface K2.5 detection component (834) and the main slider rail bottom side K1 detection component (835) of the main slider module (83);

[0042] in:

[0043] The auxiliary slider rail top side K1 detection component (933) includes an auxiliary slider rail top side K1 probe (9336);

[0044] The auxiliary slider rail bottom inclined surface K2.5 detection component (934) includes an auxiliary slider rail bottom inclined surface K2.5 probe (93410);

[0045] The auxiliary slider rail bottom side K1 detection component (935) includes an auxiliary slider rail bottom side K1 probe (9357).

[0046] The present invention also provides a weld scanning method of the fully automatic weld scanning frame, comprising the following steps:

[0047] Step 1, the fully automatic weld scanning frame has a dragging state and a working state;

[0048] In the dragging state, the track wheel mechanism (4) is first operated, the handle (2) is lifted with one hand, and the track wheel (41) is pressed with the other hand to unfold the track wheel mechanism (4). At this time, the track wheel (41) is in sliding contact with the surface of the rail (10), and the supporting instrument scanning frame (1) is higher than the top surface of the rail (10); then, the stretching rod (3) is held by hand to drag the fully automatic weld scanning frame along the rail (10). When the horizontal line emitted by the laser positioning device (6) coincides with the target weld, it indicates that the frame has moved to the target position;

[0049] Then, the folding hinge (45) is pressed to retract the track wheel mechanism (4), and the instrument scanning frame (1) falls down. After the instrument scanning frame (1) falls into place, the rail locking device (5) is locked. Through the joint supporting and positioning effect of the instrument scanning frame (1) and the rail locking device (5), the instrument scanning frame (1) is stably fixed at the target position, so that the fully automatic weld scanning frame is put into working state;

[0050] Step 2, after the fully automatic weld scanning frame is switched to working state, the main slider unit (8) and the auxiliary slider unit (9) are controlled to achieve a comprehensive scan of the target weld and the rail area where it is located, and the scanning results are transmitted to the collection box (7).

[0051] Preferably, step 2 is specifically:

[0052] Step 2.1, working process of the rail top surface K2.5 probe (8327) of the main slider module (83):

[0053] The scanning range and scanning method are determined as follows: taking the target weld as a reference, the distance L1 is extended to both ends along the X direction to form a scanning range; within the scanning range, the K2.5 probe (8327) on the top surface of the rail is driven to scan back and forth at different deflection angles for a set number of times, and when the K2.5 probe (8327) on the top surface of the rail is scanning and detecting, the emission direction is continuously aligned with the center of the target weld; wherein the deflection angles include 0°, a left deflection setting angle, and a right deflection setting angle;

[0054] The specific process of a single round-trip scan is as follows:

[0055] ① Start the main slider X-direction drive mechanism (81), drive the main slider module (83) to move along the X-direction as a whole, and move the rail top surface K2.5 probe (8327) to the initial detection position at one end of the scanning range;

[0056] ② Start the Y-direction driving motor (8321) of the rail top surface to drive the rail top surface K2.5 probe (8327) to move along the Y-direction to the center position of the rail top surface along the Y-direction; and, since the rail top surface K2.5 probe (8327) is equipped with a pressure spring, the rail top surface K2.5 probe (8327) is closely attached to the rail top surface;

[0057] ③ Start the main slider X-direction drive mechanism (81), drive the rail top surface K2.5 probe (8327) to move along the X-direction, from the initial detection position at one end of the scanning range to the target weld position, and complete the forward one-way scanning of one side of the target weld;

[0058] ④ driving the rail top surface K2.5 probe driving servo (8328) to rotate the rail top surface K2.5 probe (8327) on the Z axis until it forms a set angle with the center of the rail top surface; then starting the main slider X-direction driving mechanism (81) to drive the rail top surface K2.5 probe (8327) to move along the X direction from the target weld position to the initial detection position, completing a reverse one-way scan of one side of the target weld;

[0059] ⑤ When the flaw detection work on one side of the target weld is completed, the main slider module (83) is driven to move to the other side of the target weld, and the rail top surface K2.5 probe drives the steering engine (8328) to adjust the rail top surface K2.5 probe (8327) to rotate, and the above steps are repeated to complete the flaw detection work on the other side of the target weld;

[0060] Step 2.2, working process of rail top 0 degree probe (8326):

[0061] When the rail top surface 0 degree probe (8326) detects the weld, it is necessary to monitor the bottom wave and identify the reflected wave. Taking the target weld as the reference, the distance L2 is extended to both ends along the X direction to form a scanning range. Within the scanning range, the rail top surface 0 degree probe (8326) is moved longitudinally at a uniform speed according to the set scanning round trip times for scanning. Moreover, when the rail top surface 0 degree probe (8326) scans above the target weld, the rail top surface 0 degree probe (8326) is moved horizontally within the rail head width range to find horizontal cracks in the weld bar.

[0062] The specific process of a single round-trip scan is as follows:

[0063] ① Start the main slider X-direction driving mechanism (81), drive the main slider module (83) to move along the X-direction as a whole, and move the rail top surface 0 degree probe (8326) to the initial detection position at one end of the scanning range;

[0064] ② Start the Y-direction driving motor (8321) of the rail top surface to drive the 0-degree probe (8326) of the rail top surface to move along the Y-direction to the detection position of the rail top surface along the Y-direction; and, since the 0-degree probe (8326) of the rail top surface is equipped with a pressure spring, the 0-degree probe (8326) of the rail top surface is closely attached to the rail top surface;

[0065] ③ Start the X-direction driving mechanism (81) of the main slider to drive the rail top surface 0 degree probe (8326) to move along the X-direction, from one end of the scanning range to the other end, to complete a single flaw detection scan; after completing the scanning of one path, the rail top surface 0 degree probe (8326) moves a certain distance along the Y axis to continue to detect the next area of ​​the rail top surface, and the cycle is repeated until the scanning of the entire area is completed;

[0066] Step 2.3, working process of the auxiliary slider rail top surface K0.8 probe (9322) and the main slider rail top surface K0.8 probe (8325):

[0067] ① Detection process on one side of the target weld: on one side of the target weld, the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are both located at the center position of the rail top surface in the Y direction, but at different positions in the X direction, and then the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are driven to perform relative movement in the X direction to achieve K0.8 serial scanning. During the movement, the K0.8 probe (8325) on the rail top surface of the main slider emits detection waves to different depth positions of the target weld along the Z direction, and the K0.8 probe (9322) on the rail top surface of the auxiliary slider receives the reflected waves, thereby completing the detection of the entire depth of the target weld and completing the detection process on one side of the target weld;

[0068] ② After the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider have completed the detection of one side of the target weld, the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are swapped in front and back positions, and then moved along the X direction to the other side of the target weld, and the detection process on one side of the target weld is repeated;

[0069] Wherein: when performing the front-to-back position swap, the position of the K0.8 probe (9322) on the rail top surface of the auxiliary slider remains unchanged, and the K0.8 probe (8325) on the rail top surface of the main slider moves along the X direction. When approaching the K0.8 probe (9322) on the rail top surface of the auxiliary slider and needs to meet, the K0.8 probe (8325) on the rail top surface of the main slider moves along the Y direction to the inner side of the main slider to avoid the K0.8 probe (9322) on the rail top surface of the auxiliary slider, and then the K0.8 probe (8325) on the rail top surface of the main slider moves along the X direction to the other side of the K0.8 probe (9322) on the rail top surface of the auxiliary slider, thereby completing the front-to-back position swap of the main and auxiliary sliders;

[0070] Step 2.4, working process of rail top surface K1 probe (8324):

[0071] The scanning range and scanning method are determined as follows: taking the target weld as a reference, the distance L3 is extended to both ends along the X direction to form a scanning range; within the scanning range, the rail top surface K1 probe (8324) is driven to scan back and forth a set number of times, and when the rail top surface K1 probe (8324) is scanning and detecting, the emission direction is continuously aligned with the center of the target weld;

[0072] ① Start the main slider X-direction drive mechanism (81), driving the rail top surface K1 probe (8324) to move along the X-direction to one end of the scanning range;

[0073] ② Start the Y-direction driving motor (8321) of the rail top surface to drive the rail top surface K1 probe (8324) to move along the Y direction to the center position of the rail top surface along the Y direction;

[0074] ③ Start the main slider X-direction drive mechanism (81), drive the rail top surface K1 probe (8324) to move along the X-direction, move from one end of the scanning range to the other end, and complete a single scan;

[0075] After completing the scanning of one path, the rail top surface K1 probe (8324) moves a certain distance along the Y axis to continue the detection of the next area of ​​the rail top surface, and the cycle continues until the scanning of the entire area is completed;

[0076] Step 2.5, working process of the K1 probe (8336) on the top side of the main slider rail and the K1 probe (9336) on the top side of the auxiliary slider rail:

[0077] The K1 probe (8336) on the top side of the main slider rail and the K1 probe (9336) on the top side of the auxiliary slider rail are used as a transmitting probe and a receiving probe respectively, and are placed on both sides of the target weld rail head, and the transmitting probe and the receiving probe are closely attached to the upper height surface of the rail top side; at this upper height position, the transmitting and receiving directions of the probes are aligned with the center of the target weld, and first one probe is fixed, and then the other probe is moved along the X direction within a set range for scanning; then the fixed probe is moved forward a set distance, and the scanning process is repeated; and so on, the set number of scans are completed;

[0078] Then adjust the height of the transmitting probe and the receiving probe on the side of the rail top to the lower height position and repeat the scanning;

[0079] Step 2.6, working process of the main slider rail bottom inclined surface K2.5 probe (83410) and the auxiliary slider rail bottom inclined surface K2.5 probe (93410):

[0080] The main slider rail bottom inclined surface K2.5 probe (83410) and the auxiliary slider rail bottom inclined surface K2.5 probe (93410) are respectively located at the rail bottom slopes on both sides of the rail, and each independently detects the rail bottom inclined surface on the corresponding side, and the detection method is the same;

[0081] For the main slider rail bottom inclined surface K2.5 probe (83410), its working process is:

[0082] When detecting, the K2.5 probe (83410) on the inclined surface of the rail bottom of the main slider is aimed at the center of the target weld. It scans multiple times from the outside to the inside starting from the edge of the rail bottom corner to ensure full coverage of the rail bottom. Each probe scanning track should cover a certain width of the previous scan. Then, check once in the reverse direction along the edge of the rail bottom corner. In addition, the probe is deflected outward by a certain angle during each inspection.

[0083] The specific working process is:

[0084] When the main slider rail bottom inclined surface K2.5 probe (83410) moves to a set position along the X direction, the rail bottom inclined surface Y direction driving motor (8341) drives the main slider rail bottom inclined surface K2.5 probe (83410) to move along the Y axis, so that the main slider rail bottom inclined surface K2.5 probe (83410) reaches the rail bottom inclined surface Y direction set position;

[0085] Drive the K2.5 probe (83410) of the rail bottom slope of the main slider to perform a linear scan of the rail bottom slope along the X direction;

[0086] When the probe needs to be moved with an angle for scanning, the rail bottom inclined plane servo (8347) causes the main slider rail bottom inclined plane K2.5 probe (83410) to rotate a certain angle along the Z axis, and then scan along the X direction;

[0087] When the sector scanning action is performed, the rail bottom inclined plane servo (8347) servo is started, driving the main slider rail bottom inclined plane K2.5 probe (83410) to rotate left and right to achieve the sector scanning;

[0088] When the main slider rail bottom inclined surface K2.5 probe (83410) passes over the weld and reaches the other side, the rail bottom inclined surface servo (8347) drives the main slider rail bottom inclined surface K2.5 probe (83410) to rotate 180 degrees, adjust the direction of the wedge block, and scan the other side of the weld.

[0089] Step 2.7, working process of the K1 probe (8357) on the bottom side of the main slider rail and the K1 probe (9357) on the bottom side of the auxiliary slider rail:

[0090] The K1 probe (8357) on the side of the main slider rail bottom and the K1 probe (9357) on the side of the auxiliary slider rail bottom are used as a transmitting probe and a receiving probe, respectively, and are placed on both sides of the target weld rail bottom, with the transmitting and receiving directions of the probes aligned with the center of the target weld, and the incident point is set at a distance from the weld center;

[0091] First fix one probe, then move another probe within the set range to scan; then move the fixed probe forward 15mm, repeat the scan, and so on, for a total of the set number of scans; both sides of the weld need to be scanned during detection;

[0092] The motion trajectories of the main slider rail bottom side K1 probe (8357) and the auxiliary slider rail bottom side K1 probe (9357) on the target weld side are the same; for the main slider rail bottom side K1 probe (8357), its motion trajectory is:

[0093] The K1 probe (8357) on the bottom side of the rail of the main slider descends along the Z axis to the bottom side of the rail, the Y-axis electromagnetic push-pull rod (8356) is powered off, and the K1 probe (8357) on the bottom side of the rail of the main slider is pressed against the bottom side of the rail under the action of the compression spring; then, the K1 probe (8357) on the bottom side of the rail of the main slider is driven to move linearly along the X axis to realize the flaw detection work of the K1 probe (8357) on the bottom side of the rail of the main slider.

[0094] The fully automatic weld scanning frame and weld scanning method provided by the present invention have the following advantages:

[0095] The invention provides a fully automatic weld seam scanning frame and a weld seam scanning method, which change the traditional manual operation mode of weld seam flaw detection, replace manual flaw detection, realize the automation of flaw detection, reduce the labor intensity of flaw detection personnel, and improve the accuracy and efficiency of weld seam flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 A three-dimensional diagram of the fully automatic weld scanning frame provided by the present invention in working state;

[0097] Figure 2 This is a three-dimensional picture of the fully automatic weld scanning frame in the dragging state;

[0098] Figure 3 It is a side view of the fully automatic weld scanning frame in the dragging state;

[0099] Figure 4 is a three-dimensional diagram of the track wheel mechanism 4;

[0100] Figure 5 is a schematic diagram of the rail locking device 5 in a locked state;

[0101] Figure 6 is a schematic diagram of the rail locking device 5 in a released state;

[0102] Figure 7 A diagram showing the positional relationship between the main slider unit 8 and the auxiliary slider unit 9 inside the instrument scanning frame 1;

[0103] Figure 8 A three-dimensional view of the main slider module 83;

[0104] Fig. 9 A three-dimensional view of the main slider rail top surface detection component 832;

[0105] Fig.10 It is a schematic diagram of the rail top surface K1 probe 8324 moving to the Y-direction center of the rail top surface;

[0106] Fig.11 It is a schematic diagram of the rail top surface 0 degree probe 8326 moving to the Y-direction center of the rail top surface;

[0107] Fig.12 It is a schematic diagram of the K0.8 probe 8325 on the rail top surface moving to the Y-direction center of the rail top surface;

[0108] Fig.13 It is a schematic diagram of the K2.5 probe 8327 on the rail top surface moving to the Y-direction center of the rail top surface;

[0109] Fig.14 A three-dimensional view of the K1 detection component 833 on the top side of the main slider rail;

[0110] Fig.15 A schematic diagram of the detection of the upper layer height of the rail top side surface by the K1 probe 8336 on the rail top side surface of the main slider;

[0111] Fig.16 A schematic diagram of the main slider rail top side K1 probe 8336 detecting the height of the lower layer of the rail top side;

[0112] Fig.17 A three-dimensional view of the main slider rail bottom inclined surface K2.5 detection component 834;

[0113] Fig.18 A three-dimensional view of the detection component 835 of the bottom side K1 of the main slider rail;

[0114] Fig.19 A schematic diagram of the main slider rail bottom inclined surface K2.5 detection component 834 and the main slider rail bottom side surface K1 detection component 835 at the rail detection position;

[0115] Fig. 20 is a three-dimensional diagram of the auxiliary slider module 93;

[0116] Fig.21 It is an elevation view of the detection principle of the K2.5 probe 8327 on the rail top surface of the main slider module 83;

[0117] Fig. 22 This is the detection principle diagram of the rail top surface 0 degree probe 8326;

[0118] Fig.23 It is a detection principle diagram of the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325 on one side of the weld;

[0119] Fig.24 A front-to-rear position relationship diagram of the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325 when they are located on both sides of the weld;

[0120] Fig.25 This is the working principle diagram of the rail top surface K1 probe 8324;

[0121] Fig.26A top view of the main slider rail top side K1 probe 8336 and the auxiliary slider rail top side K1 probe 9336 when they are located on one side of the target weld;

[0122] Fig. 27 This is the detection principle diagram of the K2.5 probe on the rail bottom slope. Fig.28 This is the detection principle diagram of the double K1 probes on the side of the rail bottom. DETAILED DESCRIPTION

[0123] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0124] See also Figure 1 The present invention provides a fully automatic weld scanning frame, comprising: an instrument scanning frame body 1, a handle 2, a stretching rod 3, a track wheel mechanism 4, a rail locking device 5, a laser positioning device 6, a collection box 7, a main slider unit 8 and a secondary slider unit 9.

[0125] The instrument scanning frame 1 is erected above the rail 10;

[0126] The handle 2 is fixedly mounted on the top of the instrument scanning frame 1 to provide a gripping position for the operator to open and close the instrument and to go up and down the track;

[0127] The stretching rod 3 is hingedly connected to the top of the instrument scanning frame 1, and is used to drag the instrument scanning frame 1 to move longitudinally along the rail 10; specifically, the device is used to provide hand grip when moving the instrument on the rail. The stretching rod 3 uses an aviation suitcase pull rod, which can be adjusted in length in three stages. The indexing hinge can locate the pull rod position at multiple angles, providing suitable gripping angles and positions for operators of different heights.

[0128] The track wheel mechanism 4 is symmetrically hingedly installed at the front and rear of the instrument scanning frame 1, and has two states: unfolded and folded. In the unfolded state, the instrument scanning frame 1 is supported to be located above the steel rail 10, and provides a guiding movement function for longitudinal movement along the steel rail 10; in the folded state, the instrument scanning frame 1 is made to fall and be clamped on the left and right sides of the steel rail 10;

[0129] The rail locking device 5 is used to achieve a stable clamping and fixing effect between the instrument scanning frame 1 and the rail 10 when the instrument scanning frame 1 moves to the target weld scanning area;

[0130] The laser positioning device 6 is fixedly installed at the top center position of the instrument scanning frame 1, and is used to emit a horizontal laser line in the start state, so that the horizontal laser line is aligned with the center plane of the target weld, thereby realizing the positioning of the instrument scanning frame 1 in the longitudinal direction of the rail 10;

[0131] A collection box 7 is fixedly mounted on the top of the instrument scanning frame 1, and is used to connect with the main slider unit 8 and the auxiliary slider unit 9, and is used to collect and store the detection results of the target weld;

[0132] The main slider unit 8 and the auxiliary slider unit 9 are both arranged inside the instrument scanning frame 1 and are used to detect the target weld.

[0133] The present invention provides a fully automatic weld scanning frame, including a dragging state and a working state; Figure 1 As shown in FIG. 1 , it is a three-dimensional picture of the fully automatic weld scanning frame in working state; Figure 2 As shown in FIG. 1 , it is a three-dimensional picture of the fully automatic weld scanning frame in the dragging state; Figure 3 The figure shows a side view of the fully automatic weld scanning frame in the dragging state.

[0134] The following is a detailed introduction to the main components:

[0135] (I) Instrument scanning frame 1

[0136] The instrument scanning frame 1 includes an instrument guard plate 11 and a main support plate 12 fixed at both ends of the instrument guard plate 11; rulers 13 are arranged longitudinally on the left and right sides of the instrument guard plate 11 to assist in adjusting the longitudinal position of the instrument scanning frame 1 on the rail 10; an alignment baseline 14 is arranged at the top center of the instrument guard plate 11 to align with the center plane of the target weld to realize the longitudinal positioning of the instrument scanning frame 1 on the rail 10.

[0137] Specifically, the instrument guard plate 11 provides overall support and waterproofing for the instrument, and has 5 observation windows, which are installed with highly transparent PC boards, which are resistant to aging and have excellent outdoor performance. The scale 13 is used to assist in adjusting the longitudinal position of the instrument on the rail. The alignment baseline has the same function as the laser alignment device 6, which is convenient for looking down to align the instrument.

[0138] (II) Track wheel mechanism 4:

[0139] Since the instrument has a high degree of automation and a relatively large overall size, it is not suitable for long-distance portable movement. The track wheel mechanism 4 can provide the instrument with the function of dragging on the rails.

[0140] The track wheel mechanism 4 includes a track wheel 41, a left wheel leg 42, a right wheel leg 43, a free hinge 44 and a folding hinge 45; Figure 4 Shown is a three-dimensional diagram of the track wheel mechanism 4.

[0141] The shape of the track wheel 41 matches the top shape of the rail 10, and is used to slide longitudinally along the top of the rail 10; the left side of the track wheel 41 is hinged to one end of the left wheel leg 42, the other end of the left wheel leg 42 is fixed to the bottom of the free hinge 44, and the side of the free hinge 44 is fixed to the main support plate 12; the right side of the track wheel 41 is hinged to one end of the right wheel leg 43, the other end of the right wheel leg 43 is fixed to the bottom of the folding hinge 45, and the side of the folding hinge 45 is fixed to the main support plate 12;

[0142] The bottom of the free hinge 44 can be freely folded or freely unfolded relative to the side of the free hinge 44 ; the bottom of the folding hinge 45 can be folded or unfolded relative to the side of the folding hinge 45 under the action of external force.

[0143] (III) Rail locking device 5:

[0144] When the instrument is detecting various welds, it needs to have a relatively stable and consistent fixed position. The rail locking device 5 provides positioning for the instrument in the lateral direction and locks the entire instrument at the same time to ensure that the probe fits the rail when the instrument is started, and to ensure that the instrument will not move with the rail, and will not cause problems such as tipping and derailment.

[0145] like Figure 5 As shown, it is a schematic diagram of the rail locking device 5 in the locked state; Figure 6 , which is a schematic diagram of the rail locking device 5 in a released state; the rail locking device 5 comprises a top positioning block 51, a main side clamping block 52, a main side limiting rod 53, a main side spring 54, a secondary side clamping block 55, a secondary side limiting rod 56, a secondary side spring 57 and a quick clamp 58;

[0146] The top positioning block 51 is fixedly installed on the side of the main support plate 12, and the bottom shape of the top positioning block 51 matches the top shape of the rail 10; the left and right sides of the top positioning block 51 are respectively fixedly installed along the width direction of the rail 10 with the secondary side limiting rod 56 and the main side limiting rod 53; the outer surface of the secondary side limiting rod 56 is installed with the secondary side clamping block 55, and the inner side of the secondary side clamping block 55 is installed with the secondary side spring 57; the outer surface of the main side limiting rod 53 is installed with the main side clamping block 52, and the inner side of the main side clamping block 52 is installed with the main side spring 54; the quick clamp 58 is installed on the top of the main side clamping block 52;

[0147] When the instrument scanning frame 1 is in the dragging state, under the elastic force of the secondary side spring 57 and the main side spring 54, the secondary side clamping block 55 slides to the outermost side along the secondary side limiting rod 56, and the main side clamping block 52 slides to the outermost side along the main side limiting rod 53;

[0148] When the instrument scanning frame 1 falls and is in working state, the secondary side clamping block 55 and the main side clamping block 52 move to the innermost side, and the secondary side clamping block 55, the main side clamping block 52 and the top positioning block 51 are fixed by the quick clamp 58. At this time, the bottom of the top positioning block 51 is attached to the top of the rail 10; the secondary side clamping block 55 and the main side clamping block 52 are clamped on the left and right sides of the bottom of the rail top of the rail 10 respectively; at this time, the left and right sides of the instrument scanning frame 1 are clamped on the left and right sides of the bottom of the rail 10, thereby fully realizing the multi-point positioning and fixing between the instrument scanning frame 1 and the rail 10. Specifically, the top positioning block 51, the main side clamping block 52, the secondary side clamping block 55, and the reinforcing feet on the left and right sides of the instrument scanning frame 1 form a positioning support, among which the rail jaw and the rail bottom are not easy to wear and deform, so as to provide a relatively stable positioning reference for the instrument.

[0149] (IV) Main Slider Unit 8 and Sub-Slider Unit 9

[0150] All probes of the automated weld scanning frame are deployed on the main slider unit 8 and the auxiliary slider unit 9. The two sets of slider units are driven by two 57 stepper motors respectively. Under the guidance of the optical axis and the traction of the synchronous belt, they can move in the X direction along the rail to achieve the mobile scanning effect of the probe.

[0151] like Figure 7 As shown, it is a positional relationship diagram of the main slider unit 8 and the auxiliary slider unit 9 inside the instrument scanning frame 1; the instrument scanning frame 1 is inside, and the main slider unit 8 and the auxiliary slider unit 9 are installed on the left and right sides of the rail 10 respectively; wherein the longitudinal direction of the rail 10 is the X direction, the width direction of the rail 10, that is, the transverse direction, is the Y direction, and the height direction of the rail 10 is the Z direction;

[0152] The main slider unit 8 includes a main slider X-direction driving mechanism 81, a main slider X-direction optical axis 82 and a main slider module 83; the sub-slider unit 9 includes a sub-slider X-direction driving mechanism 91, a sub-slider X-direction optical axis 92 and a sub-slider module 93;

[0153] On the left and right sides of the inside of the instrument scanning frame 1, the main slider X-axis 82 and the auxiliary slider X-axis 92 are fixedly installed respectively; the main slider module 83 is slidably connected with the main slider X-axis 82, and under the drive of the main slider X-axis driving mechanism 81, the main slider module 83 moves along the main slider X-axis 82 in the X direction;

[0154] The sub-slider module 93 is slidably connected to the sub-slider X-direction optical axis 92 . Driven by the sub-slider X-direction driving mechanism 91 , the sub-slider module 93 moves in the X-direction along the sub-slider X-direction optical axis 92 .

[0155] The main slider X-direction drive mechanism 81 and the auxiliary slider X-direction drive mechanism 91 are both stepper motors, and are respectively connected to the synchronous belt A1; the main slider module 83 and the auxiliary slider module 93 are respectively fixed to the corresponding fixed points of the synchronous belt A1 through the synchronous belt clamping block A2. Therefore, when the stepper motor is started, the synchronous belt will pull the slider to move to the position that the probe needs to detect.

[0156] (4.1) Main Slider Module 83

[0157] like Figure 8 As shown, it is a three-dimensional diagram of the main slider module 83; the main slider module 83 includes a main slider support plate 831, a main slider rail top surface detection component 832, a main slider rail top side surface K1 detection component 833, a main slider rail bottom inclined surface K2.5 detection component 834 and a main slider rail bottom side surface K1 detection component 835.

[0158] (4.1.1) Main slider rail top surface detection component 832

[0159] like Fig. 9 As shown, it is a stereoscopic view of the main slider rail top surface detection component 832; the main slider rail top surface detection component 832 includes a rail top surface Y-direction drive motor 8321, a rail top surface Y-direction optical axis 8322, a rail top surface probe slider seat 8323, a rail top surface K1 probe 8324, a rail top surface K0.8 probe 8325, a rail top surface 0 degree probe 8326, a rail top surface K2.5 probe 8327, and a rail top surface K2.5 probe driving servo 8328;

[0160] The main slider support plate 831 is used to provide support, installation and connection for the entire slider part. The upper part of the main slider support plate 831 is fixed with the Y-axis 8322 of the top surface of the rail; the top surface probe slider seat 8323 is sleeved on the outside of the Y-axis 8322 of the top surface of the rail, and is driven by the Y-axis driving motor 8321 of the top surface of the rail to slide along the Y-axis 8322 of the top surface of the rail;

[0161] The rail top surface K1 probe 8324, the rail top surface K0.8 probe 8325 and the rail top surface 0 degree probe 8326 are fixedly installed at the bottom of the rail top surface probe slider seat 8323, and the rail top surface K1 probe 8324, the rail top surface 0 degree probe 8326 and the rail top surface K0.8 probe 8325 are arranged in sequence along the Y direction; under the drive of the rail top surface Y direction drive motor 8321, the rail top surface K1 probe 8324, the rail top surface 0 degree probe 8326 and the rail top surface K0.8 probe 8325 are moved to the center position of the rail top surface Y direction in sequence to perform the target weld flaw detection work; Fig.10 As shown, it is a schematic diagram of the rail top surface K1 probe 8324 moving to the Y-direction center of the rail top surface; Fig.11 As shown, it is a schematic diagram of the rail top surface 0 degree probe 8326 moving to the Y-direction center of the rail top surface; Fig.12As shown, it is a schematic diagram of the rail top surface K0.8 probe 8325 moving to the Y-direction center of the rail top surface;

[0162] A rail top surface K2.5 probe driving servo 8328 is installed at the bottom of the rail top surface probe slider seat 8323, and a rail top surface K2.5 probe driving servo 8328 is installed at the bottom of the rail top surface K2.5 probe driving servo 8328; driven by the rail top surface K2.5 probe driving servo 8328, the rail top surface K2.5 probe 8327 is rotated by a certain angle to realize flaw detection at different positions of the rail top surface; at the same time, after the main slider module 83 crosses the target weld, the rail top surface K2.5 probe driving servo 8328 drives the rail top surface K2.5 probe 8327 to rotate 180°, and flaw detection is performed on the other side of the target weld; Fig.13 The figure shows a schematic diagram of the rail top surface K2.5 probe 8327 moving to the Y-direction center of the rail top surface.

[0163] Therefore, for the main slider rail top surface detection component 832, its rail top surface K1 probe 8324, rail top surface K0.8 probe 8325, rail top surface 0 degree probe 8326, and rail top surface K2.5 probe 8327 are integrated together, and the rail top surface Y-direction drive motor 8321 drives the entirety to move along the Y direction, thereby adjusting the position of each probe in the Y direction of the rail top surface; at the same time, for the rail top surface K2.5 probe 8327, it also has the function of adjusting the deflection angle by driving the servo 8328 through the rail top surface K2.5 probe. The servo can rotate the rail top surface K2.5 probe 8327 to a certain angle to realize flaw detection of some positions of the rail. At the same time, after the main slider of the instrument crosses the weld, the servo can drive the rail top surface K2.5 probe 8327 to rotate 180°, so that it can perform flaw detection on the other side of the weld.

[0164] (4.1.2) Main slider rail top side K1 detection component 833

[0165] like Fig.14 As shown, it is a stereoscopic view of the main slider rail top side K1 detection component 833; the main slider rail top side K1 detection component 833 includes a rail top side motor 8331, a rail top side connecting rod 8332, a rail top side slideway 8333, a rail top side main bin 8334, a rail top side slide bin 8335 and a main slider rail top side K1 probe 8336;

[0166] A rail top side connecting rod 8332 is fixedly installed on the side of the main slider support plate 831, and the rail top side connecting rod 8332 is inclined at a certain angle to the Z axis; the rail top side slideway 8333 is arranged in the same direction as the rail top side connecting rod 8332 and is fixed to the rail top side connecting rod 8332; the rail top side main bin 8334 is driven by the rail top side motor 8331, and slides along the rail top side connecting rod 8332 and inside the rail top side slideway 8333; the rail top side main bin 8334 is installed at the bottom of the rail top side sliding bin 8335 arranged along the Y direction, and the end surface of the rail top side sliding bin 8335 is installed with the main slider rail top side K1 probe 8336 arranged along the Y direction;

[0167] Driven by the rail top side motor 8331, the rail top side main bin 8334 moves along the inner wall of the rail top side slideway 8333 in the YZ direction, thereby driving the rail top side slide bin 8335 to move in the YZ direction. A compression spring is installed between the rail top side main bin 8334 and the rail top side slide bin 8335, thereby ensuring that the main slider rail top side K1 probe 8336 fits the rail top side and moves in the Z-axis direction, thereby achieving full-range scanning of the rail top side at different heights; achieving full-range scanning of the rail top side. Fig.15 As shown, it is a schematic diagram of the detection of the upper layer height of the rail top side by the K1 probe 8336 on the main slider rail top side; Fig.16 As shown, it is a schematic diagram of the detection of the lower layer height of the rail top side surface by the K1 probe 8336 on the rail top side surface of the main slider;

[0168] (4.1.3) Main slider rail bottom slope K2.5 detection component 834

[0169] like Fig.17 As shown, it is a stereoscopic view of the main slider rail bottom inclined surface K2.5 detection component 834; the main slider rail bottom inclined surface K2.5 detection component 834 includes a rail bottom inclined surface Y-direction drive motor 8341, a rail bottom inclined surface Y-direction screw rod 8342, a rail bottom inclined surface Y-direction optical axis 8343, a rail bottom inclined surface Y-direction slider 8344, a rail bottom inclined surface Z-direction optical axis 8345, a rail bottom inclined surface servo seat 8346, a rail bottom inclined surface servo 8347, a bottom inclined probe swing frame 8348, a bottom inclined probe limit plate 8349 and a main slider rail bottom inclined surface K2.5 probe 83410;

[0170] The bottom of the main slider support plate 831 is parallel to the installation of the rail bottom inclined surface Y-direction screw rod 8342 and the rail bottom inclined surface Y-direction optical axis 8343; the guide hole of the rail bottom inclined surface Y-direction slider 8344 is sleeved on the outside of the rail bottom inclined surface Y-direction optical axis 8343, and the rail bottom inclined surface Y-direction slider 8344 and the rail bottom inclined surface Y-direction screw rod 8342 are threadedly matched; when the rail bottom inclined surface Y-direction drive motor 8341 drives the rail bottom inclined surface Y-direction screw rod 8342 to rotate, it drives the rail bottom inclined surface Y-direction slider 8344 to slide along the rail bottom inclined surface Y-direction optical axis 8343 in the Y direction; The bottom of the Y-direction slider 8344 is fixedly installed with the rail bottom inclined surface Z-direction optical axis 8345; the rail bottom inclined surface servo engine seat 8346 is sleeved on the outside of the rail bottom inclined surface Z-direction optical axis 8345, and can move in the Z direction along the rail bottom inclined surface Z-direction optical axis 8345; and, the outer sleeve of the rail bottom inclined surface Z-direction optical axis 8345 is installed with a compression spring, and the compression spring applies downward pressure to the rail bottom inclined surface servo engine seat 8346, so that the main slider rail bottom inclined surface K2.5 probe 83410 fits the rail bottom inclined surface and adapts to the height difference of the rail bottom inclined surface; the rail bottom inclined surface Z-direction A rail bottom inclined surface servo seat 8347 is installed at the bottom of the slider 8346, and a rail bottom inclined surface servo seat 8346 is installed inside the rail bottom inclined surface servo seat 8346. A bottom inclined probe swing frame 8348 is installed on the bottom surface of the rail bottom inclined surface servo 8347, which is used to drive the bottom inclined probe swing frame 8348 to rotate around the X-axis direction. A main slider rail bottom inclined surface K2.5 probe 83410 arranged along the Z direction is installed inside the bottom inclined probe swing frame 8348, and a bottom inclined probe limit plate 8349 is installed outside the bottom inclined probe swing frame 8348; the bottom inclined probe limit plate 8348 349 is used to prevent the main slider rail bottom inclined K2.5 probe 83410 from flipping over when moving along the Y-axis direction; the rail bottom inclined servo 8347 adjusts the deflection angle of the main slider rail bottom inclined K2.5 probe 83410 when driving the main slider rail bottom inclined K2.5 probe 83410 to rotate around the X-axis direction through the bottom inclined probe swing frame 8348. At the same time, when the main slider module 83 passes over the target weld, the main slider rail bottom inclined K2.5 probe 83410 is rotated 180° to achieve detection on the other side of the target weld;

[0171] Therefore, for the main slider rail bottom inclined surface K2.5 detection component 834, the functions of each component are as follows:

[0172] The Y-direction driving motor 8341 of the rail bottom inclined surface is used to adjust the Y-direction position of the K2.5 probe 83410 of the rail bottom inclined surface of the main slider;

[0173] The Z-direction optical axis 8345 of the rail bottom slope is a lifting guide for the rail bottom slope servo seat 8346. The compression spring installed thereon will continuously provide pressure for the rail bottom slope servo seat 8346 to ensure the coupling of the probe and adapt to the height difference of the rail bottom slope.

[0174] The rail bottom inclined surface servo 8347 realizes the deflection angle of the main slider rail bottom inclined surface K2.5 probe 83410 by rotating. At the same time, after the instrument slider passes over the weld, the probe can be rotated 180° to achieve detection on the other side of the weld.

[0175] The bottom inclined probe swing frame 8348 realizes the rotation of the probe along the X-axis, and under the action of pressure, it fits the bottom inclined surface of the rail.

[0176] The bottom inclined probe limit plate 8349 prevents the probe from flipping over when moving along the Y-axis direction.

[0177] (4.1.4) Main slider rail bottom side K1 detection component 835

[0178] The design of this set of components is mainly aimed at the K1 probe on the side of the rail bottom to avoid the rail sleeper fixing bolts or other obstacles. The electromagnetic push-pull rod provides the force for the probe to be folded and ejected.

[0179] like Fig.18 As shown, it is a stereoscopic diagram of the K1 detection component 835 of the bottom rail side of the main slider; the K1 detection component 835 of the bottom rail side of the main slider includes a bottom rail side slide platform 8351, a Z-direction drive motor 8352 of the bottom rail side, a Z-direction lead screw 8353 of the bottom rail side, a Z-direction optical axis 8354 of the bottom rail side, a bottom rail side probe frame 8355, a Y-direction electromagnetic push-pull rod 8356, a K1 probe 8357 of the bottom rail side of the main slider and a lifting baffle 8358; the bottom of the main slider support plate 831 is fixedly installed with the bottom rail side slide platform 8351; the two sides of the bottom rail side slide platform 8351 are respectively installed with the Z-direction lead screw 8353 of the bottom rail side and the Z-direction optical axis 8354 of the bottom rail side in a sliding manner along the Z direction; the top of the Z-direction lead screw 8353 of the bottom rail side and the Z-direction optical axis 8354 of the bottom rail side can slide upward along the Z direction; the bottom thread of the Z-direction lead screw 8353 of the bottom rail side cooperates A rail bottom side probe frame 8355 is installed, and the rail bottom side probe frame 8355 is fixed to the bottom of the rail bottom side Z-direction optical axis 8354; when the rail bottom side Z-direction drive motor 8352 drives the rail bottom side Z-direction screw rod 8353 to rotate, it drives the rail bottom side probe frame 8355 to perform Z-direction lifting and lowering movement; the Y-direction electromagnetic push-pull rod 8356 is installed at the bottom of the rail bottom side probe frame 8355, and the main slider rail bottom side K1 probe 8357 is installed along the Y direction at the bottom of the Y-direction electromagnetic push-pull rod 8356; the main slider rail bottom side K1 probe 8357 is fixedly installed on both sides of the main slider rail bottom side K1 probe 8357, which is used to drive the main slider rail bottom inclined surface K2.5 detection component 834 to be lifted upward synchronously when the main slider rail bottom side K1 detection component 835 is lifted up to a certain height, so as to avoid collision with the weld protrusion when the main slider module 83 passes over the weld. Fig.19 As shown, it is a schematic diagram of the main slider rail bottom inclined surface K2.5 detection component 834 and the main slider rail bottom side surface K1 detection component 835 at the rail detection position.

[0180] One way it works is:

[0181] ① Under normal conditions, the K1 probe 8357 on the bottom side of the main slider rail is located on the bottom side of the rail, and is pressed against the bottom side of the rail by the pressure provided by the Y-direction electromagnetic push-pull rod 8356;

[0182] ② When avoiding obstacles, the Z-direction drive motor 8352 on the rail bottom side starts, and the K1 probe 8357 on the rail bottom side of the main slider rises

[0183] ③ When the K1 probe 8357 on the bottom side of the main slider rail falls again, the Y-direction electromagnetic push-pull rod 8356 is activated, and the K1 probe 8357 on the bottom side of the main slider rail is retracted to avoid collision with the rail.

[0184] ④ When the K1 probe 8357 on the bottom side of the main slider rail reaches the position, the Y-axis electromagnetic push-pull rod 8356 is closed, and the K1 probe 8357 on the bottom side of the main slider rail is pressed against the bottom side of the rail.

[0185] (4.2) Auxiliary slider module 93

[0186] like Fig. 20 , which is a three-dimensional diagram of the auxiliary slider module 93; the auxiliary slider module 93 includes an auxiliary slider support plate 931, an auxiliary slider rail top surface detection component 932, an auxiliary slider rail top side surface K1 detection component 933, an auxiliary slider rail bottom inclined surface K2.5 detection component 934 and an auxiliary slider rail bottom side surface K1 detection component 935;

[0187] (4.2.1) Auxiliary slider rail top surface detection component 932

[0188] The auxiliary slider rail top surface detection component 932 is different from the main slider rail top surface detection component 832; the auxiliary slider rail top surface detection component 932 includes an auxiliary slider rail top surface probe bracket 9321 and an auxiliary slider rail top surface K0.8 probe 9322; the auxiliary slider rail top surface probe bracket 9321 is fixed to the auxiliary slider support plate 931; the auxiliary slider rail top surface K0.8 probe 9322 is fixedly installed at the end of the auxiliary slider rail top surface probe bracket 9321, so that when the fully automatic weld scanning frame is in the working state, the auxiliary slider rail top surface K0.8 probe 9322 is pressed and fitted to the Y-direction center position of the rail top surface, so the auxiliary slider rail top surface K0.8 probe 9322 does not have the Y-direction adjustment function;

[0189] (4.2.2) Auxiliary slider rail top side K1 detection component 933, auxiliary slider rail bottom inclined surface K2.5 detection component 934 and auxiliary slider rail bottom side K1 detection component 935

[0190] The structures of the auxiliary slider rail top side K1 detection component 933, the auxiliary slider rail bottom inclined surface K2.5 detection component 934 and the auxiliary slider rail bottom side K1 detection component 935 are respectively the same as the main slider rail top side K1 detection component 833, the main slider rail bottom inclined surface K2.5 detection component 834 and the main slider rail bottom side K1 detection component 835 of the main slider module 83;

[0191] in:

[0192] The auxiliary slider rail top side K1 detection component 933 includes an auxiliary slider rail top side K1 probe 9336;

[0193] The auxiliary slider rail bottom inclined surface K2.5 detection component 934 includes an auxiliary slider rail bottom inclined surface K2.5 probe 93410;

[0194] The auxiliary slider rail bottom side K1 detection component 935 includes an auxiliary slider rail bottom side K1 probe 9357.

[0195] In order to ensure the fit between the probe and the rail, in the present invention, compression springs are installed above all the probes of the main and auxiliary sliders, and the pressure can be adjusted according to the wire diameter of the compression spring.

[0196] The present invention also provides a weld scanning method of a fully automatic weld scanning frame, comprising the following steps:

[0197] Step 1, the fully automatic weld scanning frame has a dragging state and a working state;

[0198] In the dragging state, first operate the track wheel mechanism 4, lift the handle 2 with one hand, and press the track wheel 41 with the other hand to unfold the track wheel mechanism 4. At this time, the track wheel 41 is in sliding contact with the surface of the rail 10, and the supporting instrument scanning frame 1 is higher than the top surface of the rail 10; Figure 2 and Figure 3 As shown, it is a dragging state diagram; then, hold the stretching rod 3 and drag the fully automatic weld scanning frame along the rail 10. When the horizontal line emitted by the laser positioning device 6 coincides with the target weld, it indicates that it has moved to the target position;

[0199] Then, the folding hinge 45 is pressed to retract the track wheel mechanism 4, and the instrument scanning frame 1 falls. After the instrument scanning frame 1 falls into place, the rail locking device 5 is locked. Through the joint supporting and positioning effect of the instrument scanning frame 1 and the rail locking device 5, the instrument scanning frame 1 is stably fixed at the target position, so that the fully automatic weld scanning frame is turned into a working state; Figure 5 As shown, it is a reference diagram for the common support positioning of the instrument scanning frame 1 and the rail locking device 5;

[0200] Step 2, after the fully automatic weld scanning frame is switched to working state, the main slider unit 8 and the auxiliary slider unit 9 are controlled to achieve a comprehensive scan of the target weld and the rail area where it is located, and the scanning results are transmitted to the collection box 7.

[0201] Step 2 is as follows:

[0202] Step 2.1, working process of the rail top surface K2.5 probe 8327 of the main slider module 83:

[0203] The scanning range and scanning method are determined as follows: taking the target weld as a reference, the scanning range is formed by extending a distance L1 to both ends along the X direction; within the scanning range, the K2.5 probe 8327 on the top surface of the rail is driven to perform scanning at different deflection angles for a set number of times, and when the K2.5 probe 8327 on the top surface of the rail is scanning and detecting, the emission direction is continuously aligned with the center of the target weld; wherein the deflection angle includes 0°, a left deflection setting angle, and a right deflection setting angle, such as 0°, a left deflection of 20°, and a right deflection of 20°.

[0204] like Fig.21 As shown, it is a vertical view of the detection principle of the rail top surface K2.5 probe 8327 of the main slider module 83; it is a rail top surface double crystal K2.5 (70°) channel probe, and one example of its working method is: place the probe at the center of the weld rail head, aim the emission direction at the weld center, and perform back and forth detection 4 times at the inner and outer deflection angles of 12°~14° (75kg / m) or 18°~20° (60kg / m), and perform straight back and forth detection 2 times. The scanning range is based on the weld center and is not less than 200mm to both ends. The weld rail head is scanned at least 6 times. The scanning speed is not more than 100mm / s, and the scanning time is not less than 1 minute.

[0205] The specific process of a single round-trip scan is as follows:

[0206] ① Start the main slider X-direction drive mechanism 81, drive the main slider module 83 to move along the X-direction as a whole, and move the rail top surface K2.5 probe 8327 to the initial detection position at one end of the scanning range;

[0207] ② Start the Y-direction driving motor 8321 of the rail top surface to drive the K2.5 probe 8327 of the rail top surface to move along the Y-direction to the center position of the rail top surface along the Y-direction; and, since the K2.5 probe 8327 of the rail top surface is equipped with a pressure spring, the K2.5 probe 8327 of the rail top surface is closely attached to the rail top surface in real time when it moves up and down in the Z-axis direction;

[0208] ③ Start the X-direction driving mechanism 81 of the main slide, drive the K2.5 probe 8327 on the rail top surface to move along the X-direction, from the initial detection position at one end of the scanning range to the target weld position, and complete the forward one-way scanning of one side of the target weld;

[0209] ④ Drive the rail top surface K2.5 probe to drive the steering gear 8328, so that the rail top surface K2.5 probe 8327 rotates on the Z axis until it presents a set angle with the center of the rail top surface; then start the main slider X-direction drive mechanism 81, drive the rail top surface K2.5 probe 8327 to move along the X direction, from the target weld position to the initial detection position, and complete the reverse one-way scanning of one side of the target weld;

[0210] ⑤ When the flaw detection work on one side of the target weld is completed, the main slider module 83 is driven to move to the other side of the target weld, and the rail top surface K2.5 probe drives the steering engine 8328 to adjust the rail top surface K2.5 probe 8327 to rotate, and the above steps are repeated to complete the flaw detection work on the other side of the target weld;

[0211] Step 2.2, working process of rail top surface 0 degree probe 8326:

[0212] Acoustic transmission detection of thermite welds: Place the 0° probe above the thermite weld to be tested, with good coupling. The sensitivity is increased by 16dB based on the average acoustic transmission dB value, and the bottom echo is not less than 80% of the full amplitude. The acoustic transmission detection of the thermite weld is considered qualified.

[0213] When the rail top surface 0 degree probe 8326 detects the weld, it not only monitors the bottom wave but also identifies the reflected wave. Taking the target weld as the reference, it expands the distance L2 to both ends along the X direction to form a scanning range. Within the scanning range, according to the set scanning round trip times, the rail top surface 0 degree probe 8326 is moved longitudinally at a uniform speed for scanning. Moreover, when the rail top surface 0 degree probe 8326 scans above the target weld, the rail top surface 0 degree probe 8326 is moved horizontally within the rail head width range to find horizontal cracks in the weld bar.

[0214] like Fig. 22 The figure shows the detection principle diagram of the rail top surface 0 degree probe 8326.

[0215] As an example, when a 0° probe detects a weld, in addition to monitoring the bottom wave, the reflected wave must also be identified. The probe should be placed in the center of the rail surface, and the probe should be moved longitudinally at a uniform speed for scanning. The longitudinal scanning should be repeated once along the rail, and the scanning range should be no less than 110 mm from the center of the weld to both ends. The scanning speed should not exceed 100 mm / s, and the scanning time should be no less than 0.5 minutes. When the probe scans above the weld, the 0° probe should be moved horizontally, i.e., in the Y direction, within the width of the rail head, which is conducive to the detection of horizontal cracks in the weld bar.

[0216] The specific process of a single round-trip scan is as follows:

[0217] ① Start the main slider X-direction driving mechanism 81, drive the main slider module 83 to move along the X-direction as a whole, and move the rail top surface 0-degree probe 8326 to the initial detection position at one end of the scanning range;

[0218] ② Start the rail top surface Y-direction driving motor 8321 to drive the rail top surface 0 degree probe 8326 to move along the Y direction to the detection position of the rail top surface along the Y direction; and, since the rail top surface 0 degree probe 8326 is equipped with a pressure spring, the rail top surface 0 degree probe 8326 is closely attached to the rail top surface;

[0219] ③ Start the X-direction driving mechanism 81 of the main slider to drive the rail top surface 0-degree probe 8326 to move along the X-direction, from one end of the scanning range to the other end, to complete a single flaw detection scan; after completing the scanning of one path, the rail top surface 0-degree probe 8326 moves a certain distance along the Y-axis to continue the detection of the next area of ​​the rail top surface, and the cycle continues until the scanning of the entire area is completed;

[0220] Step 2.3, working process of the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325:

[0221] like Fig.23 The figure shows the detection principle diagram of the K0.8 probe 9322 on the rail top surface of the auxiliary slider and the K0.8 probe 8325 on the rail top surface of the main slider on one side of the weld. One working method is: place the scanning frame at the center of the tread of the weld rail head (parallel to the side of the rail head), move at a constant speed, check back and forth once each, move the probe at a constant speed, and scan the weld no less than 3 times. The scanning speed is not more than 100mm / s, and the scanning time is not less than 1 minute. The main and auxiliary sliders are each equipped with a set of K0.8 probes, and the main and auxiliary sliders move relative to each other along the X-axis of the rail to achieve acoustic flaw detection.

[0222] The specific working process is:

[0223] ① Detection process on one side of the target weld:

[0224] On one side of the target weld, the K0.8 probe 9322 on the rail top surface of the auxiliary slider and the K0.8 probe 8325 on the rail top surface of the main slider are both located at the center position of the rail top surface in the Y direction, but at different positions in the X direction. Then, the K0.8 probe 9322 on the rail top surface of the auxiliary slider and the K0.8 probe 8325 on the rail top surface of the main slider are driven to perform relative movement in the X direction to realize K0.8 serial scanning. During the movement, the K0.8 probe 8325 on the rail top surface of the main slider emits detection waves to different depth positions of the target weld along the Z direction, and the K0.8 probe 9322 on the rail top surface of the auxiliary slider receives the reflected waves, thereby completing the detection of the entire depth of the target weld and completing the detection process on one side of the target weld.

[0225] ② After the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325 have completed the detection of one side of the target weld, the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325 are swapped front and back, and then moved along the X direction to the other side of the target weld, and the detection process on one side of the target weld is repeated;

[0226] Among them: when performing the front-to-back position swap, the position of the K0.8 probe 9322 on the top surface of the secondary slider rail remains unchanged, and the K0.8 probe 8325 on the top surface of the main slider rail moves along the X direction. When approaching the K0.8 probe 9322 on the top surface of the secondary slider rail and needs to meet, the K0.8 probe 8325 on the top surface of the main slider rail moves along the Y direction to the inside of the main slider to avoid the K0.8 probe 9322 on the top surface of the secondary slider rail, and then the K0.8 probe 8325 on the top surface of the main slider rail moves along the X direction to the other side of the K0.8 probe 9322 on the top surface of the secondary slider rail, completing the front-to-back position swap of the main and secondary sliders. Fig.24 As shown, it is a front-to-back position relationship diagram of the auxiliary slider rail top surface K0.8 probe 9322 and the main slider rail top surface K0.8 probe 8325 when they are located on both sides of the weld.

[0227] Step 2.4, working process of rail top surface K1 probe 8324:

[0228] like Fig.25 The figure shows the working principle diagram of the rail top surface K1 probe 8324. The scanning range and scanning method are determined as follows: taking the target weld as the reference, the distance L3 is extended to both ends along the X direction to form a scanning range; within the scanning range, the rail top surface K1 probe 8324 is driven to scan back and forth for a set number of times, and when the rail top surface K1 probe 8324 performs scanning and detection, the emission direction is continuously aligned with the center of the target weld.

[0229] One working method is: place the probe at the center of the weld rail head, aim the emission direction at the weld center, scan the rail longitudinally parallel to the rail once, scan the weld rail head at least twice, and the scanning range should be at least 200mm from the weld center to both ends. The scanning speed is not more than 100mm / s, and the scanning time is not less than 0.5 minutes.

[0230] The specific working process is:

[0231] ① Start the X-direction driving mechanism 81 of the main slider to drive the probe 8324 on the top surface of the rail K1 to move to one end of the scanning range along the X-direction;

[0232] ② Start the Y-direction driving motor 8321 on the rail top surface to drive the rail top surface K1 probe 8324 to move along the Y-direction to the center position of the rail top surface along the Y-direction;

[0233] ③ Start the X-direction driving mechanism 81 of the main slider to drive the rail top surface K1 probe 8324 to move along the X-direction, from one end of the scanning range to the other end, and complete a single scan;

[0234] After completing the scanning of one path, the rail top surface K1 probe 8324 moves a certain distance along the Y axis to continue the detection of the next area of ​​the rail top surface, and the cycle continues until the scanning of the entire area is completed;

[0235] Step 2.5, working process of the K1 probe 8336 on the top side of the main slider rail and the K1 probe 9336 on the top side of the auxiliary slider rail:

[0236] like Fig.26 As shown, it is a top view when the main slider rail top side K1 probe 8336 and the auxiliary slider rail top side K1 probe 9336 are located on one side of the target weld.

[0237] The K1 probe 8336 on the top side of the main slider rail and the K1 probe 9336 on the top side of the auxiliary slider rail are used as the transmitting probe and the receiving probe respectively, and are placed on both sides of the target weld rail head, and the transmitting probe and the receiving probe are made to be close to the upper height surface of the rail top side; at this upper height position, the transmitting and receiving directions of the probes are aligned with the center of the target weld, and first one probe is fixed, and then the other probe is moved along the X direction within the set range for scanning; then the fixed probe is moved forward a set distance, and the scanning process is repeated; and so on, the set number of scans are completed; then the height of the transmitting probe and the receiving probe on the rail top side is adjusted to the lower height position, and the scanning is repeated;

[0238] One specific working method is: place the transmitting and receiving probes on both sides of the weld rail head, with the transmitting and receiving directions of the probes aligned with the center of the weld, and the incident point is about 75mm away from the center of the weld. First, fix one probe, then move the other probe within 75mm for scanning, then move the fixed probe forward 15mm, repeat the scanning, and so on, for a total of no less than 5 scans. Affected by the size of the dual K1 probe wafer used on site, two layers of detection are required during on-site scanning, and the total number of scans for the two layers is no less than 10 times. It is advisable to use a magnetic probe when detecting, and pay attention to the coupling of the probe at any time. The scanning speed is no more than 100mm / s, and the scanning time is no less than 2 minutes.

[0239] Since the two K1 probes on the rail top side are located on the main and auxiliary sliders respectively, the main and auxiliary sliders need to perform staggered movements, and the rail top probe group slider located on the main slider needs to be moved inward along the Y-axis to avoid interference with the auxiliary slider K0.8 probe bracket. Then, the motors of the main and auxiliary sliders are started to move the K1 probe along the X-axis to the appropriate position of the rail. Under normal conditions, in order to protect the probe, the component carrying the K1 probe on the rail top side will retract the probe, and the K1 probe will be separated from the rail surface. When the K1 probe reaches the Y-axis position of the rail, the DC motor on the K1 probe component starts, pushes the K1 probe to the upper layer of the rail top side, and starts the flaw detection operation. Finally, the main and auxiliary sliders move along the Y-axis to start the flaw detection work of the K1 probe on the rail top side. After completing the inspection of the upper layer, the DC motor starts to continue to move the probe close to the rail top side to the lower layer.

[0240] Step 2.6, working process of the main slider rail bottom inclined surface K2.5 probe 83410 and the auxiliary slider rail bottom inclined surface K2.5 probe 93410:

[0241] The main slider rail bottom inclined surface K2.5 probe 83410 and the auxiliary slider rail bottom inclined surface K2.5 probe 93410 are respectively located at the rail bottom slopes on both sides of the rail, and each independently detects the rail bottom inclined surface on the corresponding side, and the detection method is the same;

[0242] like Fig. 27 The figure shows the detection principle diagram of the K2.5 probe on the rail bottom slope.

[0243] Taking the K2.5 probe 83410 at the bottom slope of the main slider rail as an example, its working process is as follows:

[0244] When detecting, the K2.5 probe 83410 on the bottom slope of the main slider rail is aimed at the center of the target weld, and multiple scans are performed from the outside to the inside starting from the edge of the bottom corner of the rail to ensure full coverage of the bottom of the rail; each probe scanning track should cover a certain width of the previous scan; then check once in the reverse direction along the bottom corner of the rail; and the probe is deflected outward by a certain angle during each inspection;

[0245] For example, place the probe on the slope of the weld rail bottom, aim the emission direction at the center of the weld, and scan six times from the outside to the inside starting from the edge of the rail bottom corner. Each probe scanning track should cover 10% of the width of the previous scan; then check once in the reverse direction along the rail bottom corner edge. The probe should be angled outward (8°~10°) for the first, fourth, and fifth inspections. A rail bottom surface needs to be scanned seven times, and the four rail bottom surfaces on both sides of the weld are scanned 28 times in total. Finally, place the probe at the edge of the rail bottom corner, the incident point of the 60kg / m rail is about 125mm away from the edge of the weld bar on this side (the incident point of the 75kg / m rail is about 160mm away from the edge of the weld bar on this side), aim the emission direction at the arc of the bottom of the weld waist, and scan once in a fan shape. The four rail bottom surfaces on both sides of the weld are scanned 4 times in total. From the scanning requirements, it can be seen that each rail bottom surface needs to be scanned 8 times, and the 4 rail bottom surfaces on both sides of the weld need to be scanned no less than 32 times in total to ensure full coverage of the rail bottom. The scanning range on each side should be no less than 200mm. The scanning speed should not exceed 100mm / s, and the scanning time should be no less than 2 minutes.

[0246] The specific working process is:

[0247] When the main slider rail bottom inclined surface K2.5 probe 83410 moves to the set position along the X direction, the rail bottom inclined surface Y direction driving motor 8341 drives the main slider rail bottom inclined surface K2.5 probe 83410 to move along the Y axis, so that the main slider rail bottom inclined surface K2.5 probe 83410 reaches the rail bottom inclined surface Y direction set position;

[0248] Drive the main slider rail bottom inclined surface K2.5 probe 83410 to perform linear scanning of the rail bottom inclined surface along the X direction;

[0249] When the probe needs to be moved with an angle for scanning, the rail bottom inclined plane servo 8347 makes the main slider rail bottom inclined plane K2.5 probe 83410 rotate a certain angle along the Z axis, and then scan along the X direction;

[0250] When performing a sector scanning operation, the rail bottom inclined plane servo 8347 servo is started, driving the main slider rail bottom inclined plane K2.5 probe 83410 to rotate left and right to achieve a sector scanning operation;

[0251] When the main slider rail bottom inclined surface K2.5 probe 83410 passes over the weld and reaches the other side, the rail bottom inclined surface servo 8347 drives the main slider rail bottom inclined surface K2.5 probe 83410 to rotate 180 degrees, adjusts the direction of the wedge block, and performs scanning work on the other side of the weld.

[0252] When the K2.5 probe 83410 on the bottom slope of the main slider rail crosses the weld, the horizontal slider of the bottom slope probe needs to be moved to the innermost layer. This action is to allow the lifting baffle to work and to avoid interference with the weld ribs of the French weld.

[0253] In the present invention, the K2.5 probe on the rail bottom slope and the K1 probe on the rail bottom side of the main and auxiliary sliders need to have the function of avoiding the rail sleeper bolts and the protrusions of the weld ribs. When the detection component of the K2.5 probe on the rail bottom slope is in the retracted state, the K2.5 probe is not in contact with the rail bottom slope. This state can protect the probe from direct contact and collision with the rail when loading the instrument, and can avoid collision with the weld protrusion when the main and auxiliary sliders pass over the rail weld. To achieve this function, it is necessary to cooperate with the movement of the K1 probe detection component on the rail bottom side. The associated part is the lifting baffle located on the K1 probe detection component on the rail bottom side. The lifting baffle located on the K1 probe detection component on the rail bottom side can be linked to the K2.5 probe component on the rail bottom slope to achieve the lifting action. When passing over the weld or in the retracted state, the K1 probe detection component on the rail bottom side rises, and is linked by the lifting baffle, and the K2.5 probe component on the rail bottom slope is lifted together.

[0254] Step 2.7, working process of the K1 probe 8357 on the bottom side of the main slider rail and the K1 probe 9357 on the bottom side of the auxiliary slider rail:

[0255] like Fig.28 As shown, it is a top view of the main slider rail bottom side K1 probe 8357 and the auxiliary slider rail bottom side K1 probe 9357 when they are on one side of the weld.

[0256] The K1 probe 8357 on the side of the bottom of the main slider rail and the K1 probe 9357 on the side of the bottom of the auxiliary slider rail are used as the transmitting probe and the receiving probe respectively, and are placed on both sides of the bottom of the target weld rail respectively. The transmitting and receiving directions of the probes are aimed at the center of the target weld, and the incident point is set at a distance from the center of the weld; first fix one probe, and then move the other probe within the set range for scanning; then move the fixed probe forward 15mm, repeat the scan, and so on, for a total of the set number of scans; both sides of the weld need to be scanned during detection.

[0257] For example, place the transmitting and receiving probes on both sides of the weld rail bottom, with the transmitting and receiving directions of the probes aimed at the center of the weld, and the incident point is about 150mm away from the center of the weld. First, fix one probe, then move the other probe within a range of 150mm for scanning, then move the fixed probe forward 15mm, repeat the scanning, and so on, for a total of no less than 10 scans. During detection, scan each side of the weld once, and pay attention to the coupling of the probes at all times during the scanning. The scanning speed is no more than 100mm / s, and the scanning time is no less than 2 minutes. In order to realize the detection of both sides of the weld, the K1 probe on the side of the rail bottom adopts a multi-wedge block probe layout.

[0258] The motion trajectories of the main slider rail bottom side K1 probe 8357 and the auxiliary slider rail bottom side K1 probe 9357 on the target weld side are the same; for the main slider rail bottom side K1 probe 8357, its motion trajectory is:

[0259] In the initial stage, the K1 probe 8357 on the bottom side of the main slider rail is in a retracted state. This state is used to prevent the probe from colliding with the bottom of the rail and damaging the probe when loading the instrument. At the same time, this state is also the state when crossing the weld to the other side of the rail.

[0260] When the K1 probe starts to operate, the electromagnetic push-pull rod on the upper side of the K1 probe is activated and the probe is retracted inward.

[0261] Then, the K1 probe 8357 on the bottom side of the rail of the main slider descends along the Z axis to the bottom side of the rail, the Y-axis electromagnetic push-pull rod 8356 is powered off, and the K1 probe 8357 on the bottom side of the rail of the main slider is pressed against the bottom side of the rail under the action of the compression spring; then, the K1 probe 8357 on the bottom side of the rail of the main slider is driven to move linearly along the X axis to realize the flaw detection work of the K1 probe 8357 on the bottom side of the rail.

[0262] The present invention provides a fully automatic weld scanning frame and weld scanning method. The instrument scanning frame 1 is set above the rail 10, and the instrument scanning frame 1 is dragged to move along the longitudinal direction of the rail 10. The laser positioning device 6 is used to detect in real time whether there is a weld. When a weld is detected, an alarm is issued. Then the instrument scanning frame 1 is stably locked to the rail 10 through the rail locking device 5, and the detection program is started: the various detection components of the main slider unit 8 and the auxiliary slider unit 9 detect simultaneously or detect forward and backward respectively, and complete the comprehensive scanning of the top surface, top side surface, bottom inclined surface and bottom side surface of the rail 10, so as to realize the detection of the entire weld area. The collection box 7 collects and processes the detection data and displays it on the display screen, which is convenient for the flaw detection personnel to view and analyze. After completing the detection of the weld at this location, the flaw detection personnel can use the stretching rod 3 and the track wheel mechanism 4 to pull the device to the next weld.

[0263] The invention provides a fully automatic weld seam scanning frame and a weld seam scanning method, which change the traditional manual operation mode of weld seam flaw detection, replace manual flaw detection, realize the automation of flaw detection, reduce the labor intensity of flaw detection personnel, and improve the accuracy and efficiency of weld seam flaw detection.

[0264] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A fully automatic weld scanning stand, characterized in that: include: An instrument scanning frame (1), a handle (2), a stretching rod (3), a track wheel mechanism (4), a rail locking device (5), a laser positioning device (6), a collection box (7), a main slide unit (8) and a secondary slide unit (9); The instrument scanning frame (1) is mounted above the rail (10); The handle (2) is fixedly mounted on the top of the instrument scanning frame (1) to provide a gripping position for the operator when opening and closing the instrument and when going up and down the track; The stretching rod (3) is hingedly connected to the top of the instrument scanning frame (1) and is used to drag the instrument scanning frame (1) to move longitudinally along the steel rail (10); The track wheel mechanism (4) is symmetrically hingedly installed at the front and rear of the instrument scanning frame (1), and has two states: unfolded and folded. In the unfolded state, the instrument scanning frame (1) is supported to be located above the steel rail (10) and provides a guiding movement function for longitudinal movement along the steel rail (10); in the folded state, the instrument scanning frame (1) is made to fall and be clamped on the left and right sides of the steel rail (10); The rail locking device (5) is used to achieve a stable clamping and fixing effect between the instrument scanning frame (1) and the rail (10) when the instrument scanning frame (1) moves to the target weld scanning area; The laser positioning device (6) is fixedly mounted at the top center position of the instrument scanning frame (1) and is used to emit a horizontal laser line in a startup state so that the horizontal laser line is aligned with the center plane of the target weld, thereby realizing the positioning of the instrument scanning frame (1) in the longitudinal direction of the rail (10); The collection box (7) is fixedly mounted on the top of the instrument scanning frame (1), and is used to be connected to the main slider unit (8) and the auxiliary slider unit (9), and is used to collect and store the detection results of the target weld; The main slider unit (8) and the auxiliary slider unit (9) are both arranged inside the instrument scanning frame (1) and are used to detect the target weld.

2. The fully automatic weld scanning stand according to claim 1, characterized in that: The instrument scanning frame (1) comprises an instrument guard plate (11) and main support plates (12) fixed at both ends of the instrument guard plate (11); rulers (13) are arranged longitudinally on the left and right sides of the instrument guard plate (11) for assisting in adjusting the longitudinal position of the instrument scanning frame (1) on the rail (10); an alignment baseline (14) is arranged at the top center of the instrument guard plate (11) for aligning with the center plane of the target weld to achieve the longitudinal positioning of the instrument scanning frame (1) on the rail (10).

3. The fully automatic weld scanning frame according to claim 2, characterized in that: The track wheel mechanism (4) comprises a track wheel (41), a left wheel leg (42), a right wheel leg (43), a free hinge (44) and a folding hinge (45); The shape of the track wheel (41) matches the top shape of the steel rail (10) and is used for longitudinal sliding along the top of the steel rail (10); the left side of the track wheel (41) is hinged to one end of the left wheel leg (42), the other end of the left wheel leg (42) is fixed to the bottom of the free hinge (44), and the side of the free hinge (44) is fixed to the main support plate (12); the right side of the track wheel (41) is hinged to one end of the right wheel leg (43), the other end of the right wheel leg (43) is fixed to the bottom of the folding hinge (45), and the side of the folding hinge (45) is fixed to the main support plate (12); The bottom of the free hinge (44) can be freely folded or freely unfolded relative to the side of the free hinge (44); the bottom of the folding hinge (45) can be folded or unfolded relative to the side of the folding hinge (45) under the action of external force.

4. The fully automatic weld scanning frame according to claim 2, characterized in that: The rail locking device (5) comprises a top positioning block (51), a main side clamping block (52), a main side limiting rod (53), a main side spring (54), a secondary side clamping block (55), a secondary side limiting rod (56), a secondary side spring (57) and a quick clamp (58); The top positioning block (51) is fixedly mounted on the side of the main support plate (12), and the bottom shape of the top positioning block (51) matches the top shape of the rail (10); the secondary side limiting rod (56) and the primary side limiting rod (53) are fixedly mounted on the left and right sides of the top positioning block (51) respectively along the width direction of the rail (10); the secondary side clamping block (55) is mounted on the outer surface of the secondary side limiting rod (56), and the secondary side spring (57) is mounted on the inner side of the secondary side clamping block (55); the primary side clamping block (52) is mounted on the outer surface of the primary side limiting rod (53), and the primary side spring (54) is mounted on the inner side of the primary side clamping block (52); the quick clamp (58) is mounted on the top of the primary side clamping block (52); When the instrument scanning frame (1) is in a dragging state, under the elastic force of the secondary side spring (57) and the primary side spring (54), the secondary side clamping block (55) slides to the outermost side along the secondary side limiting rod (56), and the primary side clamping block (52) slides to the outermost side along the primary side limiting rod (53); When the instrument scanning frame (1) falls and is in working state, the secondary side clamping block (55) and the primary side clamping block (52) move to the innermost side, and the secondary side clamping block (55), the primary side clamping block (52) and the top positioning block (51) are fixed by the quick clamp (58). At this time, the bottom of the top positioning block (51) is in contact with the top of the steel rail (10); the secondary side clamping block (55) and the primary side clamping block (52) are respectively clamped on the left and right sides of the bottom of the top of the steel rail (10); at this time, the left and right sides of the instrument scanning frame (1) are clamped on the left and right sides of the bottom of the rail (10), thereby fully realizing multi-point positioning and fixing between the instrument scanning frame (1) and the steel rail (10).

5. The fully automatic weld scanning frame according to claim 1, characterized in that: The instrument scans the interior of the frame (1), and the main slider unit (8) and the auxiliary slider unit (9) are respectively installed on the left and right sides of the steel rail (10); wherein the longitudinal direction of the steel rail (10) is the X direction, the width direction of the steel rail (10) is the Y direction, and the height direction of the steel rail (10) is the Z direction; The main slider unit (8) comprises a main slider X-direction driving mechanism (81), a main slider X-direction optical axis (82) and a main slider module (83); the auxiliary slider unit (9) comprises an auxiliary slider X-direction driving mechanism (91), an auxiliary slider X-direction optical axis (92) and an auxiliary slider module (93); The main slider X-axis (82) and the auxiliary slider X-axis (92) are fixedly mounted on the left and right sides of the inside of the instrument scanning frame (1); the main slider module (83) is slidably connected to the main slider X-axis (82); and under the drive of the main slider X-axis driving mechanism (81), the main slider module (83) moves in the X-axis along the main slider X-axis (82); The sub-slider module (93) is slidably connected to the sub-slider X-axis (92), and driven by the sub-slider X-axis driving mechanism (91), the sub-slider module (93) moves in the X-axis along the sub-slider X-axis (92).

6. The fully automatic weld scanning frame according to claim 5, characterized in that: The main slider X-axis driving mechanism (81) and the auxiliary slider X-axis driving mechanism (91) are both stepping motors, and are respectively connected to a synchronous belt (A1); the main slider module (83) and the auxiliary slider module (93) are respectively fixed to the fixing points of the corresponding synchronous belt (A1) through a synchronous belt clamping block (A2).

7. The fully automatic weld scanning frame according to claim 5, characterized in that: The main slider module (83) comprises a main slider support plate (831), a main slider rail top surface detection component (832), a main slider rail top side surface K1 detection component (833), a main slider rail bottom inclined surface K2.5 detection component (834) and a main slider rail bottom side surface K1 detection component (835); The main slider rail top surface detection component (832) includes a rail top surface Y-direction drive motor (8321), a rail top surface Y-direction optical axis (8322), a rail top surface probe slider seat (8323), a rail top surface K1 probe (8324), a rail top surface K0.8 probe (8325), a rail top surface 0 degree probe (8326), a rail top surface K2.5 probe (8327), and a rail top surface K2.5 probe driving steering gear (8328); The rail top surface Y-direction optical axis (8322) is fixedly mounted on the upper portion of the main slider support plate (831); the rail top surface probe slider seat (8323) is sleeved on the outside of the rail top surface Y-direction optical axis (8322), and is driven by the rail top surface Y-direction drive motor (8321) to slide along the rail top surface Y-direction optical axis (8322); The rail top surface K1 probe (8324), the rail top surface K0.8 probe (8325) and the rail top surface 0 degree probe (8326) are fixedly installed at the bottom of the rail top surface probe slider seat (8323), and the rail top surface K1 probe (8324), the rail top surface 0 degree probe (8326) and the rail top surface K0.8 probe (8325) are arranged in sequence along the Y direction; under the drive of the rail top surface Y direction drive motor (8321), the rail top surface K1 probe (8324), the rail top surface 0 degree probe (8326) and the rail top surface K0.8 probe (8325) are moved to the center position of the rail top surface in the Y direction in sequence to perform target weld flaw detection; The rail top surface K2.5 probe driving servo (8328) is installed at the bottom of the rail top surface probe slider seat (8323), and the rail top surface K2.5 probe (8327) is installed at the bottom of the rail top surface K2.5 probe driving servo (8328); under the drive of the rail top surface K2.5 probe driving servo (8328), the rail top surface K2.5 probe (8327) is rotated by a certain angle to realize flaw detection at different positions of the rail top surface; at the same time, after the main slider module (83) crosses the target weld, the rail top surface K2.5 probe driving servo (8328) drives the rail top surface K2.5 probe (8327) to rotate 180°, and flaw detection is performed on the other side of the target weld; The main slider rail top side K1 detection component (833) includes a rail top side motor (8331), a rail top side connecting rod (8332), a rail top side slideway (8333), a rail top side main bin (8334), a rail top side slide bin (8335) and a main slider rail top side K1 probe (8336); The rail top side connecting rod (8332) is fixedly installed on the side of the main slider support plate (831), and the rail top side connecting rod (8332) is inclined at a certain angle to the Z axis; the rail top side slideway (8333) is arranged in the same direction as the rail top side connecting rod (8332) and is fixed to the rail top side connecting rod (8332); the rail top side main bin (8334) is driven by the rail top side motor (8331) and slides along the rail top side connecting rod (8332) and inside the rail top side slideway (8333); the rail top side sliding bin (8335) arranged along the Y direction is installed at the bottom of the rail top side main bin (8334), and the end face of the rail top side sliding bin (8335) is installed with the main slider rail top side K1 probe (8336) arranged along the Y direction; Driven by the rail top side motor (8331), the rail top side main bin (8334) moves in the YZ direction along the inner wall of the rail top side slideway (8333), thereby driving the rail top side slide bin (8335) to move in the YZ direction. A compression spring is installed between the rail top side main bin (8334) and the rail top side slide bin (8335), thereby ensuring that the rail top side K1 probe (8336) of the main slider is in contact with the rail top side and moves in the Z-axis direction, thereby realizing a full-range scan of different heights of the rail top side. The main slider rail bottom inclined surface K2.5 detection component (834) comprises a rail bottom inclined surface Y-direction driving motor (8341), a rail bottom inclined surface Y-direction screw rod (8342), a rail bottom inclined surface Y-direction optical axis (8343), a rail bottom inclined surface Y-direction slider (8344), a rail bottom inclined surface Z-direction optical axis (8345), a rail bottom inclined surface steering gear seat (8346), a rail bottom inclined surface steering gear (8347), a bottom inclined probe swing frame (8348), a bottom inclined probe limit plate (8349) and a main slider rail bottom inclined surface K2.5 probe (83410); The bottom of the main slider support plate (831) is parallel to the rail bottom inclined surface Y-direction lead screw (8342) and the rail bottom inclined surface Y-direction optical axis (8343); the guide hole of the rail bottom inclined surface Y-direction slider (8344) is sleeved on the outside of the rail bottom inclined surface Y-direction optical axis (8343), and the rail bottom inclined surface Y-direction slider (8344) and the rail bottom inclined surface Y-direction lead screw (8342) are threadedly matched; when the rail bottom inclined surface Y-direction drive motor (8341) drives the rail bottom inclined surface Y-direction lead screw (8342) to rotate, the rail bottom inclined surface Y-direction slider (8344) is driven to move along the rail bottom inclined surface Y-direction optical axis (8343) in the Y direction. Sliding; the bottom of the rail bottom slope Y-direction slider (8344) is fixedly installed with the rail bottom slope Z-direction optical axis (8345); the rail bottom slope servo seat (8346) is sleeved on the outside of the rail bottom slope Z-direction optical axis (8345), and can move in the Z direction along the rail bottom slope Z-direction optical axis (8345); and the outer sleeve of the rail bottom slope Z-direction optical axis (8345) is installed with a compression spring, and the compression spring applies downward pressure to the rail bottom slope servo seat (8346), so that the main slider rail bottom slope K2.5 probe (83410) fits the rail bottom slope and adapts to the height difference of the rail bottom slope; the rail bottom slope The rail bottom inclined surface servo seat (8347) is installed at the bottom of the Z-direction slider (8346), the rail bottom inclined surface servo seat (8346) is equipped with the rail bottom inclined surface servo (8347), the bottom inclined probe swing frame (8348) is installed on the bottom surface of the rail bottom inclined surface servo (8347), which is used to drive the bottom inclined probe swing frame (8348) to rotate around the X-axis direction, the main slider rail bottom inclined surface K2.5 probe (83410) arranged along the Z direction is installed inside the bottom inclined probe swing frame (8348), and the bottom inclined probe limit plate (8349) is installed outside the bottom inclined probe swing frame (8348); The bottom inclined probe limit plate (8349) is used to prevent the main slider rail bottom inclined surface K2.5 probe (83410) from flipping over when moving along the Y-axis direction; the rail bottom inclined surface servo (8347) adjusts the deflection angle of the main slider rail bottom inclined surface K2.5 probe (83410) when driving the main slider rail bottom inclined surface K2.5 probe (83410) to rotate around the X-axis direction through the bottom inclined probe swing frame (8348). At the same time, when the main slider module (83) passes over the target weld, the main slider rail bottom inclined surface K2.5 probe (83410) is rotated 180° to achieve detection on the other side of the target weld; The main slider rail bottom side K1 detection component (835) includes a rail bottom side slideway platform (8351), a rail bottom side Z-direction drive motor (8352), a rail bottom side Z-direction lead screw (8353), a rail bottom side Z-direction optical axis (8354), a rail bottom side probe frame (8355), a Y-direction electromagnetic push-pull rod (8356), a main slider rail bottom side K1 probe (8357) and a lifting baffle (8358); the bottom of the main slider support plate (831) is fixedly installed The rail bottom side slideway platform (8351); the rail bottom side Z-direction screw rod (8353) and the rail bottom side Z-direction optical axis (8354) are slidably installed on both sides of the rail bottom side slideway platform (8351) along the Z direction; the top of the rail bottom side Z-direction screw rod (8353) and the rail bottom side Z-direction optical axis (8354) can slide upward along the Z direction; the bottom thread of the rail bottom side Z-direction screw rod (8353) cooperates with the rail bottom side probe frame (8355) to be installed , and the rail bottom side probe frame (8355) is fixed to the bottom of the rail bottom side Z-direction optical axis (8354); when the rail bottom side Z-direction drive motor (8352) drives the rail bottom side Z-direction screw rod (8353) to rotate, the rail bottom side probe frame (8355) is driven to perform Z-direction lifting movement; the Y-direction electromagnetic push-pull rod (8356) is installed at the bottom of the rail bottom side probe frame (8355), and the bottom of the Y-direction electromagnetic push-pull rod (8356) The K1 probe (8357) on the bottom side of the main slider rail is installed along the Y direction; the lifting baffles (8358) are fixedly installed on both sides of the K1 probe (8357) on the bottom side of the main slider rail, and are used to drive the K2.5 detection component (834) on the bottom inclined surface of the main slider rail to be lifted upward synchronously when the K1 detection component (835) on the bottom side of the main slider rail is lifted upward to a certain height, so as to avoid collision with the weld protrusion when the main slider module (83) passes over the weld.

8. The fully automatic weld scanning frame according to claim 5, characterized in that: The auxiliary slider module (93) comprises an auxiliary slider support plate (931), an auxiliary slider rail top surface detection component (932), an auxiliary slider rail top side surface K1 detection component (933), an auxiliary slider rail bottom inclined surface K2.5 detection component (934) and an auxiliary slider rail bottom side surface K1 detection component (935); The auxiliary slider rail top surface detection component (932) is different from the main slider rail top surface detection component (832); the auxiliary slider rail top surface detection component (932) includes an auxiliary slider rail top surface probe bracket (9321) and an auxiliary slider rail top surface K0.8 probe (9322); the auxiliary slider rail top surface probe bracket (9321) is fixed to the auxiliary slider support plate (931); the auxiliary slider rail top surface K0.8 probe (9322) is fixedly installed at the end of the auxiliary slider rail top surface probe bracket (9321), so that when the fully automatic weld scanning frame is in working state, the auxiliary slider rail top surface K0.8 probe (9322) is pressed and fitted to the Y-direction center position of the rail top surface; The structures of the auxiliary slider rail top side K1 detection component (933), the auxiliary slider rail bottom inclined surface K2.5 detection component (934) and the auxiliary slider rail bottom side K1 detection component (935) are respectively the same as the main slider rail top side K1 detection component (833), the main slider rail bottom inclined surface K2.5 detection component (834) and the main slider rail bottom side K1 detection component (835) of the main slider module (83); in: The auxiliary slider rail top side K1 detection component (933) includes an auxiliary slider rail top side K1 probe (9336); The auxiliary slider rail bottom inclined surface K2.5 detection component (934) includes an auxiliary slider rail bottom inclined surface K2.5 probe (93410); The auxiliary slider rail bottom side K1 detection component (935) includes an auxiliary slider rail bottom side K1 probe (9357).

9. A weld scanning method of a fully automatic weld scanning frame according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1, the fully automatic weld scanning frame has a dragging state and a working state; In the dragging state, the track wheel mechanism (4) is first operated, the handle (2) is lifted with one hand, and the track wheel (41) is pressed with the other hand to unfold the track wheel mechanism (4). At this time, the track wheel (41) is in sliding contact with the surface of the rail (10), and the supporting instrument scanning frame (1) is higher than the top surface of the rail (10); then, the stretching rod (3) is held by hand to drag the fully automatic weld scanning frame along the rail (10). When the horizontal line emitted by the laser positioning device (6) coincides with the target weld, it indicates that the frame has moved to the target position; Then, the folding hinge (45) is pressed to retract the track wheel mechanism (4), and the instrument scanning frame (1) falls down. After the instrument scanning frame (1) falls into place, the rail locking device (5) is locked. Through the joint supporting and positioning effect of the instrument scanning frame (1) and the rail locking device (5), the instrument scanning frame (1) is stably fixed at the target position, so that the fully automatic weld scanning frame is put into working state; Step 2, after the fully automatic weld scanning frame is switched to working state, the main slider unit (8) and the auxiliary slider unit (9) are controlled to achieve a comprehensive scan of the target weld and the rail area where it is located, and the scanning results are transmitted to the collection box (7).

10. A weld seam scanning method of a fully automatic weld seam scanning frame according to claim 9, characterized in that: Step 2 is as follows: Step 2.1, working process of the rail top surface K2.5 probe (8327) of the main slider module (83): The scanning range and scanning method are determined as follows: taking the target weld as a reference, the distance L1 is extended to both ends along the X direction to form a scanning range; within the scanning range, the K2.5 probe (8327) on the top surface of the rail is driven to scan back and forth at different deflection angles for a set number of times, and when the K2.5 probe (8327) on the top surface of the rail is scanning and detecting, the emission direction is continuously aligned with the center of the target weld; wherein the deflection angles include 0°, a left deflection setting angle, and a right deflection setting angle; The specific process of a single round-trip scan is as follows: ① Start the main slider X-direction drive mechanism (81), drive the main slider module (83) to move along the X-direction as a whole, and move the rail top surface K2.5 probe (8327) to the initial detection position at one end of the scanning range; ② Start the Y-direction driving motor (8321) of the rail top surface to drive the rail top surface K2.5 probe (8327) to move along the Y-direction to the center position of the rail top surface along the Y-direction; and, since the rail top surface K2.5 probe (8327) is equipped with a pressure spring, the rail top surface K2.5 probe (8327) is closely attached to the rail top surface; ③ Start the main slider X-direction drive mechanism (81), drive the rail top surface K2.5 probe (8327) to move along the X-direction, from the initial detection position at one end of the scanning range to the target weld position, and complete the forward one-way scanning of one side of the target weld; ④ driving the rail top surface K2.5 probe driving servo (8328) to rotate the rail top surface K2.5 probe (8327) on the Z axis until it forms a set angle with the center of the rail top surface; then starting the main slider X-direction driving mechanism (81) to drive the rail top surface K2.5 probe (8327) to move along the X direction from the target weld position to the initial detection position, completing a reverse one-way scan of one side of the target weld; ⑤ When the flaw detection work on one side of the target weld is completed, the main slider module (83) is driven to move to the other side of the target weld, and the rail top surface K2.5 probe drives the steering engine (8328) to adjust the rail top surface K2.5 probe (8327) to rotate, and the above steps are repeated to complete the flaw detection work on the other side of the target weld; Step 2.2, working process of rail top 0 degree probe (8326): When the rail top surface 0 degree probe (8326) detects the weld, it is necessary to monitor the bottom wave and identify the reflected wave. Taking the target weld as the reference, the distance L2 is extended to both ends along the X direction to form a scanning range. Within the scanning range, the rail top surface 0 degree probe (8326) is moved longitudinally at a uniform speed according to the set scanning round trip times for scanning. Moreover, when the rail top surface 0 degree probe (8326) scans above the target weld, the rail top surface 0 degree probe (8326) is moved horizontally within the rail head width range to find horizontal cracks in the weld bar. The specific process of a single round-trip scan is as follows: ① Start the main slider X-direction driving mechanism (81), drive the main slider module (83) to move along the X-direction as a whole, and move the rail top surface 0 degree probe (8326) to the initial detection position at one end of the scanning range; ② Start the Y-direction driving motor (8321) of the rail top surface to drive the 0-degree probe (8326) of the rail top surface to move along the Y-direction to the detection position of the rail top surface along the Y-direction; and, since the 0-degree probe (8326) of the rail top surface is equipped with a pressure spring, the 0-degree probe (8326) of the rail top surface is closely attached to the rail top surface; ③ Start the X-direction driving mechanism (81) of the main slider to drive the rail top surface 0 degree probe (8326) to move along the X-direction, from one end of the scanning range to the other end, to complete a single flaw detection scan; after completing the scanning of one path, the rail top surface 0 degree probe (8326) moves a certain distance along the Y axis to continue to detect the next area of ​​the rail top surface, and the cycle is repeated until the scanning of the entire area is completed; Step 2.3, working process of the auxiliary slider rail top surface K0.8 probe (9322) and the main slider rail top surface K0.8 probe (8325): ① Detection process on one side of the target weld: on one side of the target weld, the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are both located at the center position of the rail top surface in the Y direction, but at different positions in the X direction, and then the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are driven to perform relative movement in the X direction to achieve K0.8 serial scanning. During the movement, the K0.8 probe (8325) on the rail top surface of the main slider emits detection waves to different depth positions of the target weld along the Z direction, and the K0.8 probe (9322) on the rail top surface of the auxiliary slider receives the reflected waves, thereby completing the detection of the entire depth of the target weld and completing the detection process on one side of the target weld; ② After the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider have completed the detection of one side of the target weld, the K0.8 probe (9322) on the rail top surface of the auxiliary slider and the K0.8 probe (8325) on the rail top surface of the main slider are swapped in front and back positions, and then moved along the X direction to the other side of the target weld, and the detection process on one side of the target weld is repeated; Wherein: when performing the front-to-back position swap, the position of the K0.8 probe (9322) on the rail top surface of the auxiliary slider remains unchanged, and the K0.8 probe (8325) on the rail top surface of the main slider moves along the X direction. When approaching the K0.8 probe (9322) on the rail top surface of the auxiliary slider and needs to meet, the K0.8 probe (8325) on the rail top surface of the main slider moves along the Y direction to the inner side of the main slider to avoid the K0.8 probe (9322) on the rail top surface of the auxiliary slider, and then the K0.8 probe (8325) on the rail top surface of the main slider moves along the X direction to the other side of the K0.8 probe (9322) on the rail top surface of the auxiliary slider, thereby completing the front-to-back position swap of the main and auxiliary sliders; Step 2.4, working process of rail top surface K1 probe (8324): The scanning range and scanning method are determined as follows: taking the target weld as a reference, the distance L3 is extended to both ends along the X direction to form a scanning range; within the scanning range, the rail top surface K1 probe (8324) is driven to scan back and forth a set number of times, and when the rail top surface K1 probe (8324) is scanning and detecting, the emission direction is continuously aligned with the center of the target weld; ① Start the main slider X-direction drive mechanism (81), driving the rail top surface K1 probe (8324) to move along the X-direction to one end of the scanning range; ② Start the Y-direction driving motor (8321) of the rail top surface to drive the rail top surface K1 probe (8324) to move along the Y direction to the center position of the rail top surface along the Y direction; ③ Start the main slider X-direction drive mechanism (81), drive the rail top surface K1 probe (8324) to move along the X-direction, move from one end of the scanning range to the other end, and complete a single scan; After completing the scanning of one path, the rail top surface K1 probe (8324) moves a certain distance along the Y axis to continue the detection of the next area of ​​the rail top surface, and the cycle continues until the scanning of the entire area is completed; Step 2.5, working process of the K1 probe (8336) on the top side of the main slider rail and the K1 probe (9336) on the top side of the auxiliary slider rail: The K1 probe (8336) on the top side of the main slider rail and the K1 probe (9336) on the top side of the auxiliary slider rail are used as a transmitting probe and a receiving probe respectively, and are placed on both sides of the target weld rail head, and the transmitting probe and the receiving probe are closely attached to the upper height surface of the rail top side; at this upper height position, the transmitting and receiving directions of the probes are aligned with the center of the target weld, and first one probe is fixed, and then the other probe is moved along the X direction within a set range for scanning; then the fixed probe is moved forward a set distance, and the scanning process is repeated; and so on, the set number of scans are completed; Then adjust the height of the transmitting probe and the receiving probe on the side of the rail top to the lower height position and repeat the scanning; Step 2.6, working process of the main slider rail bottom inclined surface K2.5 probe (83410) and the auxiliary slider rail bottom inclined surface K2.5 probe (93410): The main slider rail bottom inclined surface K2.5 probe (83410) and the auxiliary slider rail bottom inclined surface K2.5 probe (93410) are respectively located at the rail bottom slopes on both sides of the rail, and each independently detects the rail bottom inclined surface on the corresponding side, and the detection method is the same; For the main slider rail bottom inclined surface K2.5 probe (83410), its working process is: When detecting, the K2.5 probe (83410) on the inclined surface of the rail bottom of the main slider is aimed at the center of the target weld. It scans multiple times from the outside to the inside starting from the edge of the rail bottom corner to ensure full coverage of the rail bottom. Each probe scanning track should cover a certain width of the previous scan. Then, check once in the reverse direction along the edge of the rail bottom corner. In addition, the probe is deflected outward by a certain angle during each inspection. The specific working process is: When the main slider rail bottom inclined surface K2.5 probe (83410) moves to a set position along the X direction, the rail bottom inclined surface Y direction driving motor (8341) drives the main slider rail bottom inclined surface K2.5 probe (83410) to move along the Y axis, so that the main slider rail bottom inclined surface K2.5 probe (83410) reaches the rail bottom inclined surface Y direction set position; Drive the K2.5 probe (83410) of the rail bottom slope of the main slider to perform a linear scan of the rail bottom slope along the X direction; When the probe needs to be moved with an angle for scanning, the rail bottom inclined plane servo (8347) causes the main slider rail bottom inclined plane K2.5 probe (83410) to rotate a certain angle along the Z axis, and then scan along the X direction; When the sector scanning action is performed, the rail bottom inclined plane servo (8347) servo is started, driving the main slider rail bottom inclined plane K2.5 probe (83410) to rotate left and right to achieve the sector scanning; When the main slider rail bottom inclined surface K2.5 probe (83410) passes over the weld and reaches the other side, the rail bottom inclined surface servo (8347) drives the main slider rail bottom inclined surface K2.5 probe (83410) to rotate 180 degrees, adjust the direction of the wedge block, and scan the other side of the weld. Step 2.7, working process of the K1 probe (8357) on the bottom side of the main slider rail and the K1 probe (9357) on the bottom side of the auxiliary slider rail: The K1 probe (8357) on the side of the main slider rail bottom and the K1 probe (9357) on the side of the auxiliary slider rail bottom are used as a transmitting probe and a receiving probe, respectively, and are placed on both sides of the target weld rail bottom, with the transmitting and receiving directions of the probes aligned with the center of the target weld, and the incident point is set at a distance from the weld center; First fix one probe, then move another probe within the set range to scan; then move the fixed probe forward 15mm, repeat the scan, and so on, for a total of the set number of scans; both sides of the weld need to be scanned during detection; The motion trajectories of the main slider rail bottom side K1 probe (8357) and the auxiliary slider rail bottom side K1 probe (9357) on the target weld side are the same; for the main slider rail bottom side K1 probe (8357), its motion trajectory is: The K1 probe (8357) on the bottom side of the rail of the main slider descends along the Z axis to the bottom side of the rail, the Y-axis electromagnetic push-pull rod (8356) is powered off, and the K1 probe (8357) on the bottom side of the rail of the main slider is pressed against the bottom side of the rail under the action of the compression spring; then, the K1 probe (8357) on the bottom side of the rail of the main slider is driven to move linearly along the X axis to realize the flaw detection work of the K1 probe (8357) on the bottom side of the rail of the main slider.

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