Self-positioning welding seam nondestructive testing moving device

Abstract

The utility model relates to a self-positioning welding seam nondestructive testing moving device which comprises a chassis structure, a walking assembly, a guide structure, a welding seam detection module and a control module. The walking assembly comprises an axle, a hub and a tire which are matched with one another, the periphery of the hub is sleeved with the tire, the hub is rotationally connected to the end of the axle, and the axle extends in the width direction of the chassis structure in the axial direction and is connected with the chassis structure; the guide structure comprises at least two groups of guide wheel assemblies, and the at least two groups of guide wheel assemblies are arranged on two sides of the chassis structure in the length direction; the chassis structure is connected through a limiting structure; the welding seam detection module is electrically connected with the control module, and the welding seam detection module is connected with the chassis structure through the connecting structure; the welding seam detection module comprises a penetrating fluid brushing assembly, a penetrating fluid removing assembly and an image assembly; through the arrangement of the guide structure, it is guaranteed that the weld joint nondestructive testing moving device is positioned in time; and through the arrangement of the welding seam detection module, the brushing stability is guaranteed, and then the welding seam detection accuracy is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of weld inspection devices, specifically to a self-positioning mobile device for non-destructive testing of welds. Background Technology

[0002] Welding is an essential manufacturing technology for large bridges, pressure vessels, and oil and gas pipelines. The welds formed by welding these large workpieces are numerous and extremely long, sometimes measured in kilometers. These welds, including those hidden within the structure, require non-destructive testing (NDT) to verify weld quality. Large bridges, pressure vessels, and oil and gas pipelines contain numerous internal welds, which are almost impossible to inspect manually and must be handled by automated mobile NDT platforms. Penetrant testing is a NDT method that uses capillary action to inspect surface cracks and defects in materials. This method is relatively effective for detecting internal weld cracks. However, when performing internal weld testing, precise positioning is required, and a suitable amount of penetrant must be applied evenly to ensure accuracy. Excess penetrant on the inner wall must be cleaned or recovered promptly.

[0003] In summary, existing technologies for non-destructive testing of internal welds still have problems such as positioning, application of penetrant, and cleaning. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the purpose of this application is to provide a self-positioning weld non-destructive testing moving device to solve the technical problems of positioning, uniform application of penetrant and cleaning of the prior art for internal weld non-destructive testing equipment.

[0005] The self-positioning weld non-destructive testing mobile device described in this application includes a chassis structure, a walking component, a guiding structure, a weld testing module, and a control module.

[0006] The walking assembly includes a matching axle, hub, and tire. The tire is fitted around the outer periphery of the hub, the hub is rotatably connected to the end of the axle, and the axial direction of the axle extends along the width direction of the chassis structure and is connected to the chassis structure.

[0007] The guide structure includes at least two sets of guide wheel assemblies, and the at least two sets of guide wheel assemblies are disposed on both sides of the chassis structure along its length; the guide wheel assemblies are connected to the chassis structure through a limiting structure;

[0008] The weld detection module is electrically connected to the control module, and the weld detection module is connected to the chassis structure through a connection structure; the weld detection module includes a penetrant application component, a penetrant removal component, and an imaging component.

[0009] Preferably, the chassis structure includes a chassis body, a traction component, and a top plate;

[0010] The traction component is disposed between the chassis body and the top plate and is connected to the chassis body; a traction hole is formed at the end of the traction component along its length; the top plate is connected to the chassis body;

[0011] The bottom of the traction member is provided with a slider, and the chassis body is provided with a groove or track that matches the slider at a corresponding position; the groove or track extends along the length direction of the chassis body, and the length of the groove or track is greater than the length of the slider and less than the length of the chassis body; the traction member is slidably connected to the chassis body.

[0012] Preferably, the guide wheel assembly includes a guide wheel body and a guide wheel arm; the limiting structure includes a guide wheel positioning pin, the guide wheel arm rotates along the axial direction of the guide wheel positioning pin and is rotatably connected to the guide wheel positioning pin; and the guide wheel arm extends in a direction away from the chassis structure, and the guide wheel is rotatably connected to the end of the guide wheel arm away from the chassis structure.

[0013] Preferably, the self-positioning weld non-destructive testing moving device further includes a connecting rod extending along the length of the chassis structure, the end of the connecting rod being connected to the guide wheel assembly; the guide structure includes four sets of guide wheel assemblies, the four sets of guide wheel assemblies being disposed at the four corners of the chassis structure; the middle part of the traction member extends at both ends along the width direction of the chassis body to form an extension portion, an adjustment groove being formed on the extension portion, the adjustment groove extending along the width direction of the chassis body; an adjustment block is formed at one bottom of the connecting rod, the adjustment block being slidably disposed within the adjustment groove.

[0014] Preferably, the connection structure includes a first connection component, a second connection component, and a third connection component; the permeate coating component is connected to the first connection component; the permeate removal component is connected to the second connection component; and the imaging component is connected to the third connection component.

[0015] Preferably, the permeate coating assembly is located at the middle of both sides of the chassis structure along its length, and includes a permeate storage tank and a permeate coating pipe, wherein the permeate storage tank is connected to the permeate coating pipe; a first pump is provided inside the permeate storage tank, and the first pump is electrically connected to the control module; the first connecting assembly includes a first connecting arm and a first connecting clamp, one end of the first connecting arm is connected to the chassis structure, and the other end extends in a direction away from the chassis structure and is connected to the first connecting clamp; the end of the permeate coating pipe near the chassis structure is connected to the first connecting clamp.

[0016] Preferably, the end of the permeate coating tube away from the connecting clamp is provided with an inclined cutting surface, and the inclined cutting surface forms an acute angle with the axial direction of the permeate coating tube.

[0017] Preferably, the permeate removal assembly is located at the middle of both sides of the chassis structure along its length, and includes a permeate recovery tank and a permeate removal pipe, wherein the permeate recovery tank is connected to the permeate removal pipe; a second pump is provided inside the permeate recovery tank, and the second pump is electrically connected to the control module; the second connection assembly includes a second connecting arm and a second connecting clamp, one end of the second connecting arm is connected to the chassis structure, and the other end extends in a direction away from the chassis structure and is connected to the second connecting clamp; the end of the permeate removal pipe near the chassis structure is connected to the second connecting clamp.

[0018] Preferably, the end of the permeate removal tube away from the connecting clamp is provided with an inclined cutting surface, the inclined cutting surface is at an acute angle to the axial direction of the permeate coating tube, and the inclined cutting surface is provided with bristles.

[0019] Preferably, the imaging component includes an industrial camera, the camera of which is oriented away from the chassis structure and is electrically connected to the control module; the third connecting component includes a third connecting arm and a third connecting clamp, one end of the third connecting arm is connected to the chassis structure, and the other end extends away from the chassis structure and is connected to the third connecting clamp; the end of the industrial camera away from the camera is connected to the third connecting clamp.

[0020] The self-positioning weld non-destructive testing moving device described in this application has the following advantages:

[0021] By setting up a guide structure, including a guide wheel assembly, which is arranged on both sides of the chassis structure along its length, the guide wheel assembly can contact the inner wall of the workpiece faster than the chassis structure. When the guide wheel assembly contacts the inner wall of the workpiece, the self-positioning weld non-destructive testing moving device described in this application can be kept in the middle of the workpiece, thus ensuring that the self-positioning weld non-destructive testing moving device described in this application can be positioned in a timely manner when performing non-destructive testing inside large workpieces such as pipes.

[0022] Meanwhile, the weld inspection module includes a penetrant application component, a penetrant removal component, and an imaging component. The penetrant application and removal components ensure that the penetrant is evenly applied to the inner wall of the workpiece, guaranteeing the stability of the penetrant application and thus ensuring the accuracy of weld inspection. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a self-positioning weld non-destructive testing moving device described in this application;

[0024] Figure 2 This is a front view of the self-positioning weld non-destructive testing moving device;

[0025] Figure 3 This is a top view of the self-positioning weld non-destructive testing moving device;

[0026] Figure 4 This is a schematic diagram of the chassis body;

[0027] Figure 5 This is a schematic diagram of the structure of the traction component;

[0028] Figure 6 This is a schematic diagram showing the cooperation of the chassis body, the traction component, the guide structure, and the connecting rod.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1-Chassis structure, 11-Chassis body, 12-Traction component, 13-Top plate;

[0031] 2-Travel assembly, 21-Axle, 22-Wheel hub, 23-Tire;

[0032] 3-Guide structure, 31-Guide wheel assembly, 311-Guide wheel body, 312-Guide wheel arm;

[0033] 4-Weld inspection module, 41-Permeate coating assembly, 411-Permeate container, 412-Permeate coating tube, 42-Permeate removal assembly, 421-Permeate recovery tank, 422-Permeate removal tube, 43-Imaging assembly, 431-Industrial camera;

[0034] 5-Control module;

[0035] 6-Limiting structure, 61-Guide wheel positioning pin;

[0036] 7-Connecting structure, 71-First connecting component, 711-First connecting arm, 712-First connecting clamp, 72-Second connecting component, 721-Second connecting arm, 722-Second connecting clamp, 73-Third connecting component, 731-Third connecting arm, 732-Third connecting clamp;

[0037] 8-Linkage. Detailed Implementation

[0038] like Figures 1-3 As shown, the self-positioning weld non-destructive testing mobile device of this application includes a chassis structure 1, a walking component 2, a guide structure 3, a weld inspection module 4, and a control module 5.

[0039] The walking assembly 2 includes a matching axle 21, a hub 22 and a tire 23. The tire 23 is fitted around the outer periphery of the hub 22. The hub 22 is rotatably connected to the end of the axle 21. The axle 21 extends axially along the width direction of the chassis structure 1 and is connected to the chassis structure 1.

[0040] Specifically, the walking assembly 2 includes two axles 21, four hubs 22, and four tires 23. The hubs 22 and tires 23 correspond one-to-one. The tires 23 are fitted around the outer periphery of the hubs 22. The hubs 22 are rotatably connected to the ends of the axles 21. The axial direction of the axles 21 extends along the width direction of the chassis structure 1 and is located at the bottom of the chassis structure 1 and connected to the chassis structure 1. In one embodiment of this application, the two axles 21 are arranged along the length direction of the chassis structure 1. The two ends of the axles 21 are respectively connected to the hubs 22. The length of the axles 21 is greater than the width of the chassis structure 1. Preferably, the length of the axles 21 can be the sum of the width of the chassis structure 1 and the width of the two hubs 22.

[0041] The guide structure 3 includes at least two sets of guide wheel assemblies 31, which are arranged on both sides of the chassis structure 1 along its length. The guide wheel assemblies 31 are connected to the chassis structure 1 via a limiting structure 6.

[0042] Specifically, the guide wheel assembly 31 is arranged on both sides of the chassis structure 1 along its length. That is, the guide wheel assembly 31 contacts the inner wall of the workpiece faster than the chassis structure 1. When the guide wheel assembly 31 contacts the inner wall of the workpiece, the self-positioning weld non-destructive testing moving device described in this application can be kept in the middle of the workpiece. In other words, it ensures that the self-positioning weld non-destructive testing moving device described in this application can be positioned in a timely manner when performing non-destructive testing inside large workpieces such as pipes.

[0043] The weld inspection module 4 is electrically connected to the control module 5, and the weld inspection module 4 is connected to the chassis structure 1 through the connection structure 7; the weld inspection module 4 includes a penetrant coating component 41, a penetrant removal component 42, and an imaging component 43.

[0044] With the setting of the guide structure 3, the guide structure 3 includes a guide wheel assembly 31, which is set on both sides of the chassis structure 1 in the length direction. That is, the guide wheel assembly 31 contacts the inner wall of the workpiece faster than the chassis structure 1. When the guide wheel assembly 31 contacts the inner wall of the workpiece, the self-positioning weld non-destructive testing moving device described in this application can be kept in the middle of the workpiece. That is, it ensures that the self-positioning weld non-destructive testing moving device described in this application can be positioned in time when performing non-destructive testing inside large workpieces such as pipes.

[0045] Meanwhile, the weld inspection module 4 includes a penetrant application component 41, a penetrant removal component 42, and an imaging component 43. The penetrant application component 41 and the penetrant removal component 42 ensure that the penetrant is evenly applied to the inner wall of the workpiece, ensuring the stability of the penetrant application and thus ensuring the accuracy of the weld inspection.

[0046] Furthermore, such as Figures 1-5 As shown, the chassis structure 1 includes a chassis body 11, a traction component 12, and a top plate 13;

[0047] The traction member 12 is disposed between the chassis body 11 and the top plate 13 and is connected to the chassis body 11; a traction hole is formed at the end of the traction member 12 in the longitudinal direction; the top plate 13 is connected to the chassis body 11.

[0048] The bottom of the traction component 12 is provided with a slider, and the chassis body 11 is provided with a groove or track that matches the slider at the corresponding position; the groove or track extends along the length direction of the chassis body 11, and the length of the groove or track is greater than the length of the slider and less than the length of the chassis body 11; the traction component 12 is slidably connected to the chassis body 11.

[0049] Specifically, the self-positioning weld non-destructive testing mobile device described in this application can be equipped with a power component on the chassis structure 1 and connected to the walking component 2, so that the self-positioning weld non-destructive testing mobile device can be self-driven; however, in order to ensure that the entire weld non-destructive testing process is linear, a traction hole is formed at the end of the traction component 12 in the length direction. The traction hole is used to connect with the external power component. For example, traction holes are formed at both ends of the traction component 12 in the length direction. Winches are provided at both ends of the workpiece, and steel wire ropes are wound on the winches. One end of the steel wire rope is connected to the traction hole. Through the winding of the winches, the self-positioning weld non-destructive testing mobile device described in this application is driven to move. Since winches are provided at both ends of the workpiece, the self-positioning weld non-destructive testing mobile device described in this application can move back and forth inside the workpiece.

[0050] When the winch pulls, the traction component 12 is first driven by the wire rope, which in turn drives the chassis structure 1 and the walking component 2, guide structure 3, weld detection module 4 and control module 5 connected to the chassis structure 1 to move. In order to avoid the winch winding the wire rope too fast and causing excessive tension that could damage the chassis structure 1, a slider is provided at the bottom of the traction component 12 to allow the chassis structure 1 to have a certain buffer space. The chassis body 11 is provided with a groove or track that matches the slider at the corresponding position. The groove or track extends along the length of the chassis body 11. The length of the groove or track is greater than the length of the slider and less than the length of the chassis body 11. The traction component 12 is slidably connected to the chassis body 11.

[0051] Furthermore, such as Figure 6 As shown, the guide wheel assembly 31 includes a guide wheel body 311 and a guide wheel arm 312; the limiting structure 6 includes a guide wheel positioning pin 61, the guide wheel arm 312 rotates along the axial direction of the guide wheel positioning pin 61 and is rotatably connected to the guide wheel positioning pin 61; and the guide wheel arm 312 extends in a direction away from the chassis structure 1, and the guide wheel is rotatably connected to the end of the guide wheel arm 312 away from the chassis structure 1.

[0052] In one embodiment of this application, the self-positioning weld non-destructive testing moving device further includes a connecting rod 8, which extends along the length of the chassis structure 1, and the end of the connecting rod 8 is connected to the guide wheel assembly 31; the guide structure 3 includes four sets of guide wheel assemblies 31, which are disposed at the four corners of the chassis structure 1; the middle part of the traction member extends at both ends along the width direction of the chassis body 11 to form an extension portion, and an adjustment groove is formed on the extension portion, which extends along the width direction of the chassis body 11; an adjustment block is formed at one bottom of the connecting rod 8, and the adjustment block is slidably disposed in the adjustment groove.

[0053] Furthermore, such as Figure 1As shown, the connection structure 7 includes a first connection component 71, a second connection component 72, and a third connection component 73; the penetrant application component 41 is connected to the first connection component 71; the penetrant removal component 42 is connected to the second connection component 72; and the imaging component 43 is connected to the third connection component 73.

[0054] Furthermore, such as Figure 1 As shown, the permeate coating assembly 41 is located at the middle of both sides of the chassis structure 1 along its length, and includes a permeate container 411 and a permeate coating pipe 412. The permeate container 411 and the permeate coating pipe 412 are connected. A first pump is installed inside the permeate container 411, and the first pump is electrically connected to the control module 5. The first connecting assembly 71 includes a first connecting arm 711 and a first connecting clamp 712. One end of the first connecting arm 711 is connected to the chassis structure 1, and the other end extends in a direction away from the chassis structure 1 and is connected to the first connecting clamp 712. The end of the permeate coating pipe 412 near the chassis structure 1 is connected to the first connecting clamp 712.

[0055] Specifically, the permeate is contained in the permeate container 411, and the first pump body is used to pump the permeate from the permeate container 411 to the permeate coating pipe 412. The permeate coating pipe 412 is a hollow tube, and the permeate flows out from the hollow part.

[0056] Furthermore, in order to ensure that the self-positioning weld non-destructive testing mobile device described in this application can more closely conform to the weld and stably apply the penetrant to the weld surface when applying penetrant, the penetrant application pipe 412 has an inclined cutting surface at the end away from the connecting clamp, and the inclined cutting surface forms an acute angle with the axial direction of the penetrant application pipe 412.

[0057] In one embodiment of this application, the inclined cutting surface may be a curved surface adapted to the inner wall of the workpiece.

[0058] Furthermore, such as Figure 1 As shown, the permeate removal assembly 42 is located at the middle of both sides of the chassis structure 1 along its length, and includes a permeate recovery tank 421 and a permeate removal pipe 422. The permeate recovery tank 421 is connected to the permeate removal pipe 422. A second pump is installed inside the permeate recovery tank 421, and the second pump is electrically connected to the control module 5. The second connection assembly 72 includes a second connecting arm 721 and a second connecting clamp 722. One end of the second connecting arm 721 is connected to the chassis structure 1, and the other end extends in a direction away from the chassis structure 1 and is connected to the second connecting clamp 722. The end of the permeate removal pipe 422 near the chassis structure 1 is connected to the second connecting clamp 722.

[0059] Specifically, the second pump body is used to pump the permeate from the inner wall of the workpiece into the permeate recovery tank 421. The permeate cleaning pipe is hollow, and the permeate is pumped into the permeate recovery tank 421 from the hollow part.

[0060] Furthermore, to ensure that the penetrant removal pipe 422 fits more closely to the weld and stably removes the penetrant from the weld surface when removing excess penetrant, the end of the penetrant removal pipe 422 away from the connecting clamp is provided with an inclined cutting surface; the inclined cutting surface forms an acute angle with the axial direction of the penetrant application pipe 412. In one embodiment of this application, to enable the penetrant removal pipe 422 to better remove excess penetrant, bristles are provided on the inclined cutting surface.

[0061] Furthermore, such as Figure 1 As shown, the imaging component 43 includes an industrial camera 431, the camera of the industrial camera 431 is oriented away from the chassis structure 1 and the industrial camera 431 is electrically connected to the control module 5; the third connection component 73 includes a third connection arm 731 and a third connection clamp 732, one end of the third connection arm 731 is connected to the chassis structure 1, and the other end extends in a direction away from the chassis structure 1 and is connected to the third connection clamp 732; the end of the industrial camera 431 away from the camera is connected to the third connection clamp 732.

[0062] The self-positioning weld non-destructive testing moving device described in this application utilizes a guide structure 3, which includes guide wheel assemblies 31. These guide wheel assemblies 31 are positioned on both sides of the chassis structure 1 along its length. This means that the guide wheel assemblies 31 contact the inner wall of the workpiece faster than the chassis structure 1. When the guide wheel assemblies 31 contact the inner wall of the workpiece, the self-positioning weld non-destructive testing moving device described in this application can remain in the center of the workpiece, thus ensuring timely positioning when performing non-destructive testing inside large workpieces such as pipes.

[0063] Meanwhile, the weld inspection module 4 includes a penetrant application component 41, a penetrant removal component 42, and an imaging component 43. The penetrant application component 41 and the penetrant removal component 42 ensure that the penetrant is evenly applied to the inner wall of the workpiece, ensuring the stability of the penetrant application and thus ensuring the accuracy of the weld inspection.

[0064] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application.

[0065] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this application.

Claims

1. A self-positioning non-destructive testing mobile device for welds, characterized in that, It includes a chassis structure (1), a walking assembly (2), a guide structure (3), a weld inspection module (4), and a control module (5); The walking assembly (2) includes a matching axle (21), a hub (22) and a tire (23). The tire (23) is fitted around the outer periphery of the hub (22). The hub (22) is rotatably connected to the end of the axle (21). The axial direction of the axle (21) extends along the width direction of the chassis structure (1) and is connected to the chassis structure (1). The guide structure (3) includes at least two sets of guide wheel assemblies (31), and the at least two sets of guide wheel assemblies (31) are arranged on both sides of the chassis structure (1) in the length direction; the guide wheel assemblies (31) are connected to the chassis structure (1) through a limiting structure (6); The weld detection module (4) is electrically connected to the control module (5), and the weld detection module (4) is connected to the chassis structure (1) through the connection structure (7); the weld detection module (4) includes a penetrant coating component (41), a penetrant removal component (42), and an imaging component (43).

2. The self-positioning weld non-destructive testing moving device according to claim 1, characterized in that, The chassis structure (1) includes a chassis body (11), a traction component (12), and a roof plate (13). The traction member (12) is disposed between the chassis body (11) and the top plate (13) and is connected to the chassis body (11); a traction hole is formed at the end of the traction member (12) in the length direction; the top plate (13) is connected to the chassis body (11); The bottom of the traction member (12) is provided with a slider, and the chassis body (11) is provided with a groove or track that is adapted to the slider at a position corresponding to the slider; the groove or track extends along the length direction of the chassis body (11), and the length of the groove or track is greater than the length of the slider and less than the length of the chassis body (11); the traction member (12) is slidably connected to the chassis body (11).

3. The self-positioning weld non-destructive testing moving device according to claim 2, characterized in that, The guide wheel assembly (31) includes a guide wheel body (311) and a guide wheel arm (312); the limiting structure (6) includes a guide wheel positioning pin (61), the guide wheel arm (312) rotates along the axial direction of the guide wheel positioning pin (61) and is rotatably connected to the guide wheel positioning pin (61); and the guide wheel arm (312) extends in a direction away from the chassis structure (1), and the guide wheel is rotatably connected to one end of the guide wheel arm (312) away from the chassis structure (1).

4. The self-positioning weld non-destructive testing moving device according to claim 3, characterized in that, It also includes a connecting rod (8), which extends along the length of the chassis structure (1), and the end of the connecting rod (8) is connected to the guide wheel assembly (31); the guide structure (3) includes four sets of guide wheel assemblies (31), which are located at the four corners of the chassis structure (1); the middle part of the traction member extends at both ends along the width direction of the chassis body (11) to form an extension, and an adjustment groove is formed on the extension, which extends along the width direction of the chassis body (11); an adjustment block is formed at one bottom of the connecting rod (8), and the adjustment block is slidably disposed in the adjustment groove.

5. The self-positioning weld non-destructive testing moving device according to claim 1 or 2, characterized in that, The connection structure (7) includes a first connection component (71), a second connection component (72), and a third connection component (73); the permeate coating component (41) is connected to the first connection component (71); the permeate removal component (42) is connected to the second connection component (72); and the imaging component (43) is connected to the third connection component (73).

6. The self-positioning weld non-destructive testing moving device according to claim 5, characterized in that, The permeate coating assembly (41) is located at the middle of both sides of the chassis structure (1) along its length, and includes a permeate container (411) and a permeate coating pipe (412). The permeate container (411) is connected to the permeate coating pipe (412). A first pump is installed inside the permeate container (411), and the first pump is electrically connected to the control module (5). The first connecting assembly (71) includes a first connecting arm (711) and a first connecting clamp (712). One end of the first connecting arm (711) is connected to the chassis structure (1), and the other end extends away from the chassis structure (1) and is connected to the first connecting clamp (712). The end of the permeate coating pipe (412) near the chassis structure (1) is connected to the first connecting clamp (712).

7. The self-positioning weld non-destructive testing moving device according to claim 6, characterized in that, The end of the permeate coating tube (412) away from the connecting clamp is provided with an inclined cutting surface, and the inclined cutting surface forms an acute angle with the axial direction of the permeate coating tube (412).

8. The self-positioning weld non-destructive testing moving device according to claim 6, characterized in that, The permeate removal assembly (42) is located at the middle of both sides of the chassis structure (1) along its length, and includes a permeate recovery tank (421) and a permeate removal pipe (422). The permeate recovery tank (421) is connected to the permeate removal pipe (422). A second pump is provided inside the permeate recovery tank (421), and the second pump is electrically connected to the control module (5). The second connection assembly (72) includes a second connecting arm (721) and a second connecting clamp (722). One end of the second connecting arm (721) is connected to the chassis structure (1), and the other end extends away from the chassis structure (1) and is connected to the second connecting clamp (722). The end of the permeate removal pipe (422) near the chassis structure (1) is connected to the second connecting clamp (722).

9. The self-positioning weld non-destructive testing moving device according to claim 8, characterized in that, The end of the permeate removal tube (422) away from the connecting clamp is provided with an inclined cutting surface, the inclined cutting surface is at an acute angle to the axial direction of the permeate coating tube (412), and the inclined cutting surface is provided with bristles.

10. The self-positioning weld non-destructive testing moving device according to claim 5, characterized in that, The imaging component (43) includes an industrial camera (431), the camera of the industrial camera (431) is oriented away from the chassis structure (1) and the industrial camera (431) is electrically connected to the control module (5); the third connecting component (73) includes a third connecting arm (731) and a third connecting clamp (732), one end of the third connecting arm (731) is connected to the chassis structure (1), and the other end extends away from the chassis structure (1) and is connected to the third connecting clamp (732); the end of the industrial camera (431) away from the camera is connected to the third connecting clamp (732).

Images