Ultrasonic walking detection trolley for large-diameter round tube bars

Abstract

The utility model provides an ultrasonic walking detection trolley for large-diameter round tube bars. The ultrasonic walking detection trolley comprises a rack, the moving device comprises a transverse moving mechanism arranged on the rack and a longitudinal moving mechanism arranged on the transverse moving mechanism; the flaw detection device comprises a plurality of groups of detection mechanisms arranged on the longitudinal moving mechanism and workpiece sensing units arranged on the two sides of the detection mechanisms, and each detection mechanism comprises a buffer follow-up assembly arranged on the longitudinal moving mechanism and a flaw detection assembly arranged on the buffer follow-up assembly; the workpiece driving mechanism is used for driving the workpiece to rotate around the axis; when the workpiece rotates, the lifting unit drives the flaw detection device to be attached to the surface of the workpiece, and in the process that the transverse moving mechanism drives the detection mechanism to move in the axial direction of the workpiece, the buffer follow-up assembly enables the horizontal linearity and the vertical linearity of the flaw detection assembly and the surface of the workpiece to be unchanged. And the detection precision of the large-diameter circular tube bar is improved.

Description

Technical Field

[0001] The utility model relates to a large-caliber round tube and bar ultrasonic walking detection trolley, which is applied to the round tube and bar detection field. Background Art

[0002] Large diameter round tubes and bars are a common industrial material, widely used in many fields such as construction, machinery manufacturing, petrochemicals, shipbuilding, aerospace, etc. They are usually made of metal materials such as carbon steel, stainless steel, alloy steel, etc., and non-metallic materials such as resin materials are also used.

[0003] In industrial production, it is crucial to carry out quality control and safety inspection of important large-diameter round tubes and bars. At present, commonly used non-destructive testing technologies include eddy current testing and ultrasonic testing. However, existing testing equipment can usually only provide a single detection method, which means that after completing the ultrasonic test, the material must be moved to another area for eddy current testing, which not only reduces the detection efficiency, but also due to the large size and heavy weight of large-diameter round tubes and bars, it may bring safety risks during the transfer process. In addition, the surface of large-diameter round tubes and bars is rough. When the detection probe contacts the uneven surface, it may cause a large change in the horizontal and vertical linearity of the detection signal, which may reduce the accuracy of the detection and thus affect the accurate judgment of material defects.

[0004] In order to solve the above problems, the utility model proposes a new type of ultrasonic testing equipment - a large-diameter round tube and bar ultrasonic walking testing trolley. This equipment is designed to improve the testing efficiency, reduce the safety risks during the transfer process, and improve the detection accuracy of surface defects of large-diameter round tubes and bars. Through this innovative testing trolley, comprehensive and efficient ultrasonic testing of round tubes and bars can be achieved without moving the material. Utility Model Content

[0005] The utility model provides a large-caliber round tube and bar ultrasonic walking detection trolley, which can effectively solve the above problems.

[0006] The utility model is achieved in this way:

[0007] A large-diameter round tube and bar ultrasonic walking inspection trolley, comprising:

[0008] frame;

[0009] The moving device comprises a transverse moving mechanism arranged on the frame, and a longitudinal moving mechanism arranged on the transverse moving mechanism;

[0010] The flaw detection device comprises a plurality of detection mechanisms arranged on the longitudinal moving mechanism and workpiece sensing units arranged on both sides of the detection mechanism, wherein the detection mechanism comprises a buffer follower assembly arranged on the longitudinal moving mechanism and a flaw detection assembly arranged on the buffer follower assembly;

[0011] A workpiece driving mechanism, used to drive the workpiece to rotate around its axis;

[0012] When the workpiece rotates, the lifting unit drives the flaw detection device to fit the workpiece surface, and the transverse moving mechanism drives the detection mechanism to move along the axial direction of the workpiece. The buffer follower assembly makes the horizontal and vertical linearity between the flaw detection assembly and the workpiece surface unchanged.

[0013] As a further improvement, the detection mechanism is 1 to 4 groups, and the buffer follower assembly includes a mounting plate arranged on the longitudinal moving mechanism, a rotating shaft is fixedly provided at the rear end of the mounting plate, and a first bracket located at the front end of the mounting plate is rotatably connected to the rotating shaft, and the first bracket can rotate along the axis of the workpiece, and the first bracket is rotatably connected to a second bracket at one end away from the rotating shaft, and the second bracket can rotate along the axis of the workpiece, and the second bracket is rotatably connected to a flaw detection assembly, and the flaw detection assembly can rotate along the diameter direction of the workpiece.

[0014] As a further improvement, a first limit plate is provided on the mounting plate above the first bracket, a limit slot is provided on the first limit plate, a first fixing rod is provided in front of the mounting plate on the first bracket, a limit rod is provided above the first fixing rod, the limit rod is provided in the limit slot, an elastic member is connected between the limit rod and the limit plate, a second limit plate is provided at the bottom of the mounting plate, a second fixing rod is provided on the first bracket between the mounting plate and the first fixing rod, a limit block is provided below the second fixing rod, and the limit block abuts against the second limit plate.

[0015] As a further improvement, the flaw detection component includes a flaw detection component outer shell rotatably connected to a second bracket, a water coupling joint is conductively connected to the top of the flaw detection component outer shell, a guide plate is arranged inside the flaw detection component outer shell, a circle of guide grooves are evenly spaced on the inner side wall of the guide plate, an eddy current / ultrasonic probe is arranged in the guide plate, a coupling workpiece enclosure is connected to the bottom of the flaw detection component outer shell, and an inner concave surface with an arc-shaped cross-section is arranged at the bottom of the coupling workpiece enclosure.

[0016] As a further improvement, an assembly plate is symmetrically provided on both sides of the outer shell of the flaw detection component along the axis direction of the workpiece, and a group of cam bearings rotating along the axis direction of the workpiece are provided on the assembly plate, and the bottom of the cam bearing is located below the inner concave surface.

[0017] As a further improvement, the lateral moving mechanism includes a first mounting plate that can be slidably arranged on the frame along the axial direction of the workpiece, and an axial power motor is provided on the first mounting plate, and the axial power motor is used to drive the first mounting plate to move along the axial direction of the workpiece; the longitudinal moving mechanism includes a second mounting plate that can be slidably arranged on the frame along the diameter direction of the workpiece, and a lifting motor is provided on the second mounting plate, and the lifting motor is used to drive the second mounting plate to move along the diameter direction of the workpiece, and several groups of lifting cylinders are provided on the second mounting plate, and the lifting cylinders drive a third mounting plate that can slide along the diameter direction of the workpiece, and a detection mechanism is fixed on the third mounting plate.

[0018] As a further improvement, the workpiece sensing units are 2 to 5 groups, and the workpiece sensing units include a third bracket arranged on the second mounting plate, and the third bracket is provided with a material sensor.

[0019] As a further improvement, the flaw detection device further comprises an air blowing cleaning mechanism, and the air blowing cleaning mechanism comprises a fourth bracket arranged on the outer shell of the flaw detection component at both ends, and an air blowing cleaner is arranged on the fourth bracket.

[0020] As a further improvement, a water diversion valve is provided on the first mounting plate, and the water diversion valve is used to supply water to the water coupling joint.

[0021] The beneficial effects of the utility model are:

[0022] (1) The utility model detects large-diameter round tubes and bars through several detection mechanisms. The detection mechanisms are equipped with transverse ultrasonic probes, longitudinal ultrasonic probes, and eddy current probes, etc. The probes can be selected according to the actual conditions of the round tubes and bars. The device can achieve comprehensive detection, which can not only improve the detection efficiency, but also prevent the risks caused by the sequence transfer process. In addition, by setting a buffer follower component, the buffer follower component can make the detection mechanism always fit the workpiece surface during the moving and walking detection process of the device, so that the horizontal linearity and vertical linearity between the flaw detection component and the workpiece surface remain unchanged, thereby improving the detection accuracy of large-diameter round tubes and bars.

[0023] (2) The buffer follower assembly includes a mounting plate arranged on the longitudinal moving mechanism, a rotating shaft is fixedly arranged at the rear end of the mounting plate, a first bracket located at the front end of the mounting plate is rotatably connected to the rotating shaft, the first bracket can rotate along the axis of the workpiece, the first bracket is rotatably connected to the second bracket at one end away from the rotating shaft, the second bracket can rotate along the axis of the workpiece, the second bracket can rotate along the axis of the workpiece, the flaw detection assembly can be rotatably connected to the second bracket, and the flaw detection assembly can rotate along the diameter direction of the workpiece. Since there may be unevenness in the axial direction of the workpiece during the detection process, the first bracket can rotate along the axis of the workpiece and the second bracket can rotate along the axis of the workpiece to jointly buffer the stress of the axial unevenness on the flaw detection assembly. During the rotation of the workpiece, the flaw detection assembly rotates along the diameter direction of the workpiece to buffer the stress of the unevenness in the diameter direction on the flaw detection assembly, so that the flaw detection assembly always fits the surface of the workpiece, so that the horizontal linearity and vertical linearity between the flaw detection assembly and the workpiece surface remain unchanged, thereby improving the detection accuracy of large-diameter round tubes and bars.

[0024] (3) A first limit plate is provided on the mounting plate above the first bracket, a limit groove is provided on the first limit plate, a first fixing rod is provided in front of the mounting plate, a limit rod is provided above the first fixing rod, the limit rod is provided in the limit groove, an elastic member is connected between the limit rod and the limit plate, when the surface of the workpiece is uneven, the flaw detection assembly is pushed upward, so that the first bracket starts to rotate with the rotating shaft as the fulcrum, the limit rod moves in the limit groove and compresses the elastic member to achieve a buffering effect. Compared with the vertical buffering stress, this structure can transfer part of the stress in the vertical direction to the horizontal direction, reduce the compression of the elastic member, reduce the load of the elastic member, and effectively increase the service life of the elastic member.

[0025] (4) The flaw detection assembly includes a flaw detection assembly outer shell rotatably connected to the second bracket, a water coupling joint is conductively connected to the upper part of the flaw detection assembly outer shell, a guide plate is arranged in the flaw detection assembly outer shell, a circle of guide grooves are arranged at equal intervals on the inner side wall of the guide plate, an eddy current / ultrasonic probe is arranged in the guide plate, when ultrasonic flaw detection is performed, water flow is released through the water coupling joint, and the water flow is retained on the workpiece through the guide groove, which can provide good sound energy transmission and effectively improve the efficiency of ultrasonic flaw detection, a coupling workpiece enclosure is connected to the lower part of the flaw detection assembly outer shell, and an inner concave surface with an arc-shaped cross section is arranged at the bottom of the coupling workpiece enclosure, an assembly plate is symmetrically arranged on both sides of the flaw detection assembly outer shell along the axis direction of the workpiece, and a group of cam bearings rotating along the axis direction of the workpiece are arranged on the assembly plate, and the bottom of the cam bearing is located below the inner concave surface, and the cam bearing can buffer the stress of the flaw detection assembly caused by the unevenness in the diameter direction, so that the flaw detection assembly always fits the surface of the workpiece, and the cam bearing is suitable for occasions with large loads and low rotation speed, and can effectively extend the service life of the bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram provided by an embodiment of the utility model.

[0028] Figure 2 It is a structural schematic diagram of a flaw detection device provided in an embodiment of the utility model.

[0029] Figure 3 It is a schematic diagram of the explosion structure of the flaw detection device provided in the embodiment of the utility model.

[0030] Figure 4-5 It is a schematic diagram of the working structure of the buffer follower assembly provided in an embodiment of the utility model.

[0031] The accompanying drawings are marked as follows:

[0032] 10. Moving device; 11. Horizontal moving mechanism; 111. First mounting plate; 112. Axial power motor; 12. Longitudinal moving mechanism; 121. Second mounting plate; 122. Lifting motor; 123. Lifting cylinder; 124. Third mounting plate; 13. Water diversion valve;

[0033] 20. Flaw detection device; 21. Detection mechanism; 211. Buffer follower assembly; 2111. Mounting plate; 2112. Rotating shaft; 2113. First bracket; 2114. Second bracket; 2115. First limit plate; 21151. Limit groove; 2116. First fixing rod; 21161. Limit rod; 2117. Elastic member; 2118. Second limit plate; 2119. Second fixing rod; 21 191, limit block; 212, flaw detection assembly; 2121, flaw detection assembly outer shell; 2122, water coupling joint; 2123, guide plate; 21231, guide groove; 2124, eddy current / ultrasonic probe; 2125, coupled workpiece plate; 2126, inner concave surface; 2127, assembly plate; 2128, cam bearing; 22, workpiece sensing unit; 221, third bracket; 222, material sensor;

[0034] 30. Instrument control cabinet. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents the selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model.

[0036] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] Reference Figures 1 to 5 As shown, a large-diameter round tube and bar ultrasonic walking inspection trolley includes: a frame, a moving device 10, a flaw detection device 20, a workpiece driving mechanism and an instrument control cabinet 30, wherein a control unit is arranged in the instrument control cabinet 30, wherein the moving device 10 includes a transverse moving mechanism 11 arranged on the frame, and a longitudinal moving mechanism 12 arranged on the transverse moving mechanism 11; the flaw detection device 20 includes a plurality of detection mechanisms 21 arranged on the longitudinal moving mechanism 12 and workpiece sensing units 22 arranged on both sides of the detection mechanism 21, wherein the detection mechanism 21 includes a buffer follower assembly 211 arranged on the longitudinal moving mechanism 12, and a flaw detection assembly 212 arranged on the buffer follower assembly 211; the workpiece driving mechanism (not shown in the figure) is used to drive the workpiece to rotate around its axis; when the workpiece rotates, the lifting unit drives the flaw detection device 20 to fit the workpiece surface, and during the process of the transverse moving mechanism 11 driving the detection mechanism 21 to move along the axial direction of the workpiece, the buffer follower assembly 211 makes the horizontal linearity and vertical linearity between the flaw detection assembly 212 and the workpiece surface unchanged.

[0038] Reference Figure 2As shown, the detection mechanism 21 is 1 to 4 groups. In the present embodiment, the detection mechanism 21 is 4 groups. The buffer follower assembly 211 includes a mounting plate 2111 arranged on the longitudinal moving mechanism 12. A rotating shaft 2112 is fixedly provided at the rear end of the mounting plate 2111. A first bracket 2113 located at the front end of the mounting plate 2111 is rotatably connected to the rotating shaft 2112. The first bracket 2113 can rotate along the axis of the workpiece. The end of the first bracket 2113 away from the rotating shaft 2112 is rotatably connected to the second bracket 2114. The second bracket 2114 can rotate along the axis of the workpiece. The second bracket 2114 is rotatably connected to the flaw detection assembly 212, and the flaw detection assembly 212 can rotate along the diameter direction of the workpiece.

[0039] Reference Figures 2 to 5 As shown, a first limiting plate 2115 is provided on the mounting plate 2111 and located above the first bracket 2113. A limiting groove 21151 is provided on the first limiting plate 2115. A first fixing rod 2116 is provided in front of the first bracket 2113 and located in front of the mounting plate 2111. A limiting rod 21161 is provided above the first fixing rod 2116. The limiting rod 21161 is disposed in the limiting groove 21151. An elastic member 2117 is connected between the limiting rod 21161 and the limiting plate. In the present embodiment, the elastic member 2117 is a disc spring. Disc springs can withstand extremely large loads in a relatively small space and have a large deformation energy per unit volume, which makes them very useful in applications where space is limited. A second limiting plate 2118 is disposed at the bottom of the mounting plate 2111 , a second fixing rod 2119 is disposed on the first bracket 2113 between the mounting plate 2111 and the first fixing rod 2116 , a limiting block 21191 is disposed below the second fixing rod 2119 , and the limiting block 21191 abuts against the second limiting plate 2118 .

[0040] The flaw detection component 212 includes a flaw detection component outer shell 2121 rotatably connected to a second bracket 2114, a water coupling joint 2122 is conductively connected to the top of the flaw detection component outer shell 2121, a guide plate 2123 is arranged in the flaw detection component outer shell 2121, a circle of guide grooves 21231 are evenly spaced on the inner wall of the guide plate 2123, an eddy current / ultrasonic probe 2124 is arranged in the guide plate 2123, and a coupling workpiece enclosure 2125 is connected to the bottom of the flaw detection component outer shell 2121, and an inner concave surface 2126 with an arc-shaped cross-section is arranged at the bottom of the coupling workpiece enclosure 2125.

[0041] An assembly plate 2127 is symmetrically provided on both sides of the flaw detection component outer shell 2121 along the axis direction of the workpiece. A group of cam bearings 2128 rotating along the axis direction of the workpiece are provided on the assembly plate 2127, and the bottom of the cam bearing 2128 is located below the inner concave surface 2126.

[0042] The transverse moving mechanism 11 includes a first mounting plate 111 which can be slidably arranged on the frame along the axial direction of the workpiece, and an axial power motor 112 is provided on the first mounting plate 111, and the axial power motor 112 is used to drive the first mounting plate 111 to move along the axial direction of the workpiece; the longitudinal moving mechanism 12 includes a second mounting plate 121 which can be slidably arranged on the frame along the diameter direction of the workpiece, and a lifting motor 122 is provided on the second mounting plate 121, and the lifting motor 122 is used to drive the second mounting plate 121 to move along the diameter direction of the workpiece, and a plurality of lifting cylinders 123 are provided on the second mounting plate 121, and the lifting cylinders 123 drive a third mounting plate 124 which can slide along the diameter direction of the workpiece, and a detection mechanism 21 is fixed on the third mounting plate 124.

[0043] As a further improvement, the workpiece sensing unit 22 is provided in 2 to 5 groups. In the present embodiment, the workpiece sensing unit 22 is provided in 5 groups. The number of the workpiece sensing units 22 is one group more than the number of the detection mechanisms 21. The workpiece sensing unit 22 includes a third bracket 221 disposed on the second mounting plate 121, and a material sensor 222 is provided on the third bracket 221.

[0044] As a further improvement, the flaw detection device 20 further includes an air blowing cleaning mechanism (not shown in the figure), which includes a fourth bracket arranged on the outer shell 2121 of the flaw detection component at both ends, and an air blowing cleaner is arranged on the fourth bracket.

[0045] As a further improvement, a water diversion valve 13 is provided on the first mounting plate 111 , and the water diversion valve 13 is used to supply water to the water coupling joint 2122 .

[0046] A detection method for a large-diameter round tube and bar ultrasonic walking detection vehicle comprises the following steps:

[0047] S10: The workpiece is rotated by the workpiece driving mechanism, and the plurality of flaw detection devices 20 are in a lifted state, and the first mounting plate 111 is driven by the axial power motor 112 to slowly move toward the axial direction of the workpiece;

[0048] S20: When the first group of workpiece sensing units 22 detects the workpiece, the second mounting plate 121 is driven downward by the lifting motor 122 to make the flaw detection device 20 approach the workpiece, and the air blowing cleaning mechanism close to one end of the workpiece blows air to clean the workpiece to remove debris on the surface of the workpiece, so that the detection is more accurate;

[0049] S30: When the second group of workpiece sensing units 22 detects the workpiece, water is supplied to the water coupling joint 2122 of the first group of detection mechanisms 21 through the water dividing valve 13, and the first group of detection mechanisms 21 are driven by the lifting cylinder 123 to fit the surface of the workpiece for detection. At this time, the first group of detection mechanisms just fits the beginning of the workpiece to prevent the detection mechanism from damaging the workpiece due to the inability to accurately position the workpiece due to the failure to detect the workpiece.

[0050] S40: When the next group of workpiece sensing units 22 detects the workpiece, water is supplied to the water coupling joint 2122 of the next group of detection mechanisms 21 through the water diversion valve 13. If an eddy current probe is installed, there is no need to turn on the water flow. The next group of detection mechanisms 21 is driven by the lifting cylinder 123 to fit the surface of the workpiece for detection. At this time, the second group just fits the beginning of the workpiece to prevent the detection mechanism 21 from damaging the workpiece due to the inability to accurately position the workpiece. In this embodiment, there are a total of 4 groups of detection mechanisms 21, so the step S40 is repeated 4 times.

[0051] S50: When the first group of workpiece sensing units 22 does not detect the workpiece, that is, the first group of detection mechanisms 21 has moved to the other end of the workpiece, the first group of detection mechanisms 21 turns off detection, the air blowing cleaning mechanism stops blowing, and the water diverter valve 13 stops supplying water to the water coupling joint 2122, and the first group of detection mechanisms 21 is driven upward and away from the workpiece surface by the lifting cylinder 123. The detection method of step S50 can effectively reduce the energy loss of the water flow in the air blowing cleaning mechanism and the water diverter valve 13.

[0052] S60; when the next group of workpiece sensing units 22 fails to detect the workpiece, the next group of detection mechanisms 21 turns off detection, the water diversion valve 13 stops supplying water to the water coupling joint 2122, and the next group of detection mechanisms 21 is driven upward and away from the workpiece surface by the lifting cylinder 123; in this embodiment, there are a total of 4 groups of detection mechanisms 21, so step S40 is repeated 4 times.

[0053] S70: until all the detection mechanisms 21 move upward and away from the workpiece surface, the detection is completed.

[0054] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A large-diameter round tube and bar ultrasonic walking inspection trolley, characterized in that: include: frame; A moving device (10) comprising a transverse moving mechanism (11) arranged on a frame, and a longitudinal moving mechanism (12) arranged on the transverse moving mechanism (11); A flaw detection device (20) comprises a plurality of detection mechanisms (21) arranged on a longitudinal moving mechanism (12) and workpiece sensing units (22) arranged on both sides of the detection mechanisms (21); the detection mechanisms (21) comprise a buffer follower assembly (211) arranged on the longitudinal moving mechanism (12) and a flaw detection assembly (212) arranged on the buffer follower assembly (211); A workpiece driving mechanism, used to drive the workpiece to rotate around its axis; When the workpiece rotates, the lifting unit drives the flaw detection device (20) to fit the workpiece surface, and the transverse moving mechanism (11) drives the detection mechanism (21) to move along the axial direction of the workpiece. The buffer follower component (211) ensures that the horizontal linearity and vertical linearity between the flaw detection component (212) and the workpiece surface remain unchanged.

2. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 1 is characterized in that: The detection mechanism (21) is 1 to 4 groups, the buffer follower assembly (211) comprises a mounting plate (2111) arranged on the longitudinal moving mechanism (12), a rotating shaft (2112) is fixedly arranged at the rear end of the mounting plate (2111), a first bracket (2113) located at the front end of the mounting plate (2111) is rotatably connected to the rotating shaft (2112), the first bracket (2113) can rotate along the axis direction of the workpiece, the first bracket (2113) is rotatably connected to the end away from the rotating shaft (2112), the second bracket (2114) can rotate along the axis direction of the workpiece, the second bracket (2114) can be rotatably connected to the flaw detection assembly (212), and the flaw detection assembly (212) can rotate along the diameter direction of the workpiece.

3. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 2 is characterized in that: A first limiting plate (2115) is provided on the mounting plate (2111) above the first bracket (2113), a limiting groove (21151) is provided on the first limiting plate (2115), a first fixing rod (2116) is provided in front of the first bracket (2113) on the mounting plate (2111), a limiting rod (21161) is provided above the first fixing rod (2116), and the limiting rod (21161) is arranged in the limiting groove (21151), An elastic member (2117) is connected between the limiting rod (21161) and the limiting plate, a second limiting plate (2118) is arranged at the bottom of the mounting plate (2111), a second fixing rod (2119) is arranged on the first bracket (2113) between the mounting plate (2111) and the first fixing rod (2116), a limiting block (21191) is arranged below the second fixing rod (2119), and the limiting block (21191) abuts against the second limiting plate (2118).

4. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 3 is characterized in that: The flaw detection component (212) comprises a flaw detection component outer shell (2121) rotatably connected to a second bracket (2114); a water coupling joint (2122) is conductively connected to the upper side of the flaw detection component outer shell (2121); a guide plate (2123) is arranged inside the flaw detection component outer shell (2121); a circle of guide grooves (21231) are arranged at equal intervals on the inner side wall of the guide plate (2123); an eddy current / ultrasonic probe (2124) is arranged inside the guide plate (2123); a coupling workpiece plate (2125) is connected to the lower side of the flaw detection component outer shell (2121); an inner concave surface (2126) with an arc-shaped cross section is arranged at the bottom of the coupling workpiece plate (2125).

5. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 4 is characterized in that: An assembly plate (2127) is symmetrically arranged on both sides of the flaw detection component outer shell (2121) along the axis direction of the workpiece, and a group of cam bearings (2128) rotating along the axis direction of the workpiece are arranged on the assembly plate (2127), and the bottom of the cam bearing (2128) is located below the inner concave surface (2126).

6. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 5 is characterized in that: The transverse moving mechanism (11) comprises a first mounting plate (111) slidably arranged on a frame along the axial direction of the workpiece, an axial power motor (112) is provided on the first mounting plate (111), and the axial power motor (112) is used to drive the first mounting plate (111) to move along the axial direction of the workpiece; the longitudinal moving mechanism (12) comprises a second mounting plate (121) slidably arranged on the frame along the diameter direction of the workpiece, a lifting motor (122) is provided on the second mounting plate (121), and the lifting motor (122) is used to drive the second mounting plate (121) to move along the diameter direction of the workpiece, and a plurality of lifting cylinders (123) are provided on the second mounting plate (121), and the lifting cylinders (123) drive a third mounting plate (124) slidably arranged along the diameter direction of the workpiece, and a detection mechanism (21) is fixedly provided on the third mounting plate (124).

7. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 6 is characterized in that: The workpiece sensing units (22) are in 2 to 5 groups, and the workpiece sensing units (22) include a third bracket (221) arranged on the rear end of the second mounting plate (121), and a material sensor (222) is arranged on the third bracket (221).

8. The large-diameter round tube and bar ultrasonic walking inspection trolley according to claim 6 is characterized in that: The flaw detection device (20) further comprises an air blowing cleaning mechanism, the air blowing cleaning mechanism comprising a fourth bracket arranged on the outer shell (2121) of the flaw detection assembly at both ends, and an air blowing cleaner is arranged on the fourth bracket.

9. The large-diameter round tube and bar ultrasonic walking inspection vehicle according to claim 6 is characterized in that: A water diversion valve (13) is provided on the first mounting plate (111), and the water diversion valve (13) is used to supply water to the water coupling joint (2122).

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