Welding seam scanning laser positioning device

Abstract

The invention belongs to the technical field of welding seam quality detection, and discloses a welding seam scanning laser positioning device which comprises a mounting base, a first mounting plate and a second mounting plate which are in mirror symmetry are arranged at the top of the mounting base, and a driving assembly used for driving the first mounting plate and the second mounting plate to be close to each other or away from each other is arranged on the mounting base. The first mounting plate and the second mounting plate are each provided with a walking mechanism used for driving the first mounting plate and the second mounting plate to move in the length direction of a pipeline to be subjected to weld joint scanning, and weld joint detectors used for scanning the weld joints of the pipeline are fixed to the first mounting plate and the second mounting plate. The defect that in the prior art, it is difficult to detect the welding seam of a long pipeline and it is difficult to detect the welding seam of the pipeline at the high position is overcome.

Description

Technical Field

[0001] This invention relates to the field of weld quality inspection technology, and in particular to a laser positioning device for weld scanning. Background Technology

[0002] After high-pressure pipelines are butt-welded, ultrasonic waves can be used to detect defects in the weld. However, the closeness of the contact between the probe and the surface of the steel pipe directly affects the accuracy and thoroughness of the weld detection.

[0003] In existing technologies, weld defect detectors are mainly used manually to inspect the weld quality on pipelines. However, for ease of transportation, pipelines are usually not very long. In some large factories, multiple pipelines may need to be welded into long straight pipes. Manually inspecting these pipes with handheld weld defect detectors is labor-intensive, and inspecting welds on high-altitude pipelines is particularly difficult. Therefore, it is necessary to design a device that can reduce the workload of workers and make it easier to inspect welds on high-altitude pipelines. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a laser positioning device for weld seam scanning.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a laser positioning device for weld seam scanning, including a mounting base, a first mounting plate and a second mounting plate that are mirror images of each other are provided on the top of the mounting base, a driving component for driving the first mounting plate and the second mounting plate to move closer or further apart from each other is provided on the mounting base, a traveling mechanism for driving itself to move along the length direction of the pipe to be scanned for weld seam is provided on both the first mounting plate and the second mounting plate, and a weld seam detector for scanning the pipe weld seam is fixed on both the first mounting plate and the second mounting plate.

[0006] By adopting the above technical solution, when inspecting pipeline welds, the operator only needs to place the mounting base under the pipeline, then drive the first mounting plate and the second mounting plate to move closer to each other through the drive component, and finally control the first mounting plate and the second mounting plate to move simultaneously along the length of the pipeline through the walking mechanism, so that the weld inspection instrument on the first mounting plate and the second mounting plate can inspect the pipeline weld. This overcomes the shortcomings of traditional technology, which makes it difficult to inspect welds of long pipelines and difficult to inspect welds of pipelines at high altitudes.

[0007] Furthermore, the first mounting plate includes a vertical plate segment slidably connected to the mounting base and an arc plate segment integrally formed with the upper end of the vertical section. The inner diameter of the arc plate segment is larger than the outer diameter of the pipe. Multiple mounting grooves are evenly distributed about the axis of the arc plate segment on the inner side of the arc plate segment. The traveling mechanism includes a traveling component and a power component. The number of traveling components is equal to the number of mounting grooves and their positions correspond one-to-one. The traveling component includes a rotating shaft rotatably mounted on the inner wall of the mounting groove, a traveling wheel fixedly sleeved on the rotating shaft and abutting against the outer wall of the pipe, a worm gear fixedly sleeved on the rotating shaft, a placement plate fixed on one side wall of the arc plate segment, a worm rotatably mounted on the placement plate and meshing with the worm gear, and a driven gear fixedly sleeved on the worm. The traveling wheel and the worm gear are both located in the mounting groove. The power component is set on the first mounting plate and is used to drive the driven gears in the multiple traveling components to rotate synchronously, so that the traveling wheel travels along the outer wall of the pipe.

[0008] By adopting the above technical solution, the power component drives the driven gears in multiple sets of walking components to rotate synchronously. Under the transmission action of the worm and worm wheel, multiple walking wheels rotate synchronously. Since the walking wheels are pressed against the outer wall of the pipe, the first mounting plate, the second mounting plate, and the mounting seat can move along the length of the pipe so that the weld inspection instrument can scan the pipe weld.

[0009] Furthermore, the power assembly includes an active rod rotatably mounted on the placement plate, a travel motor fixed on the placement plate and used to drive the active rod to rotate, an active gear fixed to one end of the active rod and meshing with a driven gear, and an arc-shaped rack movably connected to the first mounting plate. Arc-shaped grooves are provided on the side walls of both sides of the first mounting plate for sliding engagement of the arc-shaped rack's tooth plates. The extension direction of the arc-shaped grooves is parallel to the extension direction of the arc-shaped plate segment. The teeth of the arc-shaped rack mesh with the driven gears in multiple sets of travel assemblies. The arc-shaped racks in the travel assembly corresponding to the first mounting plate and the arc-shaped racks in the travel assembly corresponding to the second mounting plate are staggered.

[0010] By adopting the above technical solution, after the walking motor works, it drives the driving rod and driving gear to rotate, thereby causing the driven gear, worm gear, worm wheel, and walking wheels to rotate. Since the arc-shaped rack meshes with the driving gear and multiple driven gears, multiple driven gears and their corresponding walking wheels rotate, allowing the device to travel along the length of the pipeline. The weld quality can be inspected using a weld inspection instrument. Because the arc-shaped rack in the walking assembly corresponding to the first mounting plate is staggered with the arc-shaped rack in the walking assembly corresponding to the second mounting plate, arc-shaped grooves are provided on both sides of the first mounting plate, facilitating the arc-shaped rack to pass through the arc-shaped grooves on the second mounting plate and finally rotate back into the first mounting plate.

[0011] Furthermore, the cross-section of the toothed plate of the arc-shaped rack and the cross-section of the arc-shaped groove are both T-shaped, and the intersection between the opening end of the arc-shaped groove and the inner wall of the arc-shaped groove is rounded.

[0012] By adopting the above technical solution, the cross-section of the toothed plate of the arc-shaped rack is limited, ensuring the stability of the arc-shaped rack during its movement along the first mounting plate or the second mounting plate. The rounded corners reduce the difficulty of aligning and sliding the arc-shaped rack with the arc-shaped groove.

[0013] Furthermore, the second mounting plate has an auxiliary component on its arc-shaped section to assist the arc-shaped rack in rotating from the arc-shaped groove on the second mounting plate to the arc-shaped groove on the first mounting plate. The auxiliary component includes a vertical plate fixed to the arc-shaped section, a driven rod rotatably mounted on the vertical plate, a transmission gear fixedly sleeved on one end of the driven rod and meshing with the arc-shaped rack, a transmission rod rotatably mounted on the vertical plate, an auxiliary motor fixed to the vertical plate and used to drive the transmission rod to rotate, and an auxiliary gear fixed to one end of the transmission rod and meshing with the transmission gear. The transmission gear and the driven gear are symmetrically arranged about the pipeline axis. The mounting base has a battery and a controller that are electrically connected to both the auxiliary motor and the travel motor. The auxiliary motor and the travel motor move synchronously under the control of the controller.

[0014] By adopting the above technical solution, the controller can control the auxiliary motor and the walking motor to run synchronously. When the arc-shaped rack slides from the arc-shaped groove on the first mounting plate to the arc-shaped groove on the second mounting plate, the transmission rod, auxiliary gear, transmission gear, and driven rod rotate under the drive of the auxiliary motor. This allows the arc-shaped rack to continue sliding and smoothly rotate from the arc-shaped groove on the second mounting plate back to the arc-shaped groove on the first mounting plate. This ensures that the device can continuously travel along the outer wall of the pipeline, thereby facilitating the continuous inspection of the pipeline weld by the weld inspection instrument.

[0015] Furthermore, the traveling wheel is a rubber wheel, and the traveling wheel near the bottom of the arc plate segment is located below the pipe axis. The mounting base is provided with a sliding groove for sliding engagement of the vertical plate segment of the first mounting plate or the vertical plate segment of the second mounting plate. There are two sliding grooves and they are symmetrically distributed. When the traveling wheel is pressed against the outer wall of the pipe, the sides of the vertical plate segments of the first mounting plate and the second mounting plate that are close to each other abut against the sides of the two sliding grooves that are close to each other.

[0016] Furthermore, the drive assembly includes a threaded rod rotatably mounted between the inner walls of two mutually spaced sliding grooves and a drive motor fixed to the mounting base for driving the threaded rod to rotate. The threaded rod is provided with two sections of threads with equal pitch and opposite directions of rotation. The two sections of threads on the threaded rod are symmetrically arranged about the middle of the mounting base. The two sections of threads on the threaded rod are respectively located in the two sliding grooves. The threaded rod passes through the first mounting plate and the second mounting plate and is threadedly connected. The drive motor is electrically connected to both the controller and the battery.

[0017] By adopting the above technical solution, after the drive motor works, it drives the threaded rod to rotate. Since the threaded rod is threadedly connected to the first mounting plate and the second mounting plate, the vertical plate sections of the first mounting plate and the second mounting plate are both in sliding engagement with the sliding grooves, so that the first mounting plate and the second mounting plate move closer to each other until the traveling wheel is pressed against the outer wall of the pipe and the drive motor is turned off. At this time, the sides of the vertical plate sections of the first mounting plate and the second mounting plate that are close to each other are respectively in contact with the sides of the two sliding grooves that are close to each other.

[0018] Furthermore, the mounting base is provided with a clearance groove located between two sliding grooves, and the arc-shaped rack in the power component corresponding to the first mounting plate and the arc-shaped rack in the power component corresponding to the second mounting plate are respectively disposed on both sides of the threaded rod in the clearance groove.

[0019] By adopting the above technical solution and setting the clearance groove, the smooth reciprocating rotation of the arc-shaped rack between the first mounting plate and the second mounting plate is ensured.

[0020] In summary, the present invention has the following beneficial effects:

[0021] 1. In this application, when inspecting pipe welds, the operator only needs to place the mounting base under the pipe, then drive the first mounting plate and the second mounting plate to move closer to each other through the drive component, and finally control the first mounting plate and the second mounting plate to move simultaneously along the length of the pipe through the walking mechanism, so that the weld inspection instrument on the first mounting plate and the second mounting plate can inspect the pipe welds, overcoming the defects of traditional technology that it is difficult to inspect welds of long pipes and difficult to inspect welds of pipes at high positions;

[0022] 2. In this application, after the power component drives the driven gears in multiple sets of walking components to rotate synchronously, the multiple walking wheels rotate synchronously under the transmission action of the worm and worm wheel. Since the walking wheels are pressed against the outer wall of the pipe, the first mounting plate, the second mounting plate and the mounting seat can move along the length of the pipe so that the weld inspection instrument can scan the weld of the pipe. Attached Figure Description

[0023] Figure 1This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0024] Figure 2 yes Figure 1 A schematic diagram of the structure after the pipes have been removed;

[0025] Figure 3 Figure 2 A structural diagram from another perspective;

[0026] Figure 4 yes Figure 2 Enlarged view of point A in the middle;

[0027] Figure 5 yes Figure 2 Enlarged view of point B in the middle;

[0028] Figure 6 This is a schematic diagram illustrating the state of the arc-shaped rack of the first mounting plate during reset, according to an embodiment of the present invention.

[0029] In the diagram: 1. Mounting base; 11. Battery; 12. Controller; 13. Sliding groove; 14. Clearance groove; 2. First mounting plate; 21. Vertical plate segment; 22. Arc plate segment; 221. Mounting groove; 23. Arc-shaped sliding groove; 3. Second mounting plate; 4. Drive assembly; 41. Threaded rod; 42. Drive motor; 5. Walking mechanism; 51. Walking assembly; 511. Rotating shaft; 512. Walking wheel; 513. Worm gear; 514. Placement plate; 515. Worm; 516. Driven gear; 52. Power assembly; 521. Driving rod; 522. Walking motor; 523. Driving gear; 524. Arc-shaped rack; 6. Weld inspection instrument; 7. Pipeline; 8. Auxiliary assembly; 81. Vertical plate; 82. Driven rod; 83. Transmission gear; 84. Transmission rod; 85. Auxiliary motor; 86. Auxiliary gear. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0031] like Figure 1-6As shown in the figure, this application discloses a laser positioning device for weld seam scanning, including a mounting base 1. The top of the mounting base 1 is provided with a first mounting plate 2 and a second mounting plate 3 that are mirror images of each other. The mounting base 1 is provided with a driving component 4 for driving the first mounting plate 2 and the second mounting plate 3 to move closer or further apart from each other. The first mounting plate 2 and the second mounting plate 3 are each provided with a traveling mechanism 5 for driving themselves to move along the length direction of the pipe 7 to be scanned for weld seam scanning. The first mounting plate 2 and the second mounting plate 3 are each fixed with a weld seam detector 6 for scanning the weld seam of the pipe 7.

[0032] When inspecting the weld seam of pipe 7, the operator only needs to place the mounting base 1 below pipe 7. Then, the drive assembly 4 drives the first mounting plate 2 and the second mounting plate 3 closer together. Finally, the traveling mechanism 5 controls the first mounting plate 2 and the second mounting plate 3 to move simultaneously along the length of pipe 7, allowing the weld seam inspector 6 on the first mounting plate 2 and the second mounting plate 3 to inspect the weld seam of pipe 7. This overcomes the shortcomings of traditional technologies, which struggle to inspect weld seams on longer pipes 7 and weld seams on pipes 7 at higher locations. It is worth noting that the weld seam inspector 6 uses a conventional instrument for weld quality inspection, such as the USM36DAC DGS model. It utilizes laser scanning to inspect the weld seam of pipe 7; the specific operating principle is existing technology and will not be elaborated upon here.

[0033] The first mounting plate 2 includes a vertical plate segment 21 slidably connected to the mounting base 1 and an arc plate segment 22 integrally formed with the upper end of the vertical plate segment. The inner diameter of the arc plate segment 22 is larger than the outer diameter of the pipe 7. Multiple mounting grooves 221 are evenly distributed about the axis of the arc plate segment 22 on the inner side of the arc plate segment 22. The traveling mechanism 5 includes a traveling component 51 and a power component 52. The number of traveling components 51 is equal to the number of mounting grooves 221 and their positions correspond one-to-one. The traveling component 51 includes a rotating shaft 511 rotatably mounted on the inner wall of the mounting groove 221 and a fixed sleeve on the rotating shaft 511. The system includes a traveling wheel 512 that abuts against the outer wall of the pipe 7, a worm gear 513 fixedly sleeved on the rotating shaft 511, a placement plate 514 fixed on one side wall of the arc plate segment 22, a worm 515 rotatably mounted on the placement plate 514 and meshing with the worm gear 513, and a driven gear 516 fixedly sleeved on the worm gear 515. The traveling wheel 512 and the worm gear 513 are both located in the mounting groove 221. The power assembly 52 is set on the first mounting plate 2 and is used to drive the driven gears 516 in the multiple sets of traveling assemblies 51 to rotate synchronously, so that the traveling wheel 512 travels along the outer wall of the pipe 7.

[0034] After the power component 52 drives the driven gears 516 in the multiple sets of walking components 51 to rotate synchronously, the multiple walking wheels 512 rotate synchronously under the transmission action of the worm 515 and worm wheel 513. Since the walking wheels 512 are pressed against the outer wall of the pipe 7, the first mounting plate 2, the second mounting plate 3 and the mounting seat 1 can move along the length of the pipe 7 so that the weld inspection instrument 6 can scan the weld of the pipe 7.

[0035] The power assembly 52 includes an active rod 521 rotatably mounted on the placement plate 514, a walking motor 522 fixed on the placement plate 514 and used to drive the active rod 521 to rotate, an active gear 523 fixed to one end of the active rod 521 and meshing with a driven gear 516, and an arc-shaped rack 524 movably connected to the first mounting plate 2. The side walls on both sides of the first mounting plate 2 are provided with arc-shaped grooves 23 for sliding engagement of the tooth plates of the arc-shaped rack 524. The extension direction of the arc-shaped grooves 23 is parallel to the extension direction of the arc plate segment 22. The teeth of the arc-shaped rack 524 mesh with the driven gears 516 in multiple sets of walking assemblies 51. The arc-shaped racks 524 in the walking assembly 51 corresponding to the first mounting plate 2 and the arc-shaped racks 524 in the walking assembly 51 corresponding to the second mounting plate 3 are staggered.

[0036] After the walking motor 522 starts working, it drives the drive rod 521 and the drive gear 523 to rotate, thereby causing the driven gear 516, worm 515, worm wheel 513 and walking wheel 512 to rotate. Since the arc-shaped rack 524 meshes with the drive gear 523 and multiple driven gears 516, multiple driven gears 516 and their corresponding walking wheels 512 rotate, so that the device can move along the length of the pipe 7. The weld quality can be checked by using the weld inspection instrument 6. Since the arc-shaped rack 524 in the walking component 51 corresponding to the first mounting plate 2 and the arc-shaped rack 524 in the walking component 51 corresponding to the second mounting plate 3 are staggered, arc-shaped grooves 23 are provided on the side walls on both sides of the first mounting plate 2, so that the arc-shaped rack 524 can pass through the arc-shaped grooves 23 on the second mounting plate 3 and finally rotate back into the first mounting plate 2.

[0037] The cross-section of the toothed plate of the arc-shaped rack 524 and the cross-section of the arc-shaped groove 23 are both T-shaped. The intersection between the open end of the arc-shaped groove 23 and the inner wall of the arc-shaped groove 23 is rounded (not shown in the figure). The limitation of the cross-section of the toothed plate of the arc-shaped rack 524 ensures the stability of the arc-shaped rack 524 during its movement along the first mounting plate 2 or the second mounting plate 3. The rounded corners reduce the difficulty of aligning and sliding the arc-shaped rack 524 with the arc-shaped groove 23.

[0038] The second mounting plate 3 has an arc-shaped plate segment 22 equipped with an auxiliary component 8 for assisting the arc-shaped rack 524 to rotate from the arc-shaped slide groove 23 on the second mounting plate 3 to the arc-shaped slide groove 23 on the first mounting plate 2. The auxiliary component 8 includes a vertical plate 81 fixed on the arc-shaped plate segment 22, a driven rod 82 rotatably mounted on the vertical plate 81, a transmission gear 83 fixedly sleeved on one end of the driven rod 82 and meshing with the arc-shaped rack 524, a transmission rod 84 rotatably mounted on the vertical plate 81, an auxiliary motor 85 fixed on the vertical plate 81 and used to drive the transmission rod 84 to rotate, and an auxiliary gear 86 fixed on one end of the transmission rod 84 and meshing with the transmission gear 83. The transmission gear 83 and the driven gear 516 are symmetrically arranged about the axis of the pipe 7. The mounting base 1 is fixed with a battery 11 and a controller 12 that are electrically connected to both the auxiliary motor 85 and the walking motor 522. The auxiliary motor 85 and the walking motor 522 move synchronously under the control of the controller 12.

[0039] The controller 12 can control the auxiliary motor 85 and the walking motor 522 to run synchronously. When the arc-shaped rack 524 slides from the arc-shaped groove 23 on the first mounting plate 2 to the arc-shaped groove 23 on the second mounting plate 3, the transmission rod 84, auxiliary gear 86, transmission gear 83, and driven rod 82 rotate under the drive of the auxiliary motor 85, so that the arc-shaped rack 524 can continue to slide and smoothly rotate from the arc-shaped groove 23 on the second mounting plate 3 back to the arc-shaped groove 23 on the first mounting plate 2. This ensures that the device can continuously travel along the outer wall of the pipe 7, thereby facilitating the weld inspection instrument 6 to continuously inspect the weld of the pipe 7.

[0040] The traveling wheel 512 is a rubber wheel. The traveling wheel 512 near the bottom of the arc plate segment 22 is located below the axis of the pipe 7. The mounting base 1 is provided with a sliding groove 13 for sliding engagement of the vertical plate segment 21 of the first mounting plate 2 or the vertical plate segment 21 of the second mounting plate 3. There are two sliding grooves 13 and they are symmetrically distributed. When the traveling wheel 512 is pressed against the outer wall of the pipe 7, the sides of the vertical plate segment 21 of the first mounting plate 2 and the vertical plate segment 21 of the second mounting plate 3 that are close to each other are respectively in contact with the sides of the two sliding grooves 13 that are close to each other.

[0041] The drive assembly 4 includes a threaded rod 41 rotatably mounted between the inner walls of two sliding grooves 13 that are far apart from each other, and a drive motor 42 fixed on the mounting base 1 for driving the threaded rod 41 to rotate. The threaded rod 41 is provided with two threads of equal pitch and opposite direction. The two threads on the threaded rod 41 are symmetrically arranged about the middle of the mounting base 1. The two threads on the threaded rod 41 are located in the two sliding grooves 13 respectively. The threaded rod 41 passes through the first mounting plate 2 and the second mounting plate 3 and is threadedly connected. The drive motor 42 is electrically connected to the controller 12 and the battery 11.

[0042] After the drive motor 42 starts working, it drives the threaded rod 41 to rotate. Since the threaded rod 41 is threadedly connected to the first mounting plate 2 and the second mounting plate 3, the vertical plate section 21 of the first mounting plate 2 and the vertical plate section 21 of the second mounting plate 3 are both in sliding engagement with the sliding groove 13, so that the first mounting plate 2 and the second mounting plate 3 move closer to each other until the traveling wheel 512 is pressed against the outer wall of the pipe 7 and the drive motor 42 is turned off. At this time, the sides of the vertical plate section 21 of the first mounting plate 2 and the vertical plate section 21 of the second mounting plate 3 that are close to each other are respectively in contact with the sides of the two sliding grooves 13 that are close to each other.

[0043] A clearance groove 14 is provided through the mounting base 1 between two sliding grooves 13. The arc-shaped rack 524 in the power assembly 52 corresponding to the first mounting plate 2 and the arc-shaped rack 524 in the power assembly 52 corresponding to the second mounting plate 3 are respectively disposed on both sides of the threaded rod 41 within the clearance groove 14. The setting of the clearance groove 14 ensures the smooth reciprocating rotation of the arc-shaped rack 524 between the first mounting plate 2 and the second mounting plate 3.

[0044] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A laser positioning device for weld seam inspection, characterized in that: The device includes a mounting base (1), on which a first mounting plate (2) and a second mounting plate (3) that are mirror images of each other are provided on the top. The mounting base (1) is provided with a driving component (4) for driving the first mounting plate (2) and the second mounting plate (3) to move closer or further away from each other. The first mounting plate (2) and the second mounting plate (3) are each provided with a walking mechanism (5) for driving themselves to move along the length of the pipe (7) to be inspected for weld seam. The first mounting plate (2) and the second mounting plate (3) are each fixed with a weld seam inspector (6) for inspecting the weld seam of the pipe (7).

2. The laser positioning device for weld seam inspection according to claim 1, characterized in that: The first mounting plate (2) includes a vertical plate segment (21) slidably connected to the mounting base (1) and an arc plate segment (22) integrally formed with the upper end of the vertical section. The inner diameter of the arc plate segment (22) is larger than the outer diameter of the pipe (7). The inner side of the arc plate segment (22) is provided with a plurality of mounting grooves (221) evenly distributed about the axis of the arc plate segment (22). The walking mechanism (5) includes a walking component (51) and a power component (52). The number of the walking components (51) is equal to the number of the mounting slots (221) and their positions correspond one-to-one. The walking components (51) include a rotating shaft (511) rotatably mounted on the inner wall of the mounting slot (221), a walking wheel (512) fixedly sleeved on the rotating shaft (511) and abutting against the outer wall of the pipe (7), a worm gear (513) fixedly sleeved on the rotating shaft (511), a placement plate (514) fixedly mounted on the side wall of one side of the arc plate segment (22), and a rotating mounting... The worm (515) is mounted on the placement plate (514) and meshes with the worm gear (513), and the driven gear (516) is fixedly sleeved on the worm (515). The traveling wheel (512) and the worm gear (513) are both located in the mounting groove (221). The power assembly (52) is mounted on the first mounting plate (2) and is used to drive the driven gears (516) in the multiple sets of traveling assemblies (51) to rotate synchronously, so that the traveling wheel (512) travels along the outer wall of the pipe (7).

3. The laser positioning device for weld seam inspection according to claim 2, characterized in that: The power assembly (52) includes a drive rod (521) rotatably mounted on a placement plate (514), a walking motor (522) fixed on the placement plate (514) and used to drive the drive rod (521) to rotate, a drive gear (523) fixed to one end of the drive rod (521) and meshing with a driven gear (516), and an arc-shaped rack (524) movably connected to the first mounting plate (2). The side walls on both sides of the first mounting plate (2) are provided with arc-shaped racks (524). 24) The arc-shaped sliding groove (23) of the toothed plate sliding fits, the extension direction of the arc-shaped sliding groove (23) is parallel to the extension direction of the arc plate segment (22), the teeth of the arc-shaped rack (524) mesh with the driven gears (516) in multiple sets of walking components (51), and the arc-shaped rack (524) in the walking component (51) corresponding to the first mounting plate (2) and the arc-shaped rack (524) in the walking component (51) corresponding to the second mounting plate (3) are misaligned.

4. The laser positioning device for weld seam inspection according to claim 3, characterized in that: The cross-section of the toothed plate of the arc-shaped rack (524) and the cross-section of the arc-shaped groove (23) are both T-shaped, and the intersection of the opening end of the arc-shaped groove (23) and the inner wall of the arc-shaped groove (23) is rounded.

5. The laser positioning device for weld seam inspection according to claim 3, characterized in that: The second mounting plate (3) has an auxiliary component (8) on its arc plate segment (22) to assist the arc rack (524) in rotating from the arc groove (23) on the second mounting plate (3) to the arc groove (23) on the first mounting plate (2). The auxiliary component (8) includes a vertical plate (81) fixed on the arc plate segment (22), a driven rod (82) rotatably mounted on the vertical plate (81), a transmission gear (83) fixedly sleeved on one end of the driven rod (82) and meshing with the arc rack (524), and a transmission rod rotatably mounted on the vertical plate (81). (84), an auxiliary motor (85) fixed on the vertical plate (81) and used to drive the transmission rod (84) to rotate, and an auxiliary gear (86) fixed on one end of the transmission rod (84) and meshing with the transmission gear (83). The transmission gear (83) and the driven gear (516) are symmetrically arranged about the axis of the pipe (7). A battery (11) electrically connected to both the auxiliary motor (85) and the walking motor (522) and a controller (12) are fixed on the mounting base (1). The auxiliary motor (85) and the walking motor (522) move synchronously under the control of the controller (12).

6. The laser positioning device for weld seam inspection according to claim 5, characterized in that: The walking wheel (512) is a rubber wheel. The walking wheel (512) near the bottom of the arc plate segment (22) is located below the axis of the pipe (7). The mounting base (1) is provided with a sliding groove (13) for sliding cooperation between the vertical plate segment (21) of the first mounting plate (2) or the vertical plate segment (21) of the second mounting plate (3). There are two sliding grooves (13) and they are symmetrically distributed. When the walking wheel (512) is pressed against the outer wall of the pipe (7), the sides of the vertical plate segment (21) of the first mounting plate (2) and the vertical plate segment (21) of the second mounting plate (3) that are close to each other are respectively in contact with the sides of the two sliding grooves (13) that are close to each other.

7. The laser positioning device for weld seam inspection according to claim 6, characterized in that: The drive assembly (4) includes a threaded rod (41) rotatably mounted between the inner walls of two sliding grooves (13) that are far apart from each other, and a drive motor (42) fixed on the mounting base (1) for driving the threaded rod (41) to rotate. The threaded rod (41) is provided with two threads of equal pitch and opposite direction. The two threads on the threaded rod (41) are symmetrically arranged about the middle of the mounting base (1). The two threads on the threaded rod (41) are respectively located in the two sliding grooves (13). The threaded rod (41) passes through the first mounting plate (2) and the second mounting plate (3) and is threadedly connected. The drive motor (42) is electrically connected to the controller (12) and the battery (11).

8. The laser positioning device for weld seam inspection according to claim 7, characterized in that: The mounting base (1) is provided with a clearance groove (14) between two sliding grooves (13). The arc-shaped rack (524) in the power component (52) corresponding to the first mounting plate (2) and the arc-shaped rack (524) in the power component (52) corresponding to the second mounting plate (3) are respectively disposed on both sides of the threaded rod (41) in the clearance groove (14).

Images