Crawler-type magnetic attraction welding seam detection and repair integrated crawler

Abstract

The invention relates to the technical field of chamber welding seam detecting and repairing equipment, in particular to a crawler-type magnetic attraction welding seam detecting and repairing integrated crawler which comprises a frame, a crawler-type magnetic attraction walking mechanism, a detecting mechanism, a repairing mechanism, a control system and a control terminal. The top of the frame is connected with the detecting mechanism and the repairing mechanism, the crawler-type magnetic attraction walking mechanism, the detecting mechanism and the repairing mechanism are electrically connected with the control system, and the control system is arranged on the frame and is in signal connection with the control terminal. The crawler can solve the problem that welding seam detection and repair are difficult to carry out due to the fact that the size of the compressed air energy storage underground chamber is too large, efficient and accurate detection of the welding seam of the underground chamber steel plate is achieved by arranging the crawler-type magnetic attraction walking mechanism, the detection mechanism and the repair mechanism, repair is carried out timely and accurately after defects are detected, and the working efficiency is improved. The reliability and the safety of the compressed air energy storage artificial chamber are improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of chamber weld detection and repair equipment, and in particular to a crawler-type magnetic weld detection and repair integrated crawler. Background Art

[0002] Compressed air energy storage artificial chambers, as the core components of compressed air energy storage power stations, play a vital role in the current energy storage field. Under current technical conditions, using steel plates as sealing layers has become the mainstream choice for chamber construction. The quality of welds at the joints of steel plates plays a decisive role in the reliability and safety of artificial chambers. Once problems occur in the welds, such as gas leakage, it will seriously affect the normal operation of the compressed air energy storage power station and may even cause safety accidents.

[0003] At present, underground chambers for compressed air energy storage are usually huge in size, and traditional inspection and repair equipment is difficult to enter and operate effectively. Most existing inspection methods require manual operation, which is not only inefficient, but also difficult to ensure comprehensiveness and accuracy in such a large chamber. It is even more difficult to detect welds at high altitudes. At the same time, after detecting weld defects, the repair work also faces problems such as inconvenient operation, difficulty in accurately locating the defect position, and low repair efficiency. For example, for common defects such as tiny pores, slag inclusions, and partial incomplete welding, traditional repair methods often require a lot of time and manpower, and the repair effect is difficult to guarantee.

[0004] The patent document with application number 202310278446.X discloses an intelligent crawling robot for weld detection, including a robot body, a weld detection device and an intelligent collection, analysis and processing system. The robot body walks on the tank wall by moving magnetic wheels. The weld detection device is installed on the robot body. The weld detection device is used to scan the weld and detect the thickness of the weld. The intelligent collection, analysis and processing system is arranged in the robot body, and the intelligent collection, analysis and processing system is connected to and controls the working status of the moving magnetic wheel and the weld detection device. Although it can complete weld detection, it cannot perform repairs. Summary of the Invention

[0005] In order to solve the technical problems existing in the prior art, the present invention provides a crawler-type magnetic weld detection and repair integrated crawler.

[0006] To achieve the above objectives, the present invention proposes a crawler-type magnetic weld inspection and repair integrated crawler, comprising: a vehicle frame, a crawler-type magnetic walking mechanism, a detection mechanism, a repair mechanism, a control system, and a control terminal, wherein the vehicle frame is rotatably connected to the crawler-type magnetic walking mechanism, the top of the vehicle frame is connected to the detection mechanism and the repair mechanism, the crawler-type magnetic walking mechanism, the detection mechanism, and the repair mechanism are electrically connected to the control system, the control system is arranged on the vehicle frame, and the control system is signal-connected to the control terminal. By providing the crawler-type magnetic walking mechanism, the detection mechanism, and the repair mechanism, efficient and accurate inspection of steel plate welds in underground chambers is achieved, and timely and accurate repairs can be performed after defects are detected, thereby improving the reliability and safety of compressed air energy storage artificial chambers and reducing maintenance costs and risks; the crawler can automatically walk on the steel plate wall of the underground chamber, quickly complete the weld inspection work, greatly shortening the inspection time. At the same time, after the defects are detected, repairs can be performed immediately, without the need for frequent manual movement of the inspection and repair equipment, significantly improving work efficiency. Operators only need to operate the crawler through the control terminal, without having to enter the underground chamber to perform high-risk operations, which greatly reduces labor intensity and safety risks and ensures the personal safety of workers; efficient inspection and repair work can timely discover and deal with weld defects, avoiding serious failures caused by the expansion of defects, thereby reducing the maintenance cost of the compressed air energy storage artificial chamber and extending its service life.

[0007] As an optional embodiment, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the left and right sides of the frame are respectively connected to a group of crawler-type magnetic walking mechanisms for rotation, and each group of crawler-type magnetic walking mechanisms includes a driving mechanism, a crawler, a conductive slide rail, a front wheel and a rear wheel, and the front wheel and the rear wheel are respectively connected to the outer side of the frame for rotation, and the crawler is connected through the front wheel and the rear wheel transmission, and the driving mechanism is electrically connected to the control system, and the driving mechanism drives the front wheel and the rear wheel to rotate to drive the The crawler is operated on crawler tracks, with the conductive rails connected to the sides of the frame and located within the crawler's wrapping cavity. Multiple electromagnets are embedded on the crawler surface. The crawler design incorporates electromagnets embedded in the track surface. When energized, the conductive rails provide strong magnetic force for the electromagnets, enabling the crawler to stably adhere and move along the steel plate walls of the underground chamber. The crawler design increases the contact area with the steel plates, providing greater adhesion and stability than traditional wheel-type or other adsorption methods, enabling it to adhere to the sides and top of the underground chamber. Furthermore, the crawler-type walking mechanism possesses excellent obstacle-crossing capabilities, capable of traversing tiny bumps or depressions in welds, ensuring the crawler's continuity during inspection and repair.

[0008] As an optional embodiment, in the crawler-type magnetic weld inspection and repair integrated crawler provided by the present invention, the drive mechanism includes a stepper motor and a motor reducer. The stepper motor is connected to the motor reducer, and the motor reducer is rotationally connected to the front and rear wheels via bearings. The drive mechanism uses a stepper motor, which provides power to the crawler tracks through gear transmission and other means, enabling the crawler to move forward, backward, and turn on the wall. The stepper motor has excellent speed regulation performance, allowing flexible adjustment of travel speed according to actual inspection and repair needs. The motor reducer is connected to the drive wheel set via bearings to provide power for the crawler's movement.

[0009] As an optional embodiment, in the crawler-type magnetic weld inspection and repair integrated crawler provided by the present invention, the inspection mechanism includes a camera, an ultrasonic flaw detector, and an X-ray flaw detector. The camera is arranged at the front bottom of the frame, and the ultrasonic flaw detector and the X-ray flaw detector are both connected to the frame, and the ultrasonic flaw detector and the X-ray flaw detector are arranged at the front end of the frame in the forward direction. The camera, ultrasonic flaw detector, and X-ray flaw detector are connected to the control system via a data cable. By setting up an ultrasonic flaw detector and utilizing the propagation characteristics of ultrasonic waves in different media, it is possible to quickly and accurately detect defects such as tiny pores and slag inclusions inside the weld. The X-ray flaw detector transmits X-rays through the weld and determines whether the weld has defects such as incomplete penetration based on the attenuation of the rays. The combined use of ultrasonic flaw detectors and X-ray flaw detectors can achieve comprehensive and accurate detection of welds, improving the accuracy and reliability of detection. At the same time, the detection mechanism is equipped with a camera device, which can automatically adjust the angle and position of the detection mechanism according to the position and shape of the weld to ensure the effectiveness of the detection. The detection data is transmitted to the control system in real time via a data cable so that the operator can understand the quality status of the weld in a timely manner.

[0010] As an optional embodiment, in the crawler-type magnetic weld inspection and repair integrated crawler provided by the present invention, the repair mechanism includes a glue storage tank, a high-pressure spray gun, and an automatic control valve. The glue storage tank is connected to the high-pressure spray gun through the automatic control valve. The glue storage tank is connected to the vehicle frame. The nozzle of the high-pressure spray gun is located at the bottom of the vehicle frame. The automatic control valve is connected to the control system. When the inspection mechanism detects a defect in the weld, the repair mechanism starts working. For primary defects, such as tiny pores; secondary defects, such as slag inclusions, partial incomplete welds, etc., the repair mechanism uses automatic spraying of weld sealant to repair. The glue storage tank is used to store weld sealant. Under the control of the control system, the high-pressure spray gun evenly sprays the sealant on the defect. The automatic control valve can accurately control the amount of sealant sprayed according to the size and type of the defect to ensure the repair effect.

[0011] As an optional embodiment, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the crawler-type magnetic weld detection and repair integrated crawler also includes a welding device, which is connected to the control system, and the welding device is connected to the frame and is arranged at the rear end of the frame. The welding equipment includes a driving part, a robotic arm, and a welding robotic claw. The driving part drives the robotic arm to move, and the end of the robotic arm is connected to the welding robotic claw, and the welding robotic claw is used for welding.

[0012] As an optional implementation scheme, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, a camera is provided on the robotic arm to facilitate the determination of the weld defect location and timely welding repair.

[0013] As an optional implementation scheme, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the crawler-type magnetic weld detection and repair integrated crawler also includes a battery, which is fixed on the frame, and the battery is used to provide power to the crawler-type magnetic walking mechanism, detection mechanism, repair mechanism and welding equipment.

[0014] Compared with the prior art, the beneficial effects of the technical solution of the present invention are as follows: the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention solves the problem of difficulty in weld detection and repair caused by the excessive size of the compressed air energy storage underground chamber. By setting a crawler-type magnetic walking mechanism, a detection mechanism and a repair mechanism, efficient and accurate detection of the steel plate welds in the underground chamber is achieved, and after defects are detected, repairs can be made promptly and accurately, thereby improving the reliability and safety of the compressed air energy storage artificial chamber and reducing maintenance costs and risks; the crawler can automatically walk on the steel plate wall of the underground chamber, quickly complete the weld detection work, greatly shortening the detection time, and at the same time, after defects are detected, they can be repaired immediately, without the need for manual frequent movement of the detection and repair equipment, significantly improving work efficiency. In addition, by setting a detection mechanism with a camera function, comprehensive and accurate detection of welds is achieved, effectively avoiding omissions and misjudgments that may occur in manual detection, and improving the accuracy and reliability of the detection results. Operators only need to operate the crawler through the control terminal, without having to enter the underground chamber to perform high-risk operations, which greatly reduces labor intensity and safety risks and ensures the personal safety of workers; efficient inspection and repair work can timely discover and deal with weld defects, avoiding serious failures caused by the expansion of defects, thereby reducing the maintenance cost of the compressed air energy storage artificial chamber and extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the structure of the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention;

[0017] Figure 2 This is a structural diagram of the crawler-type magnetic walking mechanism provided by the present invention;

[0018] Figure 3 A schematic structural diagram of the repair mechanism provided by the present invention;

[0019] Figure 4 This is a schematic diagram of the workflow of the testing agency and the repair agency.

[0020] [Description of Reference Numerals]

[0021] 1. Frame; 2. Tracked magnetic walking mechanism; 21. Driving mechanism; 211. Stepper motor; 212. Motor reducer; 22. Track; 23. Conductive slide rail; 24. Front wheel; 25. Rear wheel; 26. Electromagnet; 3. Detection mechanism; 4. Repair mechanism; 41. Glue storage tank; 42. High-pressure spray gun; 43. Automatic control valve; 5. Control system; 6. Welding equipment; 61. Robotic arm; 62. Welding robot claw; 7. Battery. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be noted that all directional indications in the embodiments of the present invention, such as first, second, up, down, left, right, front, back, etc., are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] The present invention provides a crawler-type magnetic weld detection and repair integrated crawler, such as Figure 1-Figure 4 As shown, it includes a frame 1, a crawler-type magnetic walking mechanism 2, a detection mechanism 3, a repair mechanism 4, a control system 5 and a control terminal. The frame 1 is rotatably connected to the crawler-type magnetic walking mechanism 2, the top of the frame 1 is connected to the detection mechanism 3 and the repair mechanism 4, the crawler-type magnetic walking mechanism 2, the detection mechanism 3 and the repair mechanism 4 are electrically connected to the control system 5, the control system 5 is arranged on the frame 1, and the control system 5 is signal-connected to the control terminal. By providing the crawler-type magnetic walking mechanism 2, the detection mechanism 3 and the repair mechanism 4, efficient and accurate detection of the welds of the steel plates in the underground chamber can be achieved, and repairs can be carried out promptly and accurately after defects are detected, thereby improving the reliability and safety of the compressed air energy storage artificial chamber and reducing maintenance costs and risks. The crawler can automatically walk on the steel plate wall of the underground chamber and quickly complete the inspection of the welds, greatly shortening the inspection time. At the same time, after the defects are detected, repairs can be carried out immediately, without the need for frequent manual movement of the inspection and repair equipment, significantly improving work efficiency. Operators only need to operate the crawler through the control terminal, without having to enter the underground chamber to perform high-risk operations, which greatly reduces labor intensity and safety risks and ensures the personal safety of workers; efficient inspection and repair work can timely discover and deal with weld defects, avoiding serious failures caused by the expansion of defects, thereby reducing the maintenance cost of the compressed air energy storage artificial chamber and extending its service life.

[0026] To fully utilize the space, the control system 5 is located above and connected to the detection mechanism 3. The control system 5 uses a microprocessor as a control unit. The operator sends instructions to the control system 5 via a control terminal, which can be a remote control or a ground control station. The control system 5 controls the crawler's movements, inspections, and repairs based on these instructions. Simultaneously, the control system 5 receives inspection data transmitted from the detection mechanism 3 in real time and analyzes and processes the data. Once a weld defect is detected, the control system 5 immediately activates the repair mechanism 4 to perform the repair and records information such as the defect's location, type, and repair status. Furthermore, the control system 5 also has a fault diagnosis function, capable of monitoring the operating status of the crawler's various components in real time. When a fault occurs, it promptly issues an alarm and locates the fault, facilitating repairs by maintenance personnel.

[0027] like Figure 2As shown, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the left and right sides of the frame 1 are respectively rotatably connected to a group of crawler-type magnetic walking mechanisms 2, and each group of crawler-type magnetic walking mechanisms 2 includes a driving mechanism 21, a crawler 22, a conductive slide rail 23, a front wheel 24 and a rear wheel 25, wherein the crawler 22 can be a rubber crawler 22, and the front wheel 24 and the rear wheel 25 are respectively rotatably connected to the outer side of the frame 1, and the crawler 22 is connected to the front wheel 24 and the rear wheel 25 through transmission. Specifically, the front wheel 24 and the rear wheel 25 are respectively engaged with the crawler 22 through gears, and the driving mechanism 21 is electrically connected to the control system 5, and the driving mechanism 21 drives the front wheel 24 and The rear wheels 25 rotate to drive the crawler tracks 22. Conductive rails 23 are connected to the sides of the frame and located within the track's enclosure. Multiple electromagnets 26, which can be suction-cup electromagnets, are embedded on the surface of the crawler tracks 22. When energized, these electromagnets 26 provide a strong magnetic force, enabling the crawler to stably adhere to and move along the steel plate walls of the underground chamber. The crawler track 22 design increases the contact area with the steel plates, providing greater adhesion and stability than traditional wheel-type or other attachment methods, enabling it to adhere to the sides and ceiling of the underground chamber. Furthermore, the crawler track 22 mechanism possesses excellent obstacle-crossing capabilities, capable of traversing even small bumps and depressions in welds, ensuring the crawler's continuity during inspection and repair.

[0028] Preferably, in the crawler-type magnetic weld inspection and repair integrated crawler provided by the present invention, the drive mechanism 21 includes a stepper motor 211 and a motor reducer 212. The stepper motor 211 is connected to the frame 1 via bolts, and the stepper motor 211 is connected to the motor reducer 212. The motor reducer 212 is rotatably connected to the front wheel 24 and the rear wheel 25 via bearings. The drive mechanism 21 uses a stepper motor 211 to provide power to the crawler 22 through gear transmission and other means, enabling the crawler to move forward, backward, and turn on the wall. The stepper motor 211 has good speed regulation performance and can flexibly adjust the travel speed according to actual inspection and repair needs. The motor reducer 212 is connected to the drive wheel set via bearings to provide power for the crawler to move.

[0029] In addition, in the crawler-type magnetic weld inspection and repair integrated crawler provided by the present invention, the inspection mechanism 3 includes a camera, an ultrasonic flaw detector, and an X-ray flaw detector. The camera is located at the front bottom of the vehicle frame 1. The ultrasonic flaw detector and the X-ray flaw detector are both connected to the vehicle frame 1 by bolts and are located at the front end of the vehicle frame 1 in the forward direction. The camera, ultrasonic flaw detector, and X-ray flaw detector are connected to the control system 5 via data cables. Ultrasonic flaw detectors and X-ray flaw detectors are commonly used in the prior art (not shown). By installing the ultrasonic flaw detector, the ultrasonic flaw detector utilizes the propagation characteristics of ultrasonic waves in different media to quickly and accurately detect defects such as tiny pores and slag inclusions within the weld. The X-ray flaw detector transmits X-rays through the weld and determines whether the weld has defects such as incomplete penetration based on the attenuation of the rays. The combined use of the ultrasonic flaw detector and the X-ray flaw detector enables comprehensive and accurate inspection of the weld, improving the accuracy and reliability of the inspection. At the same time, the detection mechanism 3 is equipped with a camera device, which can automatically adjust the angle and position of the detection mechanism 3 according to the position and shape of the weld to ensure the effectiveness of the detection. The detection data is transmitted to the control system 5 in real time via a data line so that the operator can understand the quality status of the weld in a timely manner.

[0030] like Figure 3 As shown, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the repair mechanism 4 includes a glue storage tank 41, a high-pressure spray gun 42 and an automatic control valve 43. The glue storage tank 41 and the high-pressure spray gun 42 are connected through the automatic control valve 43. The glue storage tank 41 is connected to the frame 1, and the nozzle of the high-pressure spray gun 42 is arranged at the bottom of the frame 1. The automatic control valve 43 is connected to the control system 5. When the detection mechanism 3 detects that there are defects in the weld, the repair mechanism 4 starts to work. For primary defects, such as tiny pores; secondary defects, such as slag inclusions, partial incomplete welding and other defects, the repair mechanism 4 adopts the method of automatically spraying weld sealant for repair. The glue storage tank 41 is used to store weld sealant. Under the control of the control system 5, the high-pressure spray gun 42 sprays the sealant evenly on the defect. The automatic control valve 43 can accurately control the spraying amount of the sealant according to the size and type of the defect to ensure the repair effect. The workflow diagram of the detection structure and the repair mechanism 4 is shown as follows. Figure 4 As shown, the control system 5 first determines whether the weld is clean. If it is not clean, the ultrasonic flaw detector and the X-ray flaw detector are started. The ultrasonic flaw detector detects defects such as pores and slag inclusions, and the X-ray flaw detector detects defects such as incomplete welding. After the defects are detected, the control system 5 is fed back to the control system 5. The control system 5 makes a judgment. If the defects are defects such as pores and slag inclusions, the repair mechanism 4 is started to spray sealant for repair. If the defects are large-area incomplete welding defects, the welding equipment 6 is started to perform welding repair.

[0031] like Figure 1 As shown, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the crawler-type magnetic weld detection and repair integrated crawler also includes a welding device 6, which is connected to the control system 5, and the welding device 6 is connected to the frame 1 and is arranged at the rear end of the frame 1. The welding device 6 includes a driving part, a robotic arm 61, and a welding mechanical claw 62, wherein the driving part is a motor, and the driving part drives the robotic arm 61 to move, and the end of the robotic arm 61 is connected to the welding mechanical claw 62, and the welding mechanical claw 62 is used for welding.

[0032] Preferably, in the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, a camera is provided on the robotic arm 61 to facilitate the determination of weld defect locations and timely welding repairs.

[0033] In the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention, the crawler-type magnetic weld detection and repair integrated crawler also includes a battery 7, which is fixed on the frame 1. The battery 7 is used to provide power to the crawler-type magnetic walking mechanism 2, the detection mechanism 3, the repair mechanism 4 and the welding equipment 6.

[0034] In practical application, the crawler-type magnetic weld detection and repair integrated crawler provided by the present invention is first transported to the entrance of the compressed air energy storage underground chamber. The operator starts the crawler through a remote control or a ground control station. The crawler uses the crawler-type magnetic walking mechanism 2 to stably adsorb on the steel plate wall of the underground chamber and starts to move along the weld. During the movement, the ultrasonic flaw detector and the X-ray flaw detector of the detection mechanism 3 work simultaneously to perform real-time detection of the weld. The detection data is transmitted to the control system 5 in real time, and the control system 5 processes the data. The system analyzes and processes the weld seam. When a weld defect is detected, the control system 5 immediately determines the type and level of the defect. If it is a primary defect (tiny pores) or a secondary defect (slag inclusions, partial incomplete penetration), the control system 5 activates the high-pressure spray gun 42 of the repair mechanism 4, evenly spraying the weld sealant from the glue storage tank 41 onto the defect for repair. If the defect is more serious, the control system 5 activates the welding equipment 6 for welding repair. Throughout the inspection and repair process, the operator can monitor the crawler's operating status in real time via a remote control or ground control station and adjust it according to actual conditions. After the crawler completes the inspection and repair of a weld seam, the operator can control it to move to the next weld seam and continue the operation until the entire underground chamber steel plate weld inspection and repair task is completed.

[0035] It should be understood that the above description of the specific embodiments of the present invention is merely for the purpose of illustrating the technical approach and features of the present invention. Its purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. However, the present invention is not limited to the above-described specific embodiments. Any changes or modifications made within the scope of the claims of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A crawler-type magnetic weld detection and repair integrated crawler, characterized in that: The invention comprises a vehicle frame (1), a crawler-type magnetic walking mechanism (2), a detection mechanism (3), a repair mechanism (4), a control system (5) and a control terminal. The vehicle frame (1) is rotatably connected to the crawler-type magnetic walking mechanism (2), the top of the vehicle frame (1) is connected to the detection mechanism (3) and the repair mechanism (4), the crawler-type magnetic walking mechanism (2), the detection mechanism (3) and the repair mechanism (4) are electrically connected to the control system (5), the control system (5) is arranged on the vehicle frame (1), and the control system (5) is signal-connected to the control terminal.

2. The crawler-type magnetic weld detection and repair integrated crawler according to claim 1 is characterized in that: The left and right sides of the frame (1) are respectively connected to a group of crawler-type magnetic walking mechanisms (2) for rotation. Each group of crawler-type magnetic walking mechanisms (2) includes a driving mechanism (21), a crawler (22), a conductive slide rail (23), a front wheel (24) and a rear wheel (25). The front wheel (24) and the rear wheel (25) are respectively connected to the outer side of the frame (1) for rotation. The crawler (22) is connected to the front wheel (24) and the rear wheel (25) for transmission. The driving mechanism (21) is electrically connected to the control system (5). The driving mechanism (21) drives the front wheel (24) and the rear wheel (25) to rotate to drive the crawler (22) to run. The conductive slide rail (23) is connected to the side of the frame and is arranged in the wrapping cavity of the crawler (22). The surface of the crawler (22) is inlaid with a plurality of electromagnets (26).

3. The crawler-type magnetic weld detection and repair integrated crawler according to claim 2 is characterized in that: The driving mechanism (21) includes a stepping motor (211) and a motor reducer (212), wherein the stepping motor (211) is connected to the motor reducer (212), and the motor reducer (212) is rotationally connected to the front wheel (24) and the rear wheel (25) via bearings.

4. The crawler-type magnetic weld detection and repair integrated crawler according to claim 1, characterized in that: The detection mechanism (3) includes a camera, an ultrasonic flaw detector, and an X-ray flaw detector. The camera is arranged at the bottom of the front end of the vehicle frame (1). The ultrasonic flaw detector and the X-ray flaw detector are both connected to the vehicle frame (1). The ultrasonic flaw detector and the X-ray flaw detector are arranged at the front end of the vehicle frame (1) in the forward direction. The camera, the ultrasonic flaw detector, and the X-ray flaw detector are connected to the control system (5) via a data line.

5. The crawler-type magnetic weld detection and repair integrated crawler according to claim 1, characterized in that: The repair mechanism (4) comprises a glue storage tank (41), a high-pressure spray gun (42) and an automatic control valve (43); the glue storage tank (41) and the high-pressure spray gun (42) are communicated with each other via the automatic control valve (43); the glue storage tank (41) is connected to the vehicle frame (1); the nozzle of the high-pressure spray gun (42) is arranged at the bottom of the vehicle frame (1); and the automatic control valve (43) is connected to the control system (5).

6. The crawler-type magnetic weld detection and repair integrated crawler according to claim 1, characterized in that: The crawler-type magnetic weld detection and repair integrated crawler also includes a welding device (6), the welding device (6) is connected to the control system (5), the welding device (6) is connected to the vehicle frame (1) and is arranged at the rear end of the vehicle frame (1), the welding device (6) includes a driving unit, a mechanical arm (61), and a welding mechanical claw (62), the driving unit drives the mechanical arm (61) to move, the end of the mechanical arm (61) is connected to the welding mechanical claw (62), and the welding mechanical claw (62) is used for welding.

7. The crawler-type magnetic weld detection and repair integrated crawler according to claim 6, characterized in that: The mechanical arm (61) is provided with a camera.

8. The crawler-type magnetic weld detection and repair integrated crawler according to claim 1, characterized in that: The crawler-type magnetic weld detection and repair integrated crawler further comprises a battery (7), which is fixed on the vehicle frame (1). The battery (7) is used to provide power to the crawler-type magnetic walking mechanism (2), the detection mechanism (3), the repair mechanism (4) and the welding equipment (6).

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