Hull weld defect detection and identification device and method

Abstract

The invention discloses a hull weld defect detection and recognition device and method, and particularly relates to the technical field of detection and recognition, and the hull weld defect detection and recognition device comprises two adsorption seats which are symmetrically arranged at an interval; and the walking belt is arranged between the two adsorption seats and completes self-adaptive fine adjustment with the ship body, and the two adsorption seats and the walking belt jointly form a self-adaptive adjustment detection structure. The two adsorption seats and the walking belt jointly form a self-adaptive adjustment detection structure, the walking belt can complete self-adaptive attachment according to different shapes of welding seams of a ship body, adaptability is high, operation is flexible, meanwhile, the adsorption mechanism can complete self-adaptive flexible adjustment on the walking belt based on the walking state of the detection mechanism, and the detection precision is high. The detection mechanism and the ship body welding seam are kept in a stable detection space, meanwhile, the detection mechanism can complete active isolation protection in the detection process, safety is enhanced, and meanwhile, multi-mode cleaning work can be completed on a welding seam area.

Description

Technical Field

[0001] The present invention relates to the field of detection and identification technology, and in particular to a device and method for detecting and identifying defects in a hull weld. Background Art

[0002] Ships travel in the oceans and rivers for a long time. Due to the harsh working environment and the hull welds exposed on the hull surface, the hull welds are prone to defects due to corrosion; The quality of the hull welds is crucial to the strength of the hull structure, so strict inspections are required. During the inspection process, attention should be paid to the external and internal defects of the welds, such as weld dimensions, shape, undercut, weld bumps, pores, slag inclusions, welding cracks, etc., to ensure the stable operation of the hull. At the same time, during the weld inspection process, detection instruments are required to cooperate in completing the weld inspection work.

[0003] A hull weld defect detection and identification device and method disclosed in the patent application with reference publication number CN116952944A, the detection and identification device can automatically capture images of the morphological features of the hull weld and identify whether there are defects on the weld based on the captured images, thereby reducing the workload of detecting hull weld defects, and cooperating with the moving mechanism and the lifting mechanism to adjust the working position of the detection mechanism, thereby completing the detection of the hull weld.

[0004] At present, the inspection of hull welds is mostly completed by using detection instruments. For example, the above-mentioned detection and identification device completes the inspection of welds through the cooperation of the detection mechanism, the moving mechanism and the lifting mechanism. However, the hull is limited by its own shape and structure, resulting in that the welds on the hull are mostly arc-shaped surfaces. The above-mentioned detection and identification device cannot adapt well to different arc-shaped welds to complete mobile inspection, resulting in large detection errors. In addition, the device is large in size and inconvenient to move. It has poor adaptability and flexibility, and cannot meet different weld inspection requirements to complete adaptive adjustment. It is easy to interfere with the inspection accuracy. There are a large number of detection blind spots, and the welding weaknesses of the hull cannot be discovered, which is not conducive to the upgrading of the hull welding process. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for detecting and identifying defects in a hull weld to solve the above-mentioned technical problems.

[0006] To solve the above technical problems, the present invention is implemented through the following technical solutions.

[0007] The present invention is a ship hull weld defect detection and identification device, comprising: Two adsorption seats are symmetrically spaced; The walking belt is arranged between the two adsorption seats to complete adaptive fine adjustment with the hull, and the two adsorption seats and the walking belt together form an adaptive adjustment detection structure; Two adsorption mechanisms are correspondingly arranged in two adsorption seats to complete adsorption positioning with the hull, and the two adsorption mechanisms are respectively connected with the two ends of the walking belt, and the adsorption mechanisms can complete the flexible control of the walking belt; The detection mechanism is arranged on the walking belt to complete walking detection. The detection mechanism is divided into a walking unit, a detection unit and a protection unit. The walking unit is used to control the detection unit to complete the mobile line detection on the walking belt, and the protection unit is used to complete the safety protection and cleaning operations of the detection unit.

[0008] Furthermore, each adsorption seat comprises: The adsorption box has an open top design, a top cover is detachably installed on the top of the adsorption box, and a handle is provided on the top cover; A passing area is provided on one side of the adsorption box to guide the walking belt; Four No. 1 magnetic wheels are set at the four corners of the bottom of the adsorption box to complete the movement control.

[0009] Furthermore, each adsorption mechanism comprises: Two electric push rods are symmetrically arranged on both sides of the inner wall of the adsorption box through a bracket; Two lifting platforms are slidably arranged on both sides of the inner wall of the adsorption box, and the two lifting platforms are respectively connected to the output ends of the two electric push rods; Two adsorption parts are arranged at the bottom of the two lifting platforms and are used for adsorption and positioning with the hull.

[0010] Furthermore, each adsorption mechanism comprises: Two partitions are symmetrically arranged on both sides of the adsorption box, and sliding areas are opened through the two partitions; A slide seat is slidably disposed between the two partitions and is slidably engaged with the two sliding areas, and the walking belt passes through the passing area and contacts the slide seat accordingly; A pressure plate is arranged on the slide seat to press and fix the walking belt; Two tension springs are arranged in two sliding areas to control the tension of the walking belt.

[0011] Furthermore, each adsorption mechanism also includes: An adsorption sleeve is arranged on one side of the adsorption member; A compensating suction cup is arranged at the bottom of the adsorption sleeve to complete compensating contact with the hull; The piston plate and the sliding seal are arranged in the adsorption sleeve, and a pull rod is fixedly arranged on the top of the piston plate; A return spring, arranged outside the pull rod, is used to automatically return the piston plate; The sliding area is arranged at the top of one side of the partition, and a sensing block is slidably engaged in the sliding area, and the sensing block is triggered by the sliding seat during movement; The guide sleeve is arranged on the side of the partition away from the sliding area. A traction rope is slidably passed through the guide sleeve. The head and tail of the traction rope are respectively connected with the sensing block and the top of the pull rod to complete the power connection.

[0012] Furthermore, the detection unit comprises: Traveling seat, sliding sleeve is set on the walking belt to complete the moving detection; The detection head is arranged on the walking seat and is used for completing walking detection action on the hull weld.

[0013] Furthermore, the walking unit comprises: The concave frame is slidably arranged on the walking seat; Two wheel seats are symmetrically arranged on both sides of the bottom of the concave frame, and a No. 2 magnetic wheel is rotatably installed in the two wheel seats; The adjusting screw is screwed through the concave frame by thread engagement, and the position of the concave frame can be adjusted by the adjusting screw. Two winding motors are set on two adsorption seats through brackets. The output ends of the two winding motors are driven and installed with winding wheels, and control ropes are wound around the winding wheels. One end of the control ropes of the two winding wheels is connected to the back of the walking seat. The walking seat is controlled by the coordinated control of the two winding motors to complete the left and right adaptive movement adjustment on the walking belt.

[0014] Furthermore, the protection unit comprises: Two protective parts are symmetrically arranged on both sides of the two wheel seats to complete the protection of both sides of the detection unit; Two transmission collars are fixedly mounted on one end of the two second magnetic wheels, and a plurality of trigger blocks are arranged in a circular array on the outside of each transmission collar, and inclined surfaces are arranged on both sides of each trigger block; Two air chambers are arranged on one side of the two wheel seats, each air chamber is provided with a piston member installed in a sliding seal, and a push spring is arranged between the piston member and the air chamber; Two running wheels are rotatably mounted on the bottom of the two piston members through brackets, and the running wheels can contact the trigger block to complete continuous triggering; Two No. 1 air pipes are connected and opened on one side of the top of the air chamber. A No. 2 air pipe is installed on the top of each air chamber on one side of the No. 1 air pipe. The No. 2 air pipe is connected to the protective piece to complete the cleaning operation.

[0015] Furthermore, each protective element comprises: The protection shaft is set on one side of the two wheel seats to complete active protection, and each protection shaft is provided with a cross arm at both ends; The circulation area is opened through the center of the protection shaft and is connected with the No. 2 air pipe. A plurality of air holes communicating with the circulation area are opened on the side walls around the protection shaft; Two transmission belts and corresponding transmission sleeves are arranged at both ends of the protection shaft. The other ends of the two transmission belts are respectively connected to the two No. 2 magnetic wheels for transmission. The rotation control of the two protection shafts is completed through the rotation of the two No. 2 magnetic wheels. A plurality of cleaning members are arranged in a circular array outside the protective shaft to complete the cleaning action.

[0016] The present invention also provides a method for detecting and identifying defects in a hull weld, which specifically comprises the following steps: Step 1: Connect the two ends of the walking belt to the two adsorption seats, and then the inspector moves the two adsorption seats to the inspection area of ​​the hull; Step 2: Move the two adsorption seats to the detection area of ​​the hull, and place the two adsorption seats in the weld area, so that the two adsorption seats and the walking belt form an adaptively adjustable detection structure; Step 3: Use the adsorption mechanism to stably position and fix the adsorption seat and the hull; Step 4: Control the detection mechanism to complete the moving walking under the restriction of the walking belt, so as to complete the walking detection of the hull weld, and can complete the adaptive detection operation for the arc surface weld of the hull.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention makes the walking belt a flexible structure, so that the walking belt can be adaptively fitted according to the different shapes of the welds of the hull. The two adsorption seats and the walking belt form an adaptively adjustable detection structure, which is conducive to the rapid detection work, has strong adaptability, flexible operation, and convenient installation. The walking belt can adapt to the outer arc weld of the hull and can be adapted for the flat weld of the hull, enriching the detection environment; 2. The present invention sets a detection mechanism and controls the detection mechanism to move under the restriction of the walking belt, so as to complete the walking detection of the hull weld, and can complete the adaptive detection operation for the arc surface weld of the hull, and can control the detection progress. At the same time, the detection mechanism can complete active isolation protection during the detection process, thereby enhancing safety, and can complete multi-mode cleaning work on the weld area, which can provide assistance for detection; 3. The present invention can control the walking belt to maintain a certain tension by setting an adsorption mechanism, and is set between two adsorption seats to guide the detection mechanism. The detection operation can be carried out by simply transferring the two adsorption seats to the predetermined positions, so that the overall detection is flexible and variable, and the detection efficiency is improved. At the same time, the adsorption mechanism can complete adaptive flexible adjustment of the walking belt based on the walking state of the detection mechanism, so that the detection mechanism and the hull weld maintain a stable detection space, avoiding damage caused by collision between the detection mechanism and the hull, and improving the safety of detection.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall front view of the present invention; Figure 2 It is a schematic diagram of the connection between two adsorption seats and a walking belt of the present invention; Figure 3 It is a schematic diagram of the internal structure of the adsorption seat of the present invention; Figure 4 It is a schematic diagram of installing the adsorption mechanism of the present invention in the adsorption seat; Figure 5 It is a schematic diagram of opening a through zone on an adsorption box of the present invention; Figure 6 It is a schematic diagram of the adsorption mechanism of the present invention; Figure 7 It is a schematic diagram of the connection between the slide seat and the walking belt of the present invention; Figure 8 It is a schematic diagram of the walking unit of the present invention; Fig. 9 It is a schematic diagram of installing the detection mechanism of the present invention on the walking belt; Fig.10 It is a schematic diagram of the detection mechanism of the present invention; Fig.11 It is a schematic diagram of the protection unit of the present invention; Fig.12 It is a schematic diagram of the flow area of ​​the present invention being opened on the protection shaft; Fig.13 It is a schematic diagram of the interior of the air chamber of the present invention.

[0020] In the figure: 1, adsorption seat; 101, adsorption box; 102, handle; 103, passing area; 104, magnetic wheel No. 1; 2, walking belt; 3, electric push rod; 4, lifting platform; 5, adsorption piece; 6, partition; 7, sliding area; 8, sliding seat; 9, pressure plate; 10, tension spring; 11, adsorption sleeve; 12, compensation suction cup; 13, piston plate; 14, pull rod; 15, reset spring; 16, sliding area; 17, sensing block; 18, guide sleeve; 19, traction rope; 20 , walking seat; 21, detection head; 22, concave frame; 23, No. 2 magnetic wheel; 24, adjusting screw; 25, winding motor; 26, winding wheel; 27, control rope; 28, transmission collar; 29, trigger block; 291, inclined plane; 30, air chamber; 31, piston; 32, push spring; 33, walking wheel; 34, No. 1 air pipe; 35, No. 2 air pipe; 36, protective shaft; 37, cross arm; 38, circulation area; 39, air hole; 40, transmission belt; 41, cleaning parts. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] Embodiment 1: The present invention provides a technical solution: Figure 1 and Figure 2 As shown, a ship hull weld defect detection and identification device comprises: Two adsorption seats 1 are symmetrically arranged at intervals; The walking belt 2 is arranged between the two adsorption seats 1 to complete adaptive fine-tuning with the hull. The two adsorption seats 1 and the walking belt 2 together form an adaptively adjustable detection structure. The walking belt 2 is made of one or more materials such as flexible metal and rubber, so that the walking belt 2 can complete the movement control of the detection mechanism. At the same time, a plurality of support wheels can be arranged on the inner side of the walking belt 2. The support wheels are used to complete the interval setting between the walking belt 2 and the hull, which is beneficial to the movement of the detection mechanism. When it is necessary to adapt to the inner curved surface of the hull for detection, a support member can be added to the hull position corresponding to the walking belt 2, and the walking belt 2 is limited to the predetermined position of the hull by the support member. The number of the support members is set according to the demand; Two adsorption mechanisms are correspondingly arranged in the two adsorption seats 1 to complete adsorption positioning with the hull, and the two adsorption mechanisms are respectively connected with the two ends of the walking belt 2, and the adsorption mechanisms can complete the flexible control of the walking belt 2; The detection mechanism is arranged on the walking belt 2 to complete the walking detection. The detection mechanism is divided into a walking unit, a detection unit and a protection unit. The walking unit is used to control the detection unit to complete the moving line detection on the walking belt 2, and the protection unit is used to complete the safety protection and cleaning operation of the detection unit; like Figure 3 , Figure 4 and Figure 5 As shown, each adsorption seat 1 includes: The adsorption box 101 has an open top design. A top cover is detachably installed on the top of the adsorption box 101. A handle 102 is provided on the top cover. A weld avoidance area is provided in the middle of the bottom of the adsorption box 101. A through area 103 is provided on one side of the adsorption box 101 and is used to guide the walking belt 2. Rollers are rotatably installed at the top and bottom of the through area 103 to guide the walking belt 2. Four No. 1 magnetic wheels 104 are arranged at the four corners of the bottom of the adsorption box 101 to complete the movement control, and the No. 1 magnetic wheel 104 can be attached to the hull to complete the adsorption.

[0024] Among them, the electrical components such as the winding motor 25 and the electric push rod 3 are all connected to the switch through the wire, and the switch is electrically connected to the controller, and the specific structure of the controller is not limited.

[0025] Embodiment 2: Based on the adsorption mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the adsorption mechanism.

[0026] like Figure 6 and Figure 7 As shown, each adsorption mechanism includes: Two electric push rods 3 are symmetrically arranged on both sides of the inner wall of the adsorption box 101 through a bracket; Two lifting platforms 4 are slidably arranged on both sides of the inner wall of the adsorption box 101, and the two lifting platforms 4 are respectively connected to the output ends of the two electric push rods 3; Two adsorption members 5 are arranged at the bottom of the two lifting platforms 4 for adsorption and positioning with the hull. A through area cooperating with the adsorption member 5 is opened at the bottom of the adsorption box 101. The adsorption member 5 specifically adopts an electromagnet, an electric suction cup and other structures capable of completing adsorption and positioning to complete adsorption and fixing with the hull; Each adsorption mechanism includes: Two partitions 6 are symmetrically arranged on both sides of the adsorption box 101, and sliding areas 7 are opened through the two partitions 6; The slide 8 is slidably disposed between the two partitions 6 and slidably engaged with the two sliding areas 7, and the walking belt 2 passes through the passing area 103 and contacts the slide 8; The pressing plate 9 is arranged on the slide seat 8 and is used to press and fix the walking belt 2. Specifically, the pressing plate 9 and the slide seat 8 complete the locking operation of the walking belt 2 through structures such as bolts; Two tension springs 10 are arranged in the two sliding areas 7 to complete the tension control of the walking belt 2, and the tension spring 10 is arranged between the sliding area 7 and the sliding seat 8; In the embodiment of the present invention, each adsorption mechanism further includes: The adsorption sleeve 11 is arranged on one side of the adsorption member 5. The bottom of the adsorption sleeve 11 is open and the top is closed. An open area cooperating with the adsorption sleeve 11 is arranged at the bottom of the adsorption box 101, which can be raised and lowered synchronously with the adsorption member 5 to contact the hull. The compensating suction cup 12 is arranged at the bottom of the adsorption sleeve 11 to complete the compensating contact with the hull. The compensating suction cup 12 is annular and made of rubber material, so that the compensating suction cup 12 can follow the adsorption piece 5 and the hull to be stably attached. The shapes of the compensating suction cup 12 and the adsorption piece 5 can be freely set according to the hull environment; The piston plate 13 is slidingly and sealingly arranged in the adsorption sleeve 11, and a pull rod 14 is fixedly arranged on the top of the piston plate 13, and the top of the pull rod 14 slides through the top of the adsorption sleeve 11; A return spring 15 is arranged outside the pull rod 14 to complete the automatic return of the piston plate 13. The return spring 15 is arranged between the piston plate 13 and the adsorption sleeve 11; The sliding area 16 is arranged at the top of one side of the partition 6, and a sensing block 17 is slidably engaged in the sliding area 16, and the sensing block 17 is triggered by the sliding seat 8 during movement; The guide sleeve 18 is arranged on the side of the partition 6 away from the sliding area 16. A traction rope 19 is slidably passed through the guide sleeve 18. The ends of the traction rope 19 are respectively connected to the sensing block 17 and the top of the pull rod 14 to complete the power connection. The traction rope 19 is made of wear-resistant material, specifically a metal rope or a fiber rope. At the same time, the guide sleeve 18 is an L-shaped structure as a whole, and a plurality of balls for guiding the traction rope 19 are arranged in the guide sleeve 18; It is worth noting that: when the weld area is adaptively adjusted: by providing an adsorption mechanism, the inspector holds the handle 102 and carries the adsorption seat 1 to the weld area of ​​the hull, first puts one adsorption seat 1 in contact with the hull, controls the electric push rod 3, drives the adsorption component 5 to move and complete adsorption and fixation with the hull, thereby completing the positioning of the adsorption seat 1, and then pulls the other adsorption seat 1 to move to the other end of the weld area of ​​the hull and fixes it, so that the walking belt 2 maintains a certain tension and is arranged between the two adsorption seats 1 to guide the detection mechanism. Since the walking belt 2 is a flexible structure, the walking belt 2 can adapt to the outer arc weld of the hull, and can be adapted for use with the flat weld of the hull, enriching the detection environment and being convenient to use. After the subsequent detection is completed, it is only necessary to transfer the two adsorption seats 1 to the predetermined position to perform the detection operation, making the overall detection flexible and variable, and improving the detection efficiency. In addition, the two ends of the walking belt 2 are detachably connected to the slide seat 8, and different lengths of walking belts 2 can be selected for replacement use for welds of different lengths.

[0027] Embodiment 3: Based on the detection mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the detection mechanism.

[0028] like Fig. 9 and Fig.10 As shown, the detection unit includes: The walking seat 20 is slidably mounted on the walking belt 2 to complete the movement detection; The detection head 21 is arranged on the walking seat 20 and is used to complete the walking detection action of the hull weld. The detection head 21 specifically uses one or more of a camera, a laser head and an ultrasonic flaw detection head to complete the detection of the weld; like Figure 8 As shown, in an embodiment of the present invention, the walking unit includes: The concave frame 22 is slidably disposed on the walking seat 20; Two wheel seats are symmetrically arranged on both sides of the bottom of the concave frame 22. The second magnetic wheel 23 is rotatably installed in the two wheel seats. The second magnetic wheel 23 can be attached to the hull to complete adsorption, which is beneficial to subsequent walking. In order to improve the walking stability of the second magnetic wheel 23, a walking motor connected to the second magnetic wheel 23 is installed on one side of the wheel seat. The movement of the second magnetic wheel 23 is compensated by the walking motor. The installation can be freely selected according to the detection requirements; The adjusting screw 24 is threadedly screwed on the concave frame 22, and the bottom of the adjusting screw 24 is rotatably connected to the traveling seat 20. The position of the concave frame 22 is adjusted by the adjusting screw 24, and a hand wheel is installed on the top of the adjusting screw 24; Two winding motors 25 are arranged on two adsorption seats 1 through brackets, and the output ends of the two winding motors 25 are both driven and installed with winding wheels 26, and the winding wheels 26 are wound with control ropes 27. One end of the control ropes 27 of the two winding wheels 26 is connected to the back of the walking seat 20, and the walking seat 20 is controlled by the cooperative control of the two winding motors 25 to complete the left and right adaptive movement adjustment on the walking belt 2. Specifically, an assembly seat is installed on one side of the winding motor 25, and a roller for guiding the walking belt 2 is rotatably arranged at the bottom of the assembly seat. The assembly seat is used to fix the winding motor 25, and a guide plate is installed on the assembly seat. A wire hole is penetrated on the guide plate for guiding the control rope 27. The control rope 27 specifically adopts one of a metal rope and a fiber rope to complete the movement control, and the winding motor 25 can complete the forward and reverse control, which is beneficial to the movement of the walking seat 20; It is worth noting that: when completing the walking inspection of the weld area: after the inspection platform constructed by the detection unit, two adsorption seats 1 and the walking belt 2 is completed, the adjusting screw 24 is operated to drive the concave frame 22 to complete the movement adjustment on the walking seat 20, so that the interval distance between the detection head 21 and the weld area can be dynamically controlled, and the tension of the walking belt 2 can be adjusted at the same time, so that it can provide a stable support force for the detection mechanism, and the second magnetic wheel 23 on the two wheel seats is adsorbed on the hull to ensure the relative stability of the detection head 21 and the weld area, which is conducive to the detection work. Then, one of the winding motors 25 is started to rotate to reel in the control rope 27, and the other winding motor 25 follows the rotation to release the control rope 27, so that the walking seat 20 drives the detection head 21 to follow the movement to complete the walking inspection. It only needs to control the two winding motors 25 to complete the left and right movement of the walking seat 20, which is convenient for free control according to the detection environment. When the walking seat 20 moves, it drives the detection head 21 thereon to move to complete the real-time detection operation of the weld. At the same time, when fluctuations occur during walking detection: since the No. 2 magnetic wheel 23 is in contact with the hull to complete the walking detection, when the No. 2 magnetic wheel 23 is disturbed by the protrusions on the surface of the hull, the detection mechanism is synchronously driven to move to apply additional tension to the walking belt 2. By providing a sliding area 7 on the partition 6, the slide 8 can carry the walking belt 2 to complete active telescopic control when moving in the sliding area 7. The tension spring 10 can actively compensate for the fluctuations of the walking belt 2, so that the walking belt 2 and the detection mechanism remain in a stable state, thereby improving the detection safety. At the same time, when the slide 8 moves in the sliding area 7, When the walking belt 2 is controlled dynamically, the slide seat 8 will contact and push the set sensing block 17 in the moving path, so that the sensing block 17 slides in the sliding area 16, and the pull rod 14 is pulled by the traction rope 19, so that the piston plate 13 overcomes the return spring 15 and moves up in the adsorption sleeve 11. Firstly, the tension of the walking belt 2 can be synchronously and cooperatively controlled. Secondly, when the piston plate 13 moves upward, a pressure difference is formed at the bottom of the adsorption sleeve 11, so that the compensating suction cup 12 contacts the hull to provide adsorption force, which further improves the stability of the adsorption seat 1 and avoids the safety problem of falling off. like Fig.11 , Fig.12 and Fig.13 As shown, in an embodiment of the present invention, the protection unit includes: Two protective parts are symmetrically arranged on both sides of the two wheel seats to complete the protection of both sides of the detection unit; Two transmission collars 28 are fixedly sleeved on one end of the two second magnetic wheels 23, and each transmission collar 28 is provided with a plurality of trigger blocks 29 in a circular array on the outside. The plurality of trigger blocks 29 are combined into a continuous trigger track line, and each trigger block 29 is provided with inclined surfaces 291 on both sides; Two air chambers 30 are arranged on one side of the two wheel seats. The bottom of each air chamber 30 is open. A piston 31 is installed in each air chamber 30 in a sliding and sealing manner. A push spring 32 is arranged between the piston 31 and the air chamber 30. Two running wheels 33 are rotatably mounted on the bottom of the two piston members 31 through a bracket, and the running wheels 33 can contact the trigger block 29 to complete continuous triggering; Two No. 1 air pipes 34 are connected and opened on one side of the top of the air chamber 30. A No. 1 one-way valve for introducing gas into the air chamber 30 in one direction is installed at the end of the No. 1 air pipe 34. A No. 2 air pipe 35 is connected and installed on one side of the No. 1 air pipe 34 at the top of each air chamber 30. A No. 2 one-way valve for discharging gas from the air chamber 30 in one direction is installed at the end of the No. 2 air pipe 35. The No. 2 air pipe 35 is connected to the protective element to complete the cleaning operation; Each guard includes: The protection shaft 36 is arranged on one side of the two wheel seats to complete active protection. Both ends of each protection shaft 36 are provided with a cross arm 37. The two cross arms 37 are detachably fixedly connected to one side of the wheel seat. The cross arm 37 is rotatably connected to the protection shaft 36, and the isolation protection of the detection unit is completed through the protection shaft 36; The circulation area 38 is provided at the center of the protection shaft 36 and is connected to the No. 2 gas pipe 35. Specifically, the two ends of the circulation area 38 of the two protection shafts 36 are respectively connected to the No. 2 gas pipes 35 of the two gas chambers 30 through pipelines, so that the gas can be stably fed into the circulation area 38, and the external gas source can be connected to the circulation area 38, so as to complete the blast cleaning of the weld area. A plurality of gas holes 39 are provided on the side walls around the protection shaft 36 and are connected to the circulation area 38. Two transmission belts 40 are provided at both ends of the protection shaft 36, and the other ends of the two transmission belts 40 are respectively connected to the two No. 2 magnetic wheels 23. Specifically, a No. 1 synchronous wheel is provided at both ends of the protection shaft 36, and a No. 2 synchronous wheel is provided outside the No. 1 magnetic wheel 104. The transmission sleeve of the transmission belt 40 is provided between the No. 1 synchronous wheel and the No. 2 synchronous wheel to complete the power output, and the rotation control of the two protection shafts 36 is completed by the rotation and walking of the two No. 2 magnetic wheels 23; A plurality of cleaning members 41 are arranged in a circular array outside the protective shaft 36 to complete the cleaning action. The cleaning members 41 are designed to be staggered with the air holes 39. The cleaning members 41 specifically use other cleaning structures such as flexible brushes and hard brush strips to complete auxiliary cleaning. At the same time, the cleaning members 41 and the transmission belt 40 can be freely installed and disassembled according to needs, and the positions and number of the air holes 39 can be freely set according to needs, and the number of the cleaning members 41 can be freely set according to needs; It is worth noting that: when the weld area is actively protected and cleaned: by providing a protection unit, protective parts are set up on both sides of the detection head 21, which can complete isolation protection during the left and right movement of the detection head 21, and can complete the removal of foreign objects on the hull. At the same time, when the detection head 21 moves, it drives the No. 2 magnetic wheel 23 to rotate, and the rotation of the No. 2 magnetic wheel 23 drives the transmission ring 28 to follow the rotation, and the trigger block 29 thereon triggers the walking wheel 33, pushing the piston 31 to move up and down in the air chamber 30, and introducing the external gas into the air chamber 30 through the No. 1 air pipe 34, and passing through The gas in the air chamber 30 is sent into the circulation area 38 through the No. 2 air pipe 35, and the gas is sprayed out through the air hole 39 to complete the spray cleaning of the weld. Since the trigger block 29 is provided with inclined surfaces 291 on both sides, the walking wheel 33 of the piston member 31 can be triggered up and down when the No. 2 magnetic wheel 23 rotates forward and reversely, and when the No. 2 magnetic wheel 23 rotates, the power is transmitted to the protective shaft 36 through the transmission belt 40, so that the protective shaft 36 rotates, and the cleaning member 41 thereon rotates to contact the weld, thereby completing good contact cleaning, further improving the cleanliness of the weld area, and facilitating subsequent detection.

[0029] Embodiment 4: A method for detecting and identifying defects in a hull weld, the method specifically comprising the following steps: Step 1: Connect the two ends of the walking belt 2 to the two adsorption seats 1, and then the inspection personnel move the two adsorption seats 1 to the inspection area of ​​the hull; Step 2: Move the two adsorption seats 1 to the detection area of ​​the hull, and place the two adsorption seats 1 in the weld area, so that the two adsorption seats 1 and the walking belt 2 form an adaptively adjustable detection structure; Step 3: The adsorption seat 1 is stably positioned and fixed to the hull by an adsorption mechanism; Step 4: Control the detection mechanism to complete the moving walking under the restriction of the walking belt 2, so as to complete the walking detection of the hull weld, and can complete the adaptive detection operation for the arc surface weld of the hull.

[0030] The present invention provides a device and method for detecting and identifying defects in a hull weld. The specific working principle is as follows: first, the two ends of a walking belt 2 are connected to two adsorption seats 1, and then the inspector moves the two adsorption seats 1 to the inspection area of ​​the hull, and places the two adsorption seats 1 in the weld area, and positions the two adsorption seats 1 at set positions through an adsorption mechanism. Since the walking belt 2 is a flexible structure, the walking belt 2 can be adaptively fitted according to different shapes of the weld of the hull, and an adaptively adjustable detection structure is formed by the two adsorption seats 1 and the walking belt 2, which is conducive to the rapid progress of the detection work, has strong adaptability, flexible operation, and convenient installation. After the positioning is completed, The detection mechanism is controlled to complete movement under the restriction of the walking belt 2, so as to complete the walking detection of the hull weld. It can complete the adaptive detection operation for the arc surface weld of the hull and control the detection progress. At the same time, the adsorption mechanism can complete the adaptive flexible adjustment of the walking belt 2 based on the walking state of the detection mechanism, so that the detection mechanism and the hull weld maintain a stable detection space to avoid damage caused by collision between the detection mechanism and the hull. At the same time, the detection mechanism can complete active isolation protection during the detection process to enhance safety. At the same time, it can complete multi-mode cleaning work on the weld area, provide assistance for detection, and further improve the accuracy of weld detection.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0032] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A ship hull weld defect detection and identification device, characterized in that: include: Two adsorption seats are symmetrically spaced; The walking belt is arranged between the two adsorption seats to complete adaptive fine adjustment with the hull, and the two adsorption seats and the walking belt together form an adaptive adjustment detection structure; Two adsorption mechanisms are correspondingly arranged in two adsorption seats to complete adsorption positioning with the hull, and the two adsorption mechanisms are respectively connected with the two ends of the walking belt, and the adsorption mechanisms can complete the flexible control of the walking belt; The detection mechanism is arranged on the walking belt to complete walking detection. The detection mechanism is divided into a walking unit, a detection unit and a protection unit. The walking unit is used to control the detection unit to complete the mobile line detection on the walking belt, and the protection unit is used to complete the safety protection and cleaning operations of the detection unit.

2. A ship hull weld defect detection and identification device according to claim 1, characterized in that: Each suction base includes: The adsorption box has an open top design, a top cover is detachably installed on the top of the adsorption box, and a handle is provided on the top cover; A passing area is provided on one side of the adsorption box to guide the walking belt; Four No. 1 magnetic wheels are set at the four corners of the bottom of the adsorption box to complete the movement control.

3. A ship hull weld defect detection and identification device according to claim 2, characterized in that: Each adsorption mechanism includes: Two electric push rods are symmetrically arranged on both sides of the inner wall of the adsorption box through a bracket; Two lifting platforms are slidably arranged on both sides of the inner wall of the adsorption box, and the two lifting platforms are respectively connected to the output ends of the two electric push rods; Two adsorption parts are arranged at the bottom of the two lifting platforms and are used for adsorption and positioning with the hull.

4. A ship hull weld defect detection and identification device according to claim 3, characterized in that: Each adsorption mechanism includes: Two partitions are symmetrically arranged on both sides of the adsorption box, and sliding areas are opened through the two partitions; A slide seat is slidably disposed between the two partitions and is slidably engaged with the two sliding areas, and the walking belt passes through the passing area and contacts the slide seat accordingly; A pressure plate is arranged on the slide seat to press and fix the walking belt; Two tension springs are arranged in two sliding areas to control the tension of the walking belt.

5. A ship hull weld defect detection and identification device according to claim 4, characterized in that: Each adsorption mechanism also includes: An adsorption sleeve is arranged on one side of the adsorption member; A compensating suction cup is arranged at the bottom of the adsorption sleeve to complete compensating contact with the hull; The piston plate and the sliding seal are arranged in the adsorption sleeve, and a pull rod is fixedly arranged on the top of the piston plate; A return spring, arranged outside the pull rod, is used to automatically return the piston plate; The sliding area is arranged at the top of one side of the partition, and a sensing block is slidably engaged in the sliding area, and the sensing block is triggered by the sliding seat during movement; The guide sleeve is arranged on the side of the partition away from the sliding area. A traction rope is slidably passed through the guide sleeve. The head and tail of the traction rope are respectively connected with the sensing block and the top of the pull rod to complete the power connection.

6. A ship hull weld defect detection and identification device according to claim 1, characterized in that: The detection unit includes: Traveling seat, sliding sleeve is set on the walking belt to complete the moving detection; The detection head is arranged on the walking seat and is used for completing walking detection action on the hull weld.

7. A ship hull weld defect detection and identification device according to claim 6, characterized in that: The walking unit includes: The concave frame is slidably arranged on the walking seat; Two wheel seats are symmetrically arranged on both sides of the bottom of the concave frame, and a No. 2 magnetic wheel is rotatably installed in the two wheel seats; The adjusting screw is screwed through the concave frame by thread engagement, and the position of the concave frame can be adjusted by the adjusting screw. Two winding motors are set on two adsorption seats through brackets. The output ends of the two winding motors are driven and installed with winding wheels, and control ropes are wound around the winding wheels. One end of the control ropes of the two winding wheels is connected to the back of the walking seat. The walking seat is controlled by the coordinated control of the two winding motors to complete the left and right adaptive movement adjustment on the walking belt.

8. A ship hull weld defect detection and identification device according to claim 7, characterized in that: The protection unit includes: Two protective parts are symmetrically arranged on both sides of the two wheel seats to complete the protection of both sides of the detection unit; Two transmission collars are fixedly mounted on one end of the two second magnetic wheels, and a plurality of trigger blocks are arranged in a circular array on the outside of each transmission collar, and inclined surfaces are arranged on both sides of each trigger block; Two air chambers are arranged on one side of the two wheel seats, each air chamber is provided with a piston member installed in a sliding seal, and a push spring is arranged between the piston member and the air chamber; Two running wheels are rotatably mounted on the bottom of the two piston members through brackets, and the running wheels can contact the trigger block to complete continuous triggering; Two No. 1 air pipes are connected and opened on one side of the top of the air chamber. A No. 2 air pipe is installed on the top of each air chamber on one side of the No. 1 air pipe. The No. 2 air pipe is connected to the protective piece to complete the cleaning operation.

9. A ship hull weld defect detection and identification device according to claim 8, characterized in that: Each guard includes: The protection shaft is set on one side of the two wheel seats to complete active protection, and each protection shaft is provided with a cross arm at both ends; The circulation area is opened through the center of the protection shaft and is connected with the No. 2 air pipe. A plurality of air holes communicating with the circulation area are opened on the side walls around the protection shaft; Two transmission belts and corresponding transmission sleeves are arranged at both ends of the protection shaft. The other ends of the two transmission belts are respectively connected to the two No. 2 magnetic wheels for transmission. The rotation control of the two protection shafts is completed through the rotation of the two No. 2 magnetic wheels. A plurality of cleaning members are arranged in a circular array outside the protective shaft to complete the cleaning action.

10. A method for detecting and identifying defects in a hull weld, using a device for detecting and identifying defects in a hull weld as claimed in any one of claims 1 to 9, characterized in that: The detection and identification method specifically includes the following steps: Step 1: Connect the two ends of the walking belt to the two adsorption seats, and then the inspector moves the two adsorption seats to the inspection area of ​​the hull; Step 2: Move the two adsorption seats to the detection area of ​​the hull, and place the two adsorption seats in the weld area, so that the two adsorption seats and the walking belt form an adaptively adjustable detection structure; Step 3: Use the adsorption mechanism to stably position and fix the adsorption seat and the hull; Step 4: Control the detection mechanism to complete the moving walking under the restriction of the walking belt, so as to complete the walking detection of the hull weld, and can complete the adaptive detection operation for the arc surface weld of the hull.

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