A foldable flexible weld seam inspection integrated device

Abstract

The present application provides a kind of foldable flexible weld detection integrated device, for detecting the weld of workpiece, with the characteristics, comprising: clamping part, with pneumatic control multi jaw caliper, for holding on workpiece or welding equipment executor;Detection part is connected with clamping part, including at least one detection unit, detection unit has the weld detection component that can rotate, for detecting the weld of workpiece;Pneumatic part, the communication clamping part and detection part, for gas supply to drive multi jaw caliper, so that multi jaw caliper holds on workpiece or welding equipment executor, and make detection part connect with clamping part.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding quality detection equipment, and in particular to a foldable flexible welding seam detection integrated device. BACKGROUND

[0002] In the modern industrial manufacturing system, the welding quality is directly related to the safety and reliability of the product, and the welding seam detection technology also evolves with the industry demand. At present, high-end equipment manufacturing (such as aerospace and new energy vehicles) has increasingly stringent requirements for welding quality, not only pursuing micron-level detection accuracy, but also adapting to various welding scenes such as complex irregular structures and multi-material splicing. The current mainstream welding seam detection technology and device gradually exposes many limitations when dealing with complex and variable industrial welding scenes.

[0003] Common welding seam detection devices and technologies can be roughly divided into three categories from the structure and function dimensions: first, fixed integrated detection devices, which integrate detection sensors, cameras and clamping mechanisms rigidly, can achieve basic detection functions, but lack flexibility; second, modular combined detection devices, which try to adapt to different workpieces through module splicing, but the connection precision and coordination between modules are poor, and the clamping mechanism is mostly single size adaptation, which is difficult to quickly respond to the clamping needs of irregular and multi-curvature workpieces; third, automatic auxiliary detection systems, which introduce machine vision and multi-sensor fusion algorithms, but due to the fixed layout of the detection components, they cannot dynamically adjust the detection angle and coverage range with the welding seam shape, which is prone to detection blind spots.

[0004] Taking the fixed integrated detection device as an example, it can complete the detection of regular plane welding seams, but when facing complex irregular workpieces such as aircraft engine turbine blades and new energy vehicle battery trays, the clamping mechanism is difficult to quickly adapt and is prone to damage the workpiece, resulting in long clamping preparation time and serious limitations on universality. During the detection process, the fixed layout of the detection components cannot meet the detection needs of curved and multi-angle welding seams, resulting in a large number of missed detection risks. The modular combined device attempts to expand adaptability through module splicing, but due to insufficient module connection precision and complex collaborative control, the actual detection efficiency and accuracy are greatly reduced, making it difficult to meet the requirements of modern industry for "efficient and accurate" detection. The automatic auxiliary detection system is limited by the fixed deployment of detection components and cannot dynamically adjust the detection posture when facing curved welding seams of ships and complex space welding seams of aerospace vehicles, making it difficult to fully utilize the advantages of multi-sensor fusion algorithms and limiting the improvement of defect recognition rate and detection accuracy.

[0005] From the perspective of technological development trends, modern industry has multiple requirements for welding seam detection, including "flexible clamping, dynamic detection, and automated analysis", but existing technologies have obvious shortcomings:

[0006] 1. Poor clamping adaptability: Most devices have rigid fixed clamping mechanisms, lack self-adaptive fine-tuning capability, and are inefficient and prone to damage workpieces when clamping special-shaped, thin-walled, and multi-curvature workpieces, making it difficult to meet the diversified clamping needs of high-end equipment manufacturing.

[0007] 2. Insufficient detection flexibility: The detection component layout is relatively fixed and cannot be adjusted flexibly according to the weld shape (such as curved surface, multi-angle, and complex space weld), making it difficult to meet the requirements of "full-dimensional and no dead angle" detection.

[0008] 3. Insufficient technology integration depth: Although attempts have been made to integrate machine vision, ultrasonic detection, and other technologies, a complete system of "flexible clamping + dynamic detection layout + deep automatic integration" has not been established, making it difficult to release the advantages of multiple technologies, and limiting the improvement of detection accuracy and automation level.

[0009] 4. Imbalance between cost and efficiency: To adapt to complex detection scenarios, some devices have implemented excessive improvements in device structure, resulting in skyrocketing manufacturing costs, long detection preparation time, and complex operation processes, making it difficult to meet the efficient production rhythm of modern industry. SUMMARY

[0010] The present application is to solve the above problems, and aims to provide a foldable flexible weld detection integrated device.

[0011] A foldable flexible weld detection integrated device for detecting the weld of a workpiece, having the following features: a clamping part with a pneumatically controlled multi-jaw caliper for clamping on a workpiece or a welding device actuator; a detection part connected to the clamping part, including at least one detection unit with a weld detection component that can rotate to detect the weld of the workpiece; a pneumatic part connecting the clamping part and the detection part, providing gas to drive the multi-jaw caliper to clamp on the workpiece or the welding device actuator, and connecting the detection part and the clamping part.

[0012] In the foldable flexible weld detection integrated device provided by the present application, the clamping part can also have the following features: the clamping part further includes a chuck with multiple tracks evenly distributed in the circumferential direction, each jaw of the multi-jaw caliper is arranged at each track and connected to the track through sliding connection, a pneumatic slot is opened on the jaw, and a tooth pneumatic channel is opened on the chuck to connect the pneumatic slot and the pneumatic part.

[0013] In the foldable flexible weld detection integrated device provided by the present application, the clamping part can also have the following features: the clamping part further includes a main shaft arranged on the inner side of the multi-jaw caliper and connected to the welding device actuator.

[0014] In the foldable flexible welding seam detection integrated device, the detection unit further comprises an integrated folding plate provided with a plurality of semispherical sockets uniformly distributed along the length and width directions, and the welding seam detection assembly comprises a welding seam detection sensor and a welding seam detection camera, both of which are arranged at the preset semispherical sockets through a rotary connector and are rotationally connected with the semispherical sockets.

[0015] In the foldable flexible welding seam detection integrated device, a plurality of detection units are arranged, and the plurality of integrated folding plates are hingedly connected through hinges, the hinges are provided with built-in driving members, and motors are arranged on the hinges and are electrically connected with the driving members to control the rotation angle of the integrated folding plates.

[0016] In the foldable flexible welding seam detection integrated device, an angle sensor is arranged on the motor to monitor the rotation angle of the integrated folding plate.

[0017] In the foldable flexible welding seam detection integrated device, the chuck is provided with an integrated folding plate connecting hole and a connecting hole pneumatic channel communicating the integrated folding plate connecting hole and the pneumatic part, and the detection unit further comprises an integrated folding plate connector connected with the integrated folding plate at one end and arranged at the integrated folding plate connecting hole at the other end, and the pneumatic part is supplied with air to press the integrated folding plate connector through air pressure, so that the integrated folding plate is connected with the chuck.

[0018] In the foldable flexible welding seam detection integrated device, the pneumatic part comprises an air compressor, a clamping tooth pneumatic conduit communicating the air compressor and the clamping tooth pneumatic channel, and an integrated folding plate connector pneumatic conduit communicating the air compressor and the connecting hole pneumatic channel.

[0019] In the foldable flexible welding seam detection integrated device, the air compressor is internally provided with a pressure sensor.

[0020] Compared with the prior art, the present application has the following advantages:

[0021] According to the flexible weld joint detection integrated device, the clamping part has a pneumatic control multi-paw caliper, the clamping force is accurately controlled by using the pneumatic control, the multi-size workpiece clamping of diameter Φ10-Φ200mm is adapted, the clamping process is stable, and the clamping force can be flexibly adjusted according to the workpiece characteristics, so that the thin-walled and special-shaped workpieces are prevented from being damaged. The multi-paw caliper can be clamped on the welding equipment executor, so that the device is synchronously moved with the welding equipment executor, is suitable for dynamic detection of various (straight line, curve, curved surface, etc.) weld joints, and the universality of the device is improved. The multiple integrated folding plates of the detection part are connected through hinges, 0-180° folding adjustment is realized, the weld joint detection assembly is arranged at the half-ball insertion hole of the preset integrated folding plate through the rotary connector, can be slightly rotated, is cooperated with the folding action of the integrated folding plate, the detection range is expanded to 270°, the planar, curved surface and multi-angle weld joint detection are adapted, and the detection blind area is completely eliminated. Especially for the curved surface weld joint, the complex space weld joint and the like, the weld joint form can be dynamically attached, full-dimension and dead-angle-free detection is realized, the device is light and portable, and is convenient for flexible transfer and use at different workstations and sites. Meanwhile, the overall structure of the clamping part and the detection part is simple, can be quickly connected and fixed, the clamping preparation time is greatly shortened, the clamping efficiency is improved by more than 30%, the diversified clamping demand of high-end equipment manufacturing is efficiently responded, and the device is convenient to install and disassemble, and is beneficial to flexible deployment of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a first perspective view of the foldable flexible weld joint detection integrated device in the embodiment of the present application.

[0023] Figure 2 is a second perspective view of the foldable flexible weld joint detection integrated device in the embodiment of the present application.

[0024] Figure 3 is a structural schematic view of the clamping part in the embodiment of the present application.

[0025] Figure 4 is a first sectional view of the clamping part in the embodiment of the present application.

[0026] Figure 5 is a second sectional view of the clamping part in the embodiment of the present application.

[0027] Figure 6 is a retracted view of the detection part in the embodiment of the present application.

[0028] Figure 7 is an expanded view of the detection part in the embodiment of the present application.

[0029] Figure 8 is a working view of the detection part in the embodiment of the present application.

[0030] MAIN COMPONENT SYMBOL EXPLANATION:

[0031] Figure: 100, foldable flexible weld detection integrated device; 1, main shaft; 2, multi-claw caliper; 2.1, sliding groove; 2.2, pneumatic clamping groove; 3, chuck; 3.1, integrated folding plate connecting hole; 3.2, connecting hole pneumatic channel; 3.3, clamping tooth pneumatic channel; 3.4, track; 4, integrated folding plate connector; 5, main integrated folding plate; 6, first auxiliary integrated folding plate; 7, second auxiliary integrated folding plate; 8, third auxiliary integrated folding plate; 9, angle sensor; 10, motor; 11, weld detection sensor; 12, weld detection camera; 13, half-ball jack; 13.1, fastening screw hole; 13.2, fastening nut; 13.3, rotary connector; 14, weld; 15, air compressor; 16, clamping tooth pneumatic conduit; 17, integrated folding plate connector pneumatic conduit; 18, first hinge; 19, second hinge; 20, workpiece to be detected. DETAILED DESCRIPTION

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following embodiments will be described in detail in conjunction with the drawings.

[0034] Figure 1 It is the first perspective view of the foldable flexible weld detection integrated device in the embodiment of the present application.

[0035] Figure 2 It is the second perspective view of the foldable flexible weld detection integrated device in the embodiment of the present application.

[0036] As Figures 1-2 shown, the foldable flexible weld detection integrated device 100 in the embodiment is used for detecting the weld of a workpiece, which comprises a clamping part 40, a detection part 50 and a pneumatic part 60. The foldable flexible weld detection integrated device 100 adopts aluminum-carbon composite material.

[0037] The clamping unit 40 is used to clamp onto a workpiece or a welding equipment actuator (such as the spindle of a welding equipment or a robot). If clamped onto a welding equipment actuator, it moves synchronously with the welding equipment actuator, which is connected to a host computer. The clamping unit 40 includes a spindle 1, a multi-jaw caliper 2, and a chuck 3.

[0038] Figure 3 This is a schematic diagram of the clamping part in an embodiment of the present invention.

[0039] like Figure 3 As shown, the multi-jaw caliper 2 is pneumatically controlled and is a three-jaw caliper. Each jaw has a sliding groove 2.1 and a pneumatic chuck groove 2.2.

[0040] The chuck 3 has multiple tracks 3.4 evenly distributed along the circumference, and the sliding grooves 2.1 match the tracks 3.4. Each claw is set at its respective track 3.4 and is slidably connected to the track 3.4.

[0041] Figure 4 This is a first cross-sectional view of the clamping part in an embodiment of the present invention.

[0042] like Figure 4 As shown, the chuck 3 is also provided with a pneumatic chuck groove 2.2 and a pneumatic tooth pneumatic channel 3.3 connecting the pneumatic part.

[0043] Figure 5 This is a second cross-sectional view of the clamping part in an embodiment of the present invention.

[0044] like Figure 5 As shown, the chuck 3 has an integrated folding plate connection hole 3.1 and a pneumatic channel 3.2 connecting the integrated folding plate connection hole 3.1 and the pneumatic part on the side near the detection unit 50.

[0045] Specifically, there are two pneumatic channels 3.2 for the connection hole, which are located on the upper and lower sides of the connection hole 3.1 of the integrated folding plate, respectively.

[0046] The spindle 1 is a simple spindle, located inside the multi-jaw caliper 2, i.e., in the middle of the chuck 3, and connected to the actuator of the welding equipment. The multi-jaw caliper 2 is clamped and connected to the actuator of the welding equipment by holding the spindle 1.

[0047] Figure 6 This is a contracted view of the detection unit in an embodiment of the present invention.

[0048] Figure 7 This is an unfolded view of the detection unit in an embodiment of the present invention.

[0049] Figure 8 This is a working diagram of the detection unit in an embodiment of the present invention.

[0050] like Figures 6-8As shown, the detection unit 50 includes at least one detection unit, which includes an integrated folding plate connector 4, an integrated folding plate, and a rotatable weld detection assembly for detecting the weld of the workpiece.

[0051] The integrated folding plate is provided with a plurality of hemispherical sockets 13 uniformly distributed in the length and width directions, and a fastening screw hole 13.1 is formed in each hemispherical socket 13.

[0052] The weld detection assembly includes a weld detection sensor 11 and a weld detection camera 12. The weld detection sensor 11 and the weld detection camera 12 are arranged at the preset hemispherical socket 13 through the corresponding rotary connector 13.3, and are rotatably connected with the hemispherical socket 13, and the position of each rotary connector 13.3 is fixed by the fastening nut 13.2 and the fastening screw hole 13.1.

[0053] The embodiment is provided with four detection units, each having a main integrated folding plate 5, a first auxiliary integrated folding plate 6, a second auxiliary integrated folding plate 7, and a third auxiliary integrated folding plate 8, and the four integrated folding plates form a rectangular detection area. The plurality of integrated folding plates are hingedly connected through hinges. The hinges are provided with driving members, and the hinges are provided with motors 10 electrically connected with the driving members for controlling the rotation angle of each integrated folding plate. The motor 10 is provided with an angle sensor 9 for monitoring the rotation angle of the integrated folding plate.

[0054] Specifically, in the embodiment, the long sides of the integrated folding plates are hingedly connected through first hinges 18, and the short sides are hingedly connected through second hinges 19.

[0055] The main integrated folding plate 5 and the first auxiliary integrated folding plate 6 are provided with the weld detection camera 12, and the second auxiliary integrated folding plate 7 and the third auxiliary integrated folding plate 8 are provided with the weld detection sensor 11. The user can adjust the number of integrated folding plates, weld detection sensors 11 and weld detection cameras 12, and the positions of the weld detection sensors 11 and the weld detection cameras 12 according to the needs.

[0056] The user can also achieve different effects of weld detection by matching different sensors and cameras, such as using temperature sensors or ultrasonic sensors, which can be used for different weld research directions.

[0057] In actual use, if the detection part 50 is used in a narrow work station, a compact production line or placed in a storage area, the first auxiliary integrated folding plate 6, the second auxiliary integrated folding plate 7 and the third auxiliary integrated folding plate 8 can be folded by rotating the first hinge 18 and the second hinge 19 through the forward rotation or reverse rotation of the motor 10, and can be stacked above the main integrated folding plate 5. The weld detection sensor 11 and the weld detection camera 12 provided on the main integrated folding plate 5 can perform basic detection.

[0058] If all-around detection of the weld is required, the main integrated folding plate 5, the first auxiliary integrated folding plate 6, the second auxiliary integrated folding plate 7 and the third auxiliary integrated folding plate 8 are unfolded and rotated to different angles according to requirements, so that detection in one plane 0-180° is realized.

[0059] One end of the integrated folding plate connector 4 is connected with the main integrated folding plate 5, and the other end is arranged at the integrated folding plate connecting hole 3.1.

[0060] The pneumatic part 60 is used for supplying air to drive the multi-jaw caliper 2, so that the multi-jaw caliper 2 is clamped on a workpiece or a welding device actuator. The pneumatic part 60 includes an air compressor 15, a jaw pneumatic conduit 16 and an integrated folding plate connector pneumatic conduit 17.

[0061] The air compressor 15 is internally provided with a pressure sensor, which can feedback the clamping force in real time, so as to avoid damage to thin-walled workpieces.

[0062] The jaw pneumatic conduit 16 communicates the air compressor 15 with the jaw pneumatic passage 3.3. The air compressor 15 supplies air to drive the multi-jaw caliper 2, so as to realize flexible clamping of the multi-jaw caliper 2.

[0063] The integrated folding plate connector pneumatic conduit 17 communicates the air compressor 15 with the connecting hole pneumatic passage 3.2. The air compressor 15 supplies air to press the integrated folding plate connector 4 by air pressure, so that the main integrated folding plate 5 is connected with the chuck 3, and rapid installation and fixation are completed.

[0064] Working principle: taking detection of the weld 14 of the workpiece 20 to be detected as an example, the welding track of the weld 14 is a curve in S shape.

[0065] Before welding, the main shaft 1 is connected with a welding equipment executor (not shown in the figure), and the air compressor 15 drives the claws of the multi-claw caliper 2 to move synchronously along the track 3.4 to the direction close to the main shaft 1 via the notched pneumatic channel 3.3, the main shaft 1 is centered and clamped, and the whole foldable flexible welding seam detection integrated device 100 can move synchronously with the welding equipment executor. According to the welding track of the workpiece 20 to be detected, the detection path and the opening angle of the integrated folding plate are pre-planned on the upper computer, and at this time, the whole foldable flexible welding seam detection integrated device 100 is in a pre-operation state. If the opening angle of the integrated folding plate is too large or too small, the angle sensor 9 will feed back information to the upper computer in real time, and the upper computer will realize the opening and closing of the integrated folding plate by controlling the forward rotation or reverse rotation of the plurality of motors 10.

[0066] When welding, the main shaft 1 establishes a data link with the upper computer, and real-time signals such as welding track and welding speed are obtained, the moving speed of the foldable flexible welding seam detection integrated device 100 is steplessly adapted and adjusted according to the welding speed, and synchronous movement with the welding tool is ensured. The upper computer transmits a driving signal to the motor 10, the motor 10 drives the hinge to rotate, and the opening angle of the integrated folding plate is controlled. The welding seam detection camera 12 scans the profile of the welding seam 14 in real time, calculates the welding seam offset using edge detection and other image algorithms, and then drives the rotary connector 13.3 to perform angle fine adjustment of the welding seam detection sensor 11 in the horizontal direction by ±5°, so that the welding seam detection sensor 11 is always perpendicular to and accurately aligned with the center of the welding seam. During the detection process, if the angle of the welding seam 14 changes, the welding seam detection sensor 11 and the welding seam detection camera 12 identify the offset of the welding seam 14 in real time, and feed back the offset information to the upper computer, and the upper computer controls the motor 10 to dynamically adjust the angle of the folding plate.

[0067] At the same time, the welding seam detection sensor 11 transmits a detection signal for detecting defects such as pores and incomplete fusion inside the welding seam 14, and the welding seam detection camera 12 synchronously collects surface images to identify surface defects such as cracks and spatters. These two types of detection data are fed back to the upper computer to achieve synchronous detection of surface and internal defects of the welding seam 14.

[0068] Effects of the embodiment

[0069] According to the foldable flexible welding seam detection integrated device 100, the following beneficial effects are achieved:

[0070] The foldable flexible weld joint detection integrated device 100 of the present application comprises a clamping part, a detection part 50 and a pneumatic part 60. The clamping part has a pneumatic control multi-jaw caliper 2, which uses pneumatic precise regulation to control the clamping force, and is suitable for clamping workpieces with diameters of Φ10-Φ200mm. The clamping process is stable and the clamping force can be flexibly adjusted according to the characteristics of the workpiece to avoid damage to thin-walled and special-shaped workpieces. The multi-jaw caliper 2 can be clamped on the weld equipment executor, so that the overall device of the present application moves synchronously with the weld equipment executor, and is suitable for dynamic detection of various (straight line, curve, curved surface, etc.) weld joints, thereby improving the versatility of the present application. The multiple integrated folding plates of the detection part 50 are connected by hinges to achieve 0-180° folding adjustment. The weld joint detection assembly is provided at the preset integrated folding plate hemispherical jack 13 through a rotary connector 13.3, can be rotated slightly, cooperates with the folding action of the integrated folding plate, and expands the detection range to 270°, which is suitable for planar, curved surface and multi-angle weld joint detection, and completely eliminates the detection blind area. Especially for curved surface weld joints, complex space weld joints and other scenes, the device can dynamically fit the weld joint shape to realize full-dimensional and dead-angle-free detection. The device is light and portable, and is convenient for flexible transfer and use in different workstations and sites. At the same time, the overall structure of the clamping part and the detection part 50 is simple, can be quickly connected and fixed, the clamping preparation time is greatly shortened, the clamping efficiency is improved by more than 30%, and the device can efficiently respond to the diversified clamping needs of high-end equipment manufacturing, and is convenient to install and disassemble, which is beneficial to flexible deployment of production lines.

[0071] The present application constructs a "pneumatic linkage hardware" detection system mode: the hardware end realizes the automation linkage of clamping and detection plate folding through pneumatic control, and the modularized hemispherical jack 13 supports the plug-and-play of multiple sensors such as ultrasonic and visual. During the detection process, the device moves in real time with the welding to realize synchronous detection of surface and internal defects, dynamic transmission and analysis of data, accurate identification, quantitative analysis and automatic decision of defects, and upgrading of weld joint detection to automation and real time.

[0072] The present application relies on the modular and foldable structure of pneumatic control, does not need large-scale modification of the existing welding production line, can be integrated and deployed through the quick-to-install connecting holes (such as the integrated folding plate connecting hole 3.1 and the hemispherical jack 13), effectively controls the equipment modification cost, and realizes adaptive pneumatic clamping, pneumatic folding adjustment and real-time detection mode synchronized with welding. At the same time, the device of the present application adopts aluminum-carbon composite material, is light and portable, is convenient to install and disassemble, reduces the deployment and operation and maintenance cost of the production line, realizes "low-cost adaptation + high-efficiency detection + flexible deployment", and accurately matches the high-efficiency and flexible production needs of modern industry.

[0073] Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A foldable flexible weld inspection integrated device for inspecting welds on workpieces, characterized in that, include: The clamping part has a pneumatically controlled multi-jaw caliper for clamping the workpiece or welding equipment actuator; The detection unit, connected to the clamping unit, includes at least one detection unit, the detection unit having a rotatable weld detection assembly for detecting the weld of the workpiece; A pneumatic unit, connecting the clamping unit and the detection unit, is used to supply air to drive the multi-jaw caliper, causing the multi-jaw caliper to clamp onto the workpiece or welding equipment actuator, and to connect the detection unit to the clamping unit. The clamping part further includes: The chuck has multiple tracks evenly distributed along its circumference. Each jaw of the multi-jaw caliper is respectively positioned at one of the tracks and slidably connected to the track. The claw is provided with a pneumatic slot, and the chuck is provided with a pneumatic channel connecting the pneumatic slot and the pneumatic part. The detection unit further includes: The integrated folding panel has multiple hemispherical insertion holes evenly distributed along its length and width. The weld inspection assembly includes a weld inspection sensor and a weld inspection camera. Both the weld seam detection sensor and the weld seam detection camera are mounted at the preset hemispherical socket via a rotary connector and are rotatably connected to the hemispherical socket. Multiple detection units are provided. The multiple integrated folding panels are hinged together by hinges, each hinge having a built-in drive component and a motor electrically connected to the drive component, for controlling the rotation angle of the integrated folding panels. The chuck is provided with an integrated folding plate connection hole and a pneumatic channel connecting the integrated folding plate connection hole and the pneumatic part. The detection unit further includes an integrated folding plate connector, one end of which is connected to the integrated folding plate, and the other end is disposed at the connection hole of the integrated folding plate. The pneumatic unit supplies air to press the integrated folding plate connector tightly with air pressure, so that the integrated folding plate is connected to the chuck.

2. The foldable flexible weld inspection integrated device according to claim 1, characterized in that: in, The clamping part also includes: The main spindle is located inside the multi-jaw caliper and is connected to the actuator of the welding equipment.

3. The foldable flexible weld inspection integrated device according to claim 1, characterized in that: in, An angle sensor is installed on the motor to monitor the rotation angle of the integrated folding plate.

4. The foldable flexible weld inspection integrated device according to claim 1, Its features are: in, The pneumatic unit includes: Air compressor; A toothed pneumatic duct connects the air compressor to the toothed pneumatic channel; An integrated folding plate connector pneumatic duct connects the air compressor to the pneumatic channel of the connection hole.

5. The foldable flexible weld inspection integrated device according to claim 4, characterized in that: in, The air compressor is equipped with a pressure sensor.

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