Self-propelled pipeline axial weld ultrasonic detection device
By combining a magnetic walking trolley and a path guidance mechanism, the problem of tracking and navigation of the ultrasonic testing device for pipeline welds in dusty environments has been solved, achieving efficient and accurate weld testing, and is suitable for in-situ testing of large-size steel piles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-08
- Publication Date
- 2026-03-27
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing ultrasonic testing devices for pipe welds have poor tracking and navigation performance in dusty environments and low testing efficiency. In particular, laser sensors are easily affected by dust in large-size steel pile welding workshops.
A magnetic walking trolley and path guidance mechanism are adopted. The active and driven magnetic wheels are attracted to the surface of the welded steel pile. Combined with the guide rail slider assembly and feedback pull wire encoder, the self-walking function is realized. The motion trajectory is precisely controlled by the wire groove structure and feedback pull wire encoder, thus solving the problem of line tracking and navigation.
It achieves high-precision automated ultrasonic testing of pipeline welds in dusty environments, improving testing efficiency and convenience. It eliminates the need for hoisting steel piles and is applicable to steel piles of various sizes and specifications.
Smart Images
Figure CN121741017A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of ultrasonic testing technology, and specifically to a self-propelled ultrasonic testing device for axial welds in pipelines. Background Technology
[0002] Ultrasonic testing of weld seams in large-size steel piles is an important testing procedure to ensure the quality of steel piles. Currently, it is usually operated by two technicians, one manually pushing the ultrasonic testing head to move while the other operates the testing instrument. This results in low accuracy and efficiency in controlling the testing path.
[0003] Currently, existing ultrasonic testing devices for pipeline welds mostly use laser sensors for tracking when performing axial weld inspections. However, this technology is not only expensive, but also prone to being affected by dust in dusty environments such as large-size steel pile welding workshops, resulting in poor navigation performance.
[0004] Therefore, there is an urgent need for a self-propelled ultrasonic testing device for axial welds in pipelines to solve the problem of tracking and navigation in dusty environments. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention provides a self-propelled ultrasonic testing device for axial weld seams in pipelines, thereby solving the problem of tracking and navigation in dusty environments.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A self-propelled ultrasonic testing device for axial welds in pipelines, characterized in that it comprises a magnetically attached trolley, a probe bracket, a path guiding mechanism, and an end docking mechanism. The magnetically attached trolley includes a frame, an active magnetic wheel, a drive motor, and a driven magnetic wheel. Active magnetic wheels are mounted on both sides of the front end of the frame via the drive motor, and driven magnetic wheels are mounted on both sides of the rear end of the frame. The path guiding mechanism includes a feedback mechanism base, a guide rail slider assembly, a path guiding line, and a feedback pull-wire encoder. The feedback mechanism base is mounted on the frame, and the guide rail slider assembly is slidably mounted on the feedback mechanism base. The guide rail slider assembly has a wire groove structure. The path guiding line is positioned between the two ends of the welded steel pile via the end docking mechanism and aligned with the weld centerline. The path guiding line is slidably embedded in the wire groove of the wire groove structure. The feedback pull-wire encoder is mounted on the side of the feedback mechanism base, and its pull-wire head is connected to the side of the wire groove structure. The probe bracket is mounted on the frame for mounting the probe.
[0007] To optimize the above technical solution, the specific measures also include: Furthermore, the magnetic walking trolley also includes an elastic swing bracket, which includes a fixed connecting plate, an elastic swing spring, and a driven magnetic wheel axle. The fixed connecting plate is fixed to both sides of the rear end of the frame. One end of the driven magnetic wheel axle is connected to the driven magnetic wheel. The end of the fixed connecting plate away from the frame is hinged to the other end of the driven magnetic wheel axle to form a rotating pair that rotates around the front-rear axis, and is supported by the elastic swing spring to form elastic rotation.
[0008] Furthermore, the end docking mechanism includes a docking mechanism bracket, a fixed support rod, an adjustable support rod, and a wire end fastening screw. Two fixed support rods are respectively vertically installed on the left and right sides of one end of the docking mechanism bracket. The left and right sides of the docking mechanism bracket are also provided with vertical oblong holes. Two adjustable support rods are respectively vertically installed in one oblong hole and can be moved vertically. The adjustable support rod can be fixedly connected to the docking mechanism bracket by a nut, and the fixed support rod and the adjustable support rod are arranged in the same direction. The docking mechanism bracket is also provided with a wire end fastening screw, which can be used to wind and fix the end of the path guide line.
[0009] Furthermore, the end docking mechanism also includes an arc-shaped magnetic suction plate. One end of the arc-shaped magnetic suction plate is vertically fixed to the surface of the docking mechanism support and is located between the fixed support rod and the adjustable support rod. The length of the arc-shaped magnetic suction plate is narrower than the length of the fixed support rod and the adjustable support rod. The other end of the arc-shaped magnetic suction plate is used to attach to the end of the welded steel pile.
[0010] Furthermore, the vehicle frame is equipped with a mounting plate, on which two probe brackets located on the left and right sides are connected, and an ultrasonic probe is connected to each of the two probe brackets.
[0011] Furthermore, the probe bracket includes an adjustable angle support rod, a wing screw, a slide key, and a probe slider. One end of the adjustable angle support rod is rotatably connected to the mounting plate via the wing screw. The adjustable angle support rod is provided with a graduated slide key along the axial direction. The probe slider is sleeved on the adjustable angle support rod and slidably connected to the slide key. The probe slider is threaded with a screw for pressing against the surface of the slide key. The ultrasonic probe is mounted on the probe slider via the mounting bracket.
[0012] Furthermore, the mounting bracket includes a first probe bracket, a second probe bracket, and pins. The first probe bracket is a U-shaped frame, and the second probe bracket is a rectangular frame. The portions of the probe slider located on both sides of the adjustable angle support rod form sliding pairs with the middle portion of the first probe bracket via guide pins. The probe slider and the first probe bracket are connected by a pressure spring to form an elastic sliding support. The U-shaped opening of the first probe bracket faces downward, and its two ends are connected to the two sides of the second probe bracket via pins to form a first rotating pair. The ultrasound probe is installed inside the rectangular second probe bracket and forms a second rotating pair with the other two sides of the second probe bracket via pins. The two rotating pairs are perpendicular to each other.
[0013] Furthermore, it also includes a displacement wire encoder, which is fixed to the side of the vehicle frame, and the end of the encoder wire on the displacement wire encoder is fixed to the end docking mechanism on one side.
[0014] Furthermore, it also includes a first limit micro switch and a second limit micro switch. The first limit micro switch and the second limit micro switch are respectively installed on the front and rear sides of the frame. The first limit micro switch and the second limit micro switch are respectively connected to the drive motor for communication.
[0015] Furthermore, the drive motor includes a servo motor and a reducer. The servo motor is connected to the drive magnetic wheel through the reducer and is used to drive the drive magnetic wheel to rotate.
[0016] The beneficial effects of this invention are: This invention utilizes a magnetically attached walking trolley, employing active and driven magnetic wheels to adhere to the surface of a welded steel pile. During use, a drive motor rotates the active magnetic wheel, which, in conjunction with the driven magnetic wheel, carries the trolley frame and moves across the welded steel pile surface, achieving self-propelled movement. A path guidance mechanism, utilizing a sliding guide rail assembly and its wire groove structure, along with a feedback wire encoder, allows the wire groove structure to slide perpendicularly to the pre-set path guide line when the magnetically attached walking trolley deviates from it. This sliding motion causes the feedback wire encoder to generate a deviation distance, which serves as a feedback signal to control the drive motors of the active magnetic wheels on both sides, thus precisely controlling the device's trajectory. This solves the problem of tracking and navigation in dusty or other dusty environments for ultrasonic testing devices of pipe welds.
[0017] This invention relates to a device with a compact structure, convenient installation, and high efficiency, suitable for steel piles of various sizes and specifications. This device can be used for in-situ inspection of large-sized welded steel piles, eliminating the need for hoisting or moving the piles. Simply place the pile at the location to be inspected on the weld seam, and the active and driven magnetic wheels of the magnetic trolley will automatically attract each other. Simultaneously, the ultrasonic probe automatically presses against the arc surface of the welded steel pile. The path guidance mechanism constrains the magnetic trolley to move automatically and with high precision along the axial weld seam, achieving rapid ultrasonic inspection. This invention improves the convenience and efficiency of ultrasonic inspection of axial weld seams on large-sized welded steel piles. Attached Figure Description
[0018] Figure 1 This is a schematic diagram illustrating the use of a self-propelled ultrasonic testing device for axial welds in pipelines, as proposed in this invention. Figure 2 This is a schematic diagram of the path guidance mechanism of a self-propelled ultrasonic testing device for axial weld seams in pipelines, as proposed in this invention. Figure 3 This is a schematic diagram of the magnetic trolley of a self-propelled ultrasonic testing device for axial welds in pipelines, as proposed in this invention. Figure 4 This is a schematic diagram of the elastic swing support of a self-propelled ultrasonic testing device for axial welds in pipelines, as proposed in this invention. Figure 5 This is a schematic diagram of the end docking mechanism of a self-propelled ultrasonic testing device for axial welds in pipelines, as proposed in this invention. Figure 6 This is a schematic diagram of the probe support of a self-propelled ultrasonic testing device for axial weld seams in pipelines, as proposed in this invention.
[0019] Reference numerals: 1. Magnetic walking trolley; 2. Probe bracket; 3. Path guiding mechanism; 4. End docking mechanism; 5. Welded steel pile; 11. Frame; 12. Driving magnetic wheel; 13. Drive motor; 14. Driven magnetic wheel; 15. Elastic swing bracket; 16. Displacement wire encoder; 17. Encoder wire; 18. First limit micro switch; 19. Second limit micro switch; 15-1. Fixed connecting plate; 15-2. Elastic swing spring; 15-3. Driven magnetic wheel axle; 20. Ultrasonic probe. 21. Adjustable angle support rod; 22. Wing screw; 23. Slide key; 24. Probe slider; 25. Guide pin; 26. Pressure spring; 27. First probe bracket; 28. Second probe bracket; 29. Pin; 31. Feedback mechanism base; 32. Guide rail slider assembly; 33. Wire groove structure; 34. Path guide wire; 35. Feedback pull-wire encoder; 41. Docking mechanism bracket; 42. Fixed support rod; 43. Adjustable support rod; 44. Arc-shaped magnetic suction plate; 45. Wire end fastening screw. Detailed Implementation
[0020] The invention will now be described in further detail with reference to the accompanying drawings.
[0021] As attached Figure 1 and attached Figure 2 As shown in the figure, a self-propelled ultrasonic testing device for axial welds in pipelines according to an embodiment of the present invention includes a magnetic trolley 1, a probe bracket 2, a path guiding mechanism 3, and an end docking mechanism 4. The magnetic trolley 1 includes a frame 11, an active magnetic wheel 12, a drive motor 13, and a driven magnetic wheel 14. The active magnetic wheels 12 are mounted on both sides of the front end of the frame 11 via the drive motor 13, and the driven magnetic wheels 14 are mounted on both sides of the rear end of the frame 11. The path guiding mechanism 3 includes a feedback mechanism base 31, a guide rail slider assembly 32, a path guiding line 34, and a feedback pull-wire encoder 35. Feedback mechanism base 31 is mounted on frame 11. Guide rail slider assembly 32 is slidably mounted on feedback mechanism base 31. Guide rail slider assembly 32 is provided with wire groove structure 33. Path guide line 34 is set between the two ends of welded steel pile 5 through end docking mechanism 4 and aligned with the center line of weld. Path guide line 34 is slidably embedded in the wire groove of wire groove structure 33. Feedback pull-wire encoder 35 is mounted on the side of feedback mechanism base 31, and its pull wire head is connected to the side of wire groove structure 33. Probe bracket 2 is set on frame 11 for mounting probe.
[0022] This invention, through the configuration of a magnetically attached walking trolley 1, enables the active magnetic wheel 12 and the driven magnetic wheel 14 to adhere to the surface of the welded steel pile 5. In use, the drive motor 13 drives the active magnetic wheel 12 to rotate, which, in conjunction with the driven magnetic wheel 14, moves the trolley frame 11 across the surface of the welded steel pile 5, achieving self-propelled movement. Through the path guidance mechanism 3, the left-right sliding guide rail slider assembly 32 and its wire groove structure 33, in conjunction with the feedback pull-wire encoder 35, can activate when the movement path of the magnetically attached walking trolley 1 deviates from the preset path guide line 34. Under the action of the guide rail slider assembly 34, the structure 33 slides perpendicular to the path guide line 34, causing the feedback pull-wire encoder 35 to generate a deviation distance, which serves as a feedback signal to control the drive motors 13 of the active magnetic wheels 12 on both sides, thereby accurately controlling the movement trajectory of the device. This solves the problem of tracking and navigation of the ultrasonic testing device for pipe welds in dusty environments. In use, the active magnetic wheels 12 on both sides are independently controlled by a drive motor 13, which facilitates rotation and movement. The probe mounted on the frame 11 through the probe bracket 2 can meet the testing requirements.
[0023] As attached Figure 3 and attached Figure 4As shown, in a specific embodiment based on the above, the magnetic walking trolley 1 further includes an elastic swing bracket 15. The elastic swing bracket 15 includes a fixed connecting plate 15-1, an elastic swing spring 15-2, and a driven magnetic wheel axle 15-3. The fixed connecting plate 15-1 is fixed on both sides of the rear end of the frame 11. One end of the driven magnetic wheel axle 15-3 is connected to the axis of the driven magnetic wheel 14. The end of the fixed connecting plate 15-1 away from the frame 11 is hinged to the other end of the driven magnetic wheel axle 15-3 to form a rotating pair that rotates around the front-rear axis, and is supported by the elastic swing spring 15-2 to form an elastic rotation.
[0024] Thus, by setting up the fixed connecting plate 15-1, the elastic swing spring 15-2 and the driven magnetic wheel axle 15-3, the driven magnetic wheel 14 can be moved by adsorbing the steel pile, and at the same time automatically adapt to different curved surfaces.
[0025] As attached Figure 5 As shown, in another specific embodiment based on the above, the end docking mechanism 4 includes a docking mechanism bracket 41, a fixed support rod 42, an adjustable support rod 43, and a wire end fastening screw 45. The two fixed support rods 42 are respectively vertically installed on the left and right sides of one end of the docking mechanism bracket 41. The left and right sides of the docking mechanism bracket 41 are also provided with vertical waist-shaped holes. The two adjustable support rods 43 are respectively vertically installed in a waist-shaped hole and can be moved vertically. The adjustable support rod 43 can be fixedly connected to the docking mechanism bracket 41 by a nut, and the fixed support rod 42 and the adjustable support rod 43 are arranged in the same direction. The docking mechanism bracket 41 is also provided with a wire end fastening screw 45, which can be used to wind and fix the end of the path guide line 34.
[0026] In this way, the docking mechanism bracket 41, fixed support rod 42 and adjustable support rod 43 can be set to accommodate welded steel piles 5 of different thicknesses. The relative positions between the fixed support rod 42 and the adjustable support rod 43 can be adjusted accordingly. The four-rod support constraint method can be used to avoid radial or circumferential movement between the support rod and the steel pile. The adjustable support rod 43 is fixed or unfixed to the docking mechanism bracket 41 by a nut. At the same time, the wire end fastening screw 45 can be set to wind and fix the end of the path guide line 34. One or more wire end fastening screws 45 can be set as needed.
[0027] In a further specific embodiment based on the above, the end docking mechanism 4 also includes an arc-shaped magnetic suction plate 44. One end of the arc-shaped magnetic suction plate 44 is vertically fixed to the surface of the docking mechanism bracket 41 and is located between the fixed support rod 42 and the adjustable support rod 43. The length of the arc-shaped magnetic suction plate 44 is narrower than the length of the fixed support rod 42 and the adjustable support rod 43. The other end of the arc-shaped magnetic suction plate 44 is used to attach to the end of the welded steel pile 5.
[0028] In this way, the curved magnetic suction plate 44 can be used to facilitate positioning and installation, and can also be used to strengthen the constraint on the axial movement between the magnetic suction plate 44 and the welded steel pile 5. At the same time, the curved magnetic suction plate 44 can extend the traveling distance of the magnetic suction trolley 1, ensuring that the weld end point detection is in place. In this solution, the curvature of the curved magnetic suction plate 44 can be adapted as needed according to the steel piles of different diameters.
[0029] In another specific embodiment based on the above, the frame 11 is provided with a mounting plate, and two probe brackets 2 located on the left and right sides are rotatably connected to the mounting plate. An ultrasonic probe 20 is connected to each of the two probe brackets 2.
[0030] Thus, by setting up two probe brackets 2 on the left and right sides, it is possible to ensure sufficient detection by utilizing the ultrasonic probes 20 on both sides, and to increase the stability of the magnetic walking cart 1.
[0031] As attached Figure 6 As shown, in a further specific embodiment based on the above, the probe bracket 2 includes an adjustable angle support rod 21, a wing screw 22, a slide key 23, and a probe slider 24. One end of the adjustable angle support rod 21 is rotatably connected to the mounting plate by the wing screw 22. The adjustable angle support rod 21 is provided with a graduated slide key 23 along the axial direction. The probe slider 24 is sleeved on the adjustable angle support rod 21 and slidably connected to the slide key 23. The probe slider 24 is threaded with a screw for pressing against the surface of the slide key 23. The ultrasonic probe 20 is mounted on the probe slider 24 by the mounting bracket.
[0032] Therefore, during use, the two adjustable angle support rods 21 on the left and right can be quickly and fixedly connected to the mounting plate on the frame 11 by the wing screws 22. At the same time, the included angle between the two support rods can be adjusted to adapt to the arc surface of different welded steel piles 5. Meanwhile, the probe slider 24 forms a sliding pair with the support rod 21 through the sliding key 23, which can adjust the distance between the ultrasonic probe 20 and the center line of the weld as needed, and quickly display it through the scale on the upper surface of the sliding key 23. After that, tightening the screw can quickly complete the positioning and installation.
[0033] In a further specific embodiment based on the above, the mounting bracket includes a first probe bracket 27, a second probe bracket 28, and pins 29. The first probe bracket 27 is a U-shaped frame, and the second probe bracket 28 is a rectangular frame. The portion of the probe slider 24 located on both sides of the adjustable angle support rod 21 forms a sliding pair with the middle portion of the first probe bracket 27 through guide pins 25. The probe slider 24 and the first probe bracket 27 are connected by a pressure spring 26 to form an elastic sliding support. The U-shaped opening of the first probe bracket 27 is set downwards, and its two ends are connected to the two sides of the second probe bracket 28 through pins 29 to form a first rotating pair. The ultrasound probe 20 is set inside the rectangular second probe bracket 28 and forms a second rotating pair with the other two sides of the second probe bracket 28 through pins 29. The two rotating pairs are perpendicular to each other.
[0034] Thus, through the elastic sliding support between the probe slider 24 and the probe first bracket 27, and in conjunction with two mutually perpendicular rotating pairs, the ultrasonic probe 20 can automatically adapt to different steel pile arc surfaces and be tightly pressed against them.
[0035] In another specific embodiment based on the above, a displacement wire encoder 16 is also included. The displacement wire encoder 16 is fixed to the side of the frame 11, and the end of the encoder wire 17 on the displacement wire encoder 16 is fixed to the end docking mechanism 4 on one side.
[0036] In this way, the position information of the ultrasonic probe 20 during the movement of the magnetically attached trolley 1 can be recorded by the displacement wire encoder 16. In the scheme combining the above-described end docking mechanism 4, the wire end fastening screw 45 can be used to fix the wire end of the encoder wire 17 and the wire end of the path guide wire 34 on the displacement wire encoder 16.
[0037] In another specific embodiment based on the above, a first limit micro switch 18 and a second limit micro switch 19 are also included. The first limit micro switch 18 and the second limit micro switch 19 are respectively installed on the front and rear sides of the frame 11. The first limit micro switch 18 and the second limit micro switch 19 are respectively connected to the drive motor 13 for communication.
[0038] Thus, when the magnetic trolley 1 moves to the end of the welded steel pile 5, the end docking mechanism 4 will trigger the first limit micro switch 18 or the second limit micro switch 19, causing the trolley to stop automatically.
[0039] In another specific embodiment based on the above, the drive motor 13 includes a servo motor and a reducer. The servo motor is connected to the active magnetic wheel 12 through the reducer and is used to drive the active magnetic wheel 12 to rotate.
[0040] This invention is applied to ultrasonic testing of weld defects in large-size steel piles. A specific embodiment of this invention is as follows: In use, the two end docking mechanisms 4 are set at both ends of the welded steel pile 5, and the path guide line 34 is set along the weld. Then, the magnetic walking trolley 1 is placed at one end of the welded steel pile 5. At this time, the wire groove structure 33 on the magnetic walking trolley 1 is slidably engaged with the path guide line 34. After that, the drive motor 13 drives the active magnetic wheel 12 to rotate, and cooperates with the driven magnetic wheel 14 to carry the frame 11 to move along the weld on the surface of the welded steel pile 5. When the movement path of the magnetic traction trolley 1 deviates from the preset path guide line 34, the wire groove structure 33 slides perpendicular to the path guide line 34 under the action of the guide rail slider assembly 34, causing the feedback pull-wire encoder 35 to generate a deviation distance. The feedback pull-wire encoder 35 sends a feedback signal and controls the drive motor 13 of the active magnetic wheels 12 on both sides accordingly, thereby accurately correcting the movement trajectory of the magnetic traction trolley 1 until the magnetic traction trolley 1 reaches the other end of the welded steel pile 5 and completes the weld inspection.
[0041] This invention relates to a device with a compact structure, convenient installation, and high efficiency, suitable for steel piles of various sizes and specifications. This device can be used for in-situ inspection of large-size welded steel piles 5, eliminating the need for hoisting or moving the welded steel pile 5. Simply place it at the location of the weld seam to be inspected, and the active magnetic wheel 12 and driven magnetic wheel 14 of the magnetic trolley 1 will automatically attract it. Simultaneously, the ultrasonic probe 20 automatically presses against the arc surface of the welded steel pile 5. The path guiding mechanism 3 can constrain the magnetic trolley 1 to move automatically and with high precision along the axial weld seam, achieving rapid ultrasonic inspection. This invention improves the convenience and efficiency of ultrasonic inspection of axial weld seams of large-size welded steel piles 5.
[0042] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.
[0043] The above are merely preferred embodiments 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 those skilled in the art will understand that various changes, modifications, substitutions, refinements, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations should be considered within the scope of protection of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A self-propelled ultrasonic testing device for axial welds in pipelines, characterized in that: The system includes a magnetic traction trolley (1), a probe bracket (2), a path guidance mechanism (3), and an end docking mechanism (4). The magnetic traction trolley (1) includes a frame (11), an active magnetic wheel (12), a drive motor (13), and a driven magnetic wheel (14). The active magnetic wheels (12) are mounted on both sides of the front end of the frame (11) via the drive motor (13), and the driven magnetic wheels (14) are mounted on both sides of the rear end of the frame (11). The path guidance mechanism (3) includes a feedback mechanism base (31), a guide rail slider assembly (32), a path guidance line (34), and a feedback pull-wire encoder (35). The feedback mechanism base (31) is mounted on... Mounted on the frame (11), the guide rail slider assembly (32) is slidably mounted on the feedback mechanism base (31). The guide rail slider assembly (32) is provided with a wire groove structure (33). The path guide line (34) is set between the two ends of the welded steel pile (5) through the end docking mechanism (4) and aligned with the center line of the weld. The path guide line (34) is slidably embedded in the wire groove of the wire groove structure (33). The feedback pull-wire encoder (35) is mounted on the side of the feedback mechanism base (31), and the pull wire head on it is connected to the side of the wire groove structure (33). The probe bracket (2) is set on the frame (11) for mounting the probe.
2. The self-propelled ultrasonic testing device for axial welds in pipelines according to claim 1, characterized in that: The magnetic walking trolley (1) also includes an elastic swing bracket (15). The elastic swing bracket (15) includes a fixed connecting plate (15-1), an elastic swing spring (15-2), and a driven magnetic wheel axle (15-3). The fixed connecting plate (15-1) is fixed on both sides of the rear end of the frame (11). One end of the driven magnetic wheel axle (15-3) is connected to the driven magnetic wheel (14). The end of the fixed connecting plate (15-1) away from the frame (11) is hinged to the other end of the driven magnetic wheel axle (15-3) to form a rotating pair that rotates around the front-back axis, and is supported by the elastic swing spring (15-2) to form an elastic rotation.
3. The self-propelled ultrasonic testing device for axial weld seams of pipelines according to claim 1, characterized in that: The end docking mechanism (4) includes a docking mechanism bracket (41), a fixed support rod (42), an adjustable support rod (43), and a wire end fastening screw (45). The two fixed support rods (42) are respectively vertically installed on the left and right sides of one end of the docking mechanism bracket (41). The left and right sides of the docking mechanism bracket (41) are also provided with vertical waist-shaped holes. The two adjustable support rods (43) are respectively vertically installed in a waist-shaped hole. The adjustable support rod (43) can be fixedly connected to the docking mechanism bracket (41) by a nut. The fixed support rod (42) and the adjustable support rod (43) are set in the same direction. The docking mechanism bracket (41) is also provided with a wire end fastening screw (45). The wire end fastening screw (45) can be used to wind and fix the end of the path guide line (34).
4. The self-propelled ultrasonic testing device for axial weld seams of pipelines according to claim 3, characterized in that: The end docking mechanism (4) also includes an arc-shaped magnetic suction plate (44). One end of the arc-shaped magnetic suction plate (44) is vertically fixed on the surface of the docking mechanism bracket (41) and located between the fixed support rod (42) and the adjustable support rod (43). The length of the arc-shaped magnetic suction plate (44) is narrower than the length of the fixed support rod (42) and the adjustable support rod (43). The other end of the arc-shaped magnetic suction plate (44) is used to attach to the end of the welded steel pile (5).
5. The self-propelled ultrasonic testing device for axial welds in pipelines according to claim 1, characterized in that: The frame (11) is provided with a mounting plate, and two probe brackets (2) located on the left and right sides are connected to the mounting plate. An ultrasonic probe (20) is connected to each of the two probe brackets (2).
6. The self-propelled ultrasonic testing device for axial weld seams of pipelines according to claim 5, characterized in that: The probe bracket (2) includes an adjustable angle support rod (21), a wing screw (22), a slide key (23), and a probe slider (24). One end of the adjustable angle support rod (21) is rotatably connected to the mounting plate by the wing screw (22). The adjustable angle support rod (21) is provided with a scaled slide key (23) along the axial direction. The probe slider (24) is sleeved on the adjustable angle support rod (21) and slidably connected to the slide key (23). The probe slider (24) is threaded with a screw for pressing against the surface of the slide key (23). The ultrasonic probe (20) is mounted on the probe slider (24) by the mounting bracket.
7. The self-propelled ultrasonic testing device for axial weld seams of pipelines according to claim 6, characterized in that: The mounting bracket includes a first probe bracket (27), a second probe bracket (28), and pins (29). The first probe bracket (27) is a "U"-shaped frame, and the second probe bracket (28) is a rectangular frame. The probe slider (24) located on both sides of the adjustable angle support rod (21) forms a sliding pair with the middle part of the first probe bracket (27) through guide pins (25). The probe slider (24) and the first probe bracket (27) are connected by a pressure spring (26) to form an elastic sliding support. The "U"-shaped opening of the first probe bracket (27) is set downwards, and both ends are connected to the two sides of the second probe bracket (28) through pins (29) to form a first rotating pair. The ultrasonic probe (20) is set inside the rectangular second probe bracket (28) and forms a second rotating pair with the other two sides of the second probe bracket (28) through pins (29). The two rotating pairs are perpendicular to each other.
8. The self-propelled ultrasonic testing device for axial welds of pipelines according to claim 1, characterized in that: It also includes a displacement pull-wire encoder (16), which is fixed on the side of the frame (11), and the end of the encoder pull wire (17) on the displacement pull-wire encoder (16) is fixed on the end docking mechanism (4) on one side.
9. The self-propelled ultrasonic testing device for axial weld seams of pipelines according to claim 1, characterized in that: It also includes a first limit micro switch (18) and a second limit micro switch (19). The first limit micro switch (18) and the second limit micro switch (19) are respectively installed on the front and rear sides of the frame (11). The first limit micro switch (18) and the second limit micro switch (19) are respectively connected to the drive motor (13).
10. The self-propelled ultrasonic testing device for axial welds of pipelines according to claim 1, characterized in that: The drive motor (13) includes a servo motor and a reducer. The servo motor is connected to the active magnetic wheel (12) through the reducer and is used to drive the active magnetic wheel (12) to rotate.