A large curved weld post-weld defect detection and repair device

Abstract

The utility model discloses a kind of large-scale curved surface weld flaw detection and repair device after welding, belong to weld detection device technical field, including substrate, the upper end left and right sides of substrate are equipped with horizontal vertical moving mechanism;Horizontal vertical moving mechanism is equipped with bidirectional profiling mobile mechanism;The bidirectional profiling mobile mechanism includes drive assembly, first profiling moving component, second profiling moving component, ultrasonic weld detector and laser welding machine;And first profiling moving component is connected with ultrasonic weld detector;Second profiling moving component is connected with laser welding machine;The upper end of substrate is also equipped with automatic clamping mechanism.The above-mentioned mode makes that device can move along with the track matched with the profile of the workpiece to be detected, so that laser welding machine and the surface of the detected area are more closely fitted, improve detection quality;And laser welding machine and ultrasonic weld detector keep synchronous movement, improve repair efficiency, improve the practicability of device.

Description

Technical Field

[0001] This utility model relates to the technical field of weld inspection devices, specifically to a device for detecting and repairing post-weld defects in large curved surface welds. Background Technology

[0002] The ultrasonic weld defect detector can quickly, conveniently, non-destructively, and accurately detect, locate, evaluate, and diagnose various internal defects (cracks, inclusions, porosity, incomplete penetration, incomplete fusion, etc.) in workpieces.

[0003] In the existing technology, when it is necessary to inspect the weld seam of a workpiece, the operator needs to hold the ultrasonic weld seam detector and place it on the surface of the workpiece, and the ultrasonic probe needs to be in close contact with the surface of the workpiece being inspected. However, for some large curved welded workpieces, the operator needs to constantly change the inspection position, which can easily cause the ultrasonic probe to shake during the inspection process, affecting the inspection quality.

[0004] Based on this, this utility model designs a device for detecting and repairing post-weld defects in large curved surface welds to solve the above problems. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the existing technology, this utility model provides a device for detecting and repairing post-weld defects in large curved surface welds.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A device for detecting and repairing post-weld defects in large curved surface welds includes a base plate, a horizontal and vertical moving mechanism, a bidirectional contouring mechanism, and an automatic clamping mechanism; the horizontal and vertical moving mechanism is installed on the upper left and right sides of the base plate; the bidirectional contouring mechanism is installed on the horizontal and vertical moving mechanism for detecting weld defects in the workpiece and performing synchronous repair operations. The bidirectional contouring mechanism includes a drive assembly, a first contouring movement assembly, a second contouring movement assembly, an ultrasonic weld detector, and a laser welding machine; the drive assembly is connected to the horizontal and vertical movement mechanism. The first and second contouring moving components have the same structure and function, only their installation positions are different; the first and second contouring moving components are installed at the front and rear ends of the drive component, respectively. Furthermore, the first contouring moving component is connected to the ultrasonic weld detector; the second contouring moving component is connected to the laser welding machine. An automatic clamping mechanism for automatically clamping and fixing the workpiece is also installed at the upper end of the base plate. Furthermore, the automatic clamping mechanism includes a trigger component and a movable component; the trigger component is installed in the middle of the substrate; the movable component is installed on the front and rear sides of the trigger component; and the movable component is connected to the substrate. Furthermore, the horizontal and vertical moving mechanism includes a linear module, a first guide rail, a stand, and a guide base; the linear module is fixedly installed on the upper left side of the substrate; the first guide rail is fixedly installed on the upper right side of the substrate; a stand is fixedly installed on the movable end of the linear module; and a stand is slidably connected to the upper end of the first guide rail. The two uprights on the left and right are fixedly connected to the guide base at their closest points; the guide base is connected to the drive assembly, the first contouring moving assembly, and the second contouring moving assembly. Furthermore, the drive assembly includes a lead screw, second guide rails, a movable stage, and a drive motor; the left and right ends of the lead screw are rotatably mounted on the upper sides of the left and right ends of the guide base; second guide rails are symmetrically mounted on the front and rear sides of the upper end of the lead screw; the lower end of the movable stage is limited and slidably connected to the front and rear second guide rails; and the movable stage is threadedly connected to the lead screw; the drive motor is fixedly mounted on the left end of the guide base; and the output end of the drive motor is fixedly connected to the lead screw; the front end of the movable stage is connected to the first contouring moving assembly; and the rear end of the movable stage is connected to the second contouring moving assembly. Furthermore, both the first contouring moving component and the second contouring moving component consist of a first slide rod, a second slide rod, a reset spring, a movable mounting plate, an arc-shaped guide rail, guide rollers, and limit rollers; sliding grooves are symmetrically provided on the left and right sides of the front and rear ends of the movable platform; The first slide rod of the first contouring moving component is limited and slidably connected to the sliding groove on the left side of the front end of the moving platform; the second slide rod of the first contouring moving component is limited and slidably connected to the sliding groove on the right side of the front end of the moving platform. The first slide rod of the second contouring moving component is limited and slidably connected to the sliding groove on the left side of the rear end of the moving platform; the second slide rod of the second contouring moving component is limited and slidably connected to the sliding groove on the right side of the rear end of the moving platform. Both the upper outer sides of the first and second slide rods are wound with return springs; and one end of the return spring on the first slide rod is fixedly connected to the first slide rod. One end of the reset spring on the second slide rod is fixedly connected to the second slide rod; The other end of the reset spring is fixedly connected to the movable platform; The outer ends of the movable mounting plate are symmetrically provided with limit grooves on the left and right sides. The lower ends of both the first and second slide rods are rotatably equipped with limiting rollers that are connected to the limiting slide groove for limiting rolling. The arc-shaped guide rails of the first and second contouring moving components are fixedly installed on the lower sides of the front and rear ends of the guide base in sequence. Both the upper and lower ends of the movable mounting plate are rotatably mounted with guide rollers that are rolledly connected to the arc-shaped guide rail; The ultrasonic weld detector and the laser welding machine are fixedly installed at opposite ends of the two movable mounting plates. Furthermore, the triggering component includes a clamping block, a reset spring, and a mounting bracket; a movable groove is provided in the middle of the upper end of the base plate; the clamping block and the movable groove are slidably connected for limiting. The mounting bracket is fixedly installed on the inner bottom end of the substrate; The lower end of the return spring is fixedly connected to the upper end of the mounting bracket; the upper end of the return spring is fixedly connected to the lower end of the clamping block; the clamping block is connected to the movable component. Furthermore, the movable component includes a push rod, a rotating rod, and a clamping plate; both ends of the clamping block are hinged to one end of the push rod; the other end of the push rod is hinged to the lower end of the rotating rod; symmetrical clearance grooves are provided at both ends of the base plate; the rotating rod is installed inside the clearance groove, and the middle part of the rotating rod is hinged to the inner wall of the clearance groove; a clamping plate is hinged to the upper side of the two rotating rods that are close to each other. Furthermore, rubber anti-slip pads are fixedly installed at the adjacent ends of the two clamping plates to increase the friction with the workpiece.

[0007] Compared with the prior art, the advantages of this utility model are as follows: 1. Through the cooperation of the drive component, the first contouring moving component and the second contouring moving component, the device can move along a trajectory that matches the contour of the workpiece being inspected, making the laser welding machine fit more closely with the surface of the inspected area and improving the inspection quality; and the laser welding machine and the ultrasonic weld detector move synchronously, improving the repair efficiency and the practicality of the device. 2. After the welding process is completed, the workpiece is placed on the top of the substrate by a robotic arm. At this time, the workpiece comes into contact with the triggering component, causing the moving component to move towards the workpiece from both the front and rear sides until the moving component is pressed against the front and rear ends of the workpiece. This achieves automatic fixation of the workpiece and reduces the cost of setting up additional positioning devices. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This utility model relates to a three-dimensional device for detecting and repairing post-weld defects in large curved surface welds. Figure 1 ; Figure 2 This is a front view of a large curved surface weld post-weld defect detection and repair device according to the present invention; Figure 3 This utility model relates to a three-dimensional device for detecting and repairing post-weld defects in large curved surface welds. Figure 2 ; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This utility model relates to a three-dimensional device for detecting and repairing post-weld defects in large curved surface welds. Figure 3 ; Figure 6 For along Figure 2 A 3D diagram with a portion removed from the BB direction; Figure 7 This is a partial three-dimensional view of the first and second contour-following moving components.

[0010] The labels in the diagram represent: 1. Base plate; 2. Linear module; 3. First guide rail; 4. Stand; 41. Guide base; 5. Two-way contouring mechanism; 51. Lead screw; 52. Second guide rail; 53. Movable table; 54. Sliding groove; 55. First slide rod; 56. Second slide rod; 57. Return spring; 58. Movable mounting plate; 59. Arc-shaped guide rail; 510. Ultrasonic weld seam detector; 511. Laser welding machine; 512. Drive motor; 513. Guide roller; 514. Limiting groove; 515. Limiting roller; 6. Workpiece; 61. Linear welding section; 62. Curved surface welding section; 7. Automatic clamping mechanism; 71. Movable groove; 72. Clamping block; 73. Return spring; 74. Push rod; 75. Rotating rod; 76. Clamping fixing plate; 77. Clearance groove; 78. Mounting frame. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0012] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0013] In some embodiments, please refer to the accompanying drawings. Figures 1-7A large curved surface weld post-weld defect detection and repair device includes a base plate 1, and also includes a horizontal and vertical moving mechanism, a two-way contouring moving mechanism 5 and an automatic clamping mechanism 7; the horizontal and vertical moving mechanism is installed on the upper left and right sides of the base plate 1; the two-way contouring moving mechanism 5 is installed on the horizontal and vertical moving mechanism for performing weld defect detection and synchronous repair operations on the workpiece 6. like Figure 1 As shown, the bidirectional contouring mechanism 5 includes a drive assembly, a first contouring movement assembly, a second contouring movement assembly, an ultrasonic weld detector 510, and a laser welding machine 511; the drive assembly is connected to the horizontal and vertical movement mechanism. The first and second contouring moving components have the same structure and function, only their installation positions are different; the first and second contouring moving components are installed at the front and rear ends of the drive component, respectively. Furthermore, the first contouring moving component is connected to the ultrasonic weld detector 510; the second contouring moving component is connected to the laser welding machine 511. An automatic clamping mechanism 7 for automatically clamping and fixing the workpiece 6 is also installed at the upper end of the substrate 1. The automatic clamping mechanism 7 includes a trigger component and a movable component; the trigger component is installed in the middle of the base plate 1; the movable component is installed on the front and rear sides of the trigger component; The outer contour of the curved welding part 62 has a downward bending trend; In this invention, after the welding process is completed, the workpiece 6 is placed on the upper end of the substrate 1 by a robotic arm. At this time, the workpiece 6 comes into contact with the triggering component, causing the movable component to move towards the workpiece 6 from both the front and rear sides until the movable component abuts against the front and rear ends of the workpiece 6. This achieves automatic fixation of the workpiece 6, reduces the cost of setting up additional positioning devices, and improves the practicality of the device. After the workpiece 6 is fixed, the horizontal and vertical moving mechanism drives the drive assembly to move backward. During the movement, the ultrasonic weld detector 510 and the laser welding machine 511 align with the straight welded part 61 of the workpiece 6. Then, the drive assembly drives the first contouring moving assembly and the second contouring moving assembly to move along the straight welded part 61 and the curved welded part 62 of the workpiece 6. During the movement, the ultrasonic weld detector 510 can detect weld defects in the straight welded part 61 and the curved welded part 62. If, during the movement, the ultrasonic weld detector 510 detects small abnormal pores, cracks, etc. in the weld, the horizontal and vertical moving mechanism will work to drive the drive component to move forward until the laser welding machine 511 and the workpiece 6 are aligned at the position where the movement is abnormal. Then the laser welding machine 511 will work to repair the weld. After the repair is completed, the horizontal and vertical moving mechanism drives the drive assembly to reset forward, so that the ultrasonic weld detector 510 and the laser welding machine 511 are separated from the workpiece 6. Then the transport robot arm takes the workpiece 6 out upward, and at this time the automatic clamping mechanism 7 will automatically release the lock on the workpiece 6. Through the cooperation of the drive component, the first contouring moving component, and the second contouring moving component, the device can move along a trajectory that matches the contour of the workpiece 6 being inspected, making the laser welding machine 511 fit more closely with the surface of the inspected area and improving the inspection quality; and the laser welding machine 511 and the ultrasonic weld detector 510 move synchronously, improving the repair efficiency and further enhancing the practicality of the device.

[0014] like Figure 1 and Figure 3 As shown, the horizontal and vertical moving mechanism includes a linear module 2, a first guide rail 3, a stand 4, and a guide base 41; the linear module 2 is fixedly installed on the upper left side of the base plate 1; the first guide rail 3 is fixedly installed on the upper right side of the base plate 1; a stand 4 is fixedly installed on the movable end of the linear module 2; a stand 4 is slidably connected to the upper end of the first guide rail 3. The two uprights 4 are fixedly connected at their closest ends to the guide base 41; the guide base 41 is connected to the drive assembly, the first contouring moving assembly, and the second contouring moving assembly. like Figure 4 As shown, the drive assembly includes a lead screw 51, a second guide rail 52, a movable platform 53, and a drive motor 512. The left and right ends of the lead screw 51 are rotatably mounted on the upper sides of the left and right ends of the guide base 41. The upper end of the lead screw 51 is symmetrically mounted with the second guide rails 52 on both the front and rear sides. The lower end of the movable platform 53 is slidably connected to the two second guide rails 52, and the movable platform 53 is threadedly connected to the lead screw 51. The drive motor 512 is fixedly mounted on the left end of the guide base 41, and the output end of the drive motor 512 is fixedly connected to the lead screw 51. The front end of the movable platform 53 is connected to the first contouring moving assembly, and the rear end of the movable platform 53 is connected to the second contouring moving assembly. like Figure 4 As shown, both the first contouring moving component and the second contouring moving component consist of a first slide bar 55, a second slide bar 56, a reset spring 57, a moving mounting plate 58, an arc-shaped guide rail 59, a guide roller 513, and a limiting roller 515; sliding grooves 54 are symmetrically provided on the left and right sides of the front and rear ends of the movable table 53. The first slide bar 55 of the first contouring moving component is slidably connected to the sliding groove 54 on the left side of the front end of the moving platform 53; the second slide bar 56 of the first contouring moving component is slidably connected to the sliding groove 54 on the right side of the front end of the moving platform 53. The first slide rod 55 of the second contouring moving component is limited and slidably connected to the sliding groove 54 on the left side of the rear end of the movable platform 53; the second slide rod 56 of the second contouring moving component is limited and slidably connected to the sliding groove 54 on the right side of the rear end of the movable platform 53. Both the upper outer sides of the first slide bar 55 and the second slide bar 56 are provided with a return spring 57; and one end of the return spring 57 on the first slide bar 55 is fixedly connected to the first slide bar 55. One end of the reset spring 57 on the second slide rod 56 is fixedly connected to the second slide rod 56; The other end of the reset spring 57 is fixedly connected to the movable table 53; like Figure 7 As shown, limit grooves 514 are symmetrically provided on the left and right sides of the outer end of the movable mounting plate 58; The lower ends of the first slide bar 55 and the second slide bar 56 are rotatably equipped with a limiting roller 515 that is in a limiting rolling connection with the limiting slide groove 514; The arc-shaped guide rails 59 of the first contouring moving component and the second contouring moving component are fixedly installed on the lower sides of the front and rear ends of the guide base 41 in sequence. Both the upper and lower ends of the movable mounting plate 58 are rotatably mounted with guide rollers 513 that are rollingly connected to the arc-shaped guide rail 59; The ultrasonic weld seam detector 510 and the laser welding machine 511 are fixedly installed at opposite ends of the two movable mounting plates 58. like Figure 6 As shown, the triggering component includes a clamping block 72, a reset spring 73, and a mounting bracket 78; a movable groove 71 is provided in the middle of the upper end of the base plate 1; the clamping block 72 is slidably connected to the movable groove 71. Mounting bracket 78 is fixedly installed on the inner bottom end of substrate 1; The lower end of the return spring 73 is fixedly connected to the upper end of the mounting bracket 78; the upper end of the return spring 73 is fixedly connected to the lower end of the clamping block 72; the clamping block 72 is connected to the movable component; like Figure 5 and Figure 6 As shown, the movable component includes a push rod 74, a rotating rod 75, and a clamping plate 76; both ends of the clamping block 72 are hinged to one end of the push rod 74; the other end of the push rod 74 is hinged to the lower end of the rotating rod 75; the front and rear ends of the base plate 1 are symmetrically provided with clearance grooves 77; the rotating rod 75 is installed inside the clearance groove 77, and the middle part of the rotating rod 75 is hinged to the inner wall of the clearance groove 77; the upper side of the two rotating rods 75 that are close to each other is hinged to the clamping plate 76. Rubber anti-slip pads are fixedly installed at the close ends of the two clamping plates 76 to increase the friction with the workpiece 6; In this utility model, after the workpiece 6 is produced and welded, it is placed on the upper end of the substrate 1 by a transport robot arm. At this time, the lower end of the workpiece 6 will touch the upper end of the clamping block 72 and drive the clamping block 72 to move downward along the movable groove 71. During the movement, the clamping block 72 will also continuously compress the return spring 73. In addition, during the downward movement of the clamping block 72, it will also push the push rods 74 on the front and rear sides to move in opposite directions at the same time. The movement of the push rods 74 will push the rotating rod 75 to rotate upward around the hinge point with the substrate 1, so that the two rotating rods 75 at the front and rear will simultaneously move in the direction of approaching each other, thereby driving the clamping and fixing plate 76 to hold the workpiece 6 from the front and rear sides. Subsequently, the linear module 2 works to move the left upright 4 backward, which in turn drives the bidirectional contouring mechanism 5 to follow the right upright 4 and move backward along the first guide rail 3; during the movement, the ultrasonic weld detector 510 and the laser welding machine 511 align with the linear welding part 61 of the workpiece 6. Subsequently, the drive motor 512 drives the lead screw 51 to rotate, causing the movable table 53 to move to the right along the second guide rail 52. This will cause the movable mounting plate 58 of the first and second contouring moving components to move to the right along the movable table 53 with the guide roller 513. During the movement, the ultrasonic weld detector 510 can perform defect detection on the straight welded part 61. When the movable mounting plate 58 moves to the curved welding part 62, since the curved welding part 62 tends to bend downward, the right side of the movable mounting plate 58 will first follow the guide roller 513 to move downward. At this time, the right side of the movable mounting plate 58 will pull the second slide rod 56 downward and stretch the return spring 57. During the movement, the limiting roller 515 will also move to the left along the limiting slide groove 514, so that the second slide rod 56 remains connected to the movable mounting plate 58. This allows the ultrasonic weld detector 510 and the laser welding machine 511 to move along a trajectory that matches the curved weld section 62; If the ultrasonic weld detector 510 detects an abnormality in the weld during the movement, the drive motor 512 stops working. Then, the linear module 2 drives the guide base 41 to move forward as a whole until the laser welding machine 511 moves to the position where the ultrasonic weld detector 510 was just located. At this time, the laser welding machine 511 will be aligned with the position where the workpiece 6 has moved abnormally. Then, the laser welding machine 511 will work to repair the weld. After the repair is completed, the drive motor 512 operates to drive the moving mounting plate 58 of the first contouring moving component and the second contouring moving component to move to the left along the movable table 53 with the guide roller 513 to reset. During the reset process, the reset spring 57 restores and pulls the moving mounting plate 58 to reset, so that the moving mounting plate 58 returns to the horizontal state. Subsequently, the operation of the linear module 2 once again drives the ultrasonic weld seam detector 510 and the laser welding machine 511 to reset forward, causing the ultrasonic weld seam detector 510 and the laser welding machine 511 to separate from the workpiece 6. Then, the handling robotic arm takes the workpiece 6 upward, causing the workpiece 6 to separate from the clamping block 72. Then, the reset spring 73 returns to its original position, causing the two clamping plates 76 at the front and rear to return to their original position, releasing the fixation of the workpiece 6.

[0015] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A device for detecting and repairing post-weld defects in large curved surface welds, comprising a substrate (1), characterized in that: It also includes a horizontal and vertical moving mechanism, a two-way contouring mechanism (5) and an automatic clamping mechanism (7); the upper left and right sides of the base plate (1) are equipped with a horizontal and vertical moving mechanism; the horizontal and vertical moving mechanism is equipped with a two-way contouring mechanism (5) for detecting weld defects and performing synchronous repair work on the workpiece (6). The bidirectional contouring mechanism (5) includes a drive assembly, a first contouring moving assembly, a second contouring moving assembly, an ultrasonic weld detector (510), and a laser welding machine (511); the drive assembly is connected to the horizontal and vertical moving mechanism. The first and second contouring moving components have the same structure and function, only their installation positions are different; the first and second contouring moving components are installed at the front and rear ends of the drive component, respectively. Furthermore, the first contouring moving component is connected to the ultrasonic weld detector (510); the second contouring moving component is connected to the laser welding machine (511); An automatic clamping mechanism (7) for automatically clamping and fixing the workpiece (6) is also installed on the upper end of the substrate (1).

2. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 1, characterized in that, The automatic clamping mechanism (7) includes a trigger component and a moving component; the trigger component is installed in the middle of the base plate (1); the moving component is installed on the front and rear sides of the trigger component; and the moving component is connected to the base plate (1).

3. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 2, characterized in that, The horizontal and vertical moving mechanism includes a linear module (2), a first guide rail (3), a stand (4), and a guide base (41); the linear module (2) is fixedly installed on the upper left side of the base plate (1); the first guide rail (3) is fixedly installed on the upper right side of the base plate (1); a stand (4) is fixedly installed on the movable end of the linear module (2); a stand (4) is slidably connected to the upper end of the first guide rail (3). The two uprights (4) are fixedly connected at their closest ends to the guide base (41); the guide base (41) is connected to the drive assembly, the first contouring moving assembly and the second contouring moving assembly.

4. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 3, characterized in that, The drive assembly includes a lead screw (51), a second guide rail (52), a movable platform (53), and a drive motor (512). The left and right ends of the lead screw (51) are rotatably mounted on the upper sides of the left and right ends of the guide base (41). The upper end of the lead screw (51) is symmetrically mounted with the second guide rail (52) on both the front and rear sides. The lower end of the movable platform (53) is limited and slidably connected to the two second guide rails (52). The movable platform (53) is threadedly connected to the lead screw (51). The drive motor (512) is fixedly mounted on the left end of the guide base (41). The output end of the drive motor (512) is fixedly connected to the lead screw (51). The front end of the movable platform (53) is connected to the first contouring moving assembly. The rear end of the movable platform (53) is connected to the second contouring moving assembly.

5. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 4, characterized in that, The first contouring moving component and the second contouring moving component are both composed of a first slide rod (55), a second slide rod (56), a reset spring (57), a moving mounting plate (58), an arc-shaped guide rail (59), a guide roller (513), and a limiting roller (515); sliding grooves (54) are symmetrically opened on the left and right sides of the front and rear ends of the movable table (53). The first slide rod (55) of the first contouring moving component is limited and slidably connected to the sliding groove (54) on the left side of the front end of the moving platform (53); the second slide rod (56) of the first contouring moving component is limited and slidably connected to the sliding groove (54) on the right side of the front end of the moving platform (53). The first slide rod (55) of the second contouring moving component is limited and slidably connected to the sliding groove (54) on the left side of the rear end of the moving platform (53); the second slide rod (56) of the second contouring moving component is limited and slidably connected to the sliding groove (54) on the right side of the rear end of the moving platform (53). Both the upper outer sides of the first slide bar (55) and the second slide bar (56) are provided with a return spring (57); and one end of the return spring (57) on the first slide bar (55) is fixedly connected to the first slide bar (55); One end of the return spring (57) on the second slide rod (56) is fixedly connected to the second slide rod (56); The other end of the reset spring (57) is fixedly connected to the movable table (53); The outer ends of the movable mounting plate (58) are symmetrically provided with limit grooves (514); The lower ends of the first slide bar (55) and the second slide bar (56) are rotatably equipped with a limiting roller (515) that is in a limiting rolling connection with the limiting slide groove (514). The arc-shaped guide rails (59) of the first and second contouring moving components are fixedly installed on the lower sides of the front and rear ends of the guide base (41) in sequence. Both ends of the movable mounting plate (58) are rotatably mounted with guide rollers (513) that are rolledly connected to the arc-shaped guide rail (59). The ultrasonic weld detector (510) and the laser welding machine (511) are fixedly installed at opposite ends of the two movable mounting plates (58).

6. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 5, characterized in that, The triggering component includes a clamping block (72), a reset spring (73), and a mounting bracket (78); a movable groove (71) is provided in the middle of the upper end of the base plate (1); the clamping block (72) and the movable groove (71) are connected in a limiting sliding connection; The mounting bracket (78) is fixedly installed on the inner bottom end of the base plate (1); The lower end of the return spring (73) is fixedly connected to the upper end of the mounting bracket (78); the upper end of the return spring (73) is fixedly connected to the lower end of the clamping block (72); the clamping block (72) is connected to the movable component.

7. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 6, characterized in that, The movable components include a push rod (74), a rotating rod (75), and a clamping plate (76); both ends of the clamping block (72) are hinged to one end of the push rod (74); the other end of the push rod (74) is hinged to the lower end of the rotating rod (75); the front and rear ends of the base plate (1) are symmetrically provided with clearance grooves (77); the rotating rod (75) is installed inside the clearance groove (77), and the middle part of the rotating rod (75) is hinged to the inner wall of the clearance groove (77); the upper side of the two rotating rods (75) that are close to each other is hinged with a clamping plate (76).

8. The device for detecting and repairing post-weld defects in large curved surface welds according to claim 7, characterized in that, Rubber anti-slip pads are fixedly installed at one end of the two clamping plates (76) that are close to each other to increase the friction with the workpiece (6).

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