A portable all-position automatic weld flaw detection robot

Abstract

This utility model provides a portable, all-position automatic weld flaw detection robot, comprising: a walking mechanism including a vehicle body with wheels, and magnets on the lower end of the vehicle body and / or the wheels for adhering to the workpiece surface; a telescopic mechanism mounted on the vehicle body, including a slide block capable of horizontal sliding, the sliding direction of the slide block being perpendicular to the forward direction of the walking mechanism; and a flaw detection mechanism mounted on the telescopic mechanism and movable with the slide block, comprising an ultrasonic probe mounted on the slide block and an elastic component, the elastic component causing the ultrasonic probe to have a downward movement tendency so that the ultrasonic probe fits against the workpiece surface. This portable, all-position automatic weld flaw detection robot is compact, small in size, easy to carry, and can be quickly deployed and flexibly moved, adapting to various complex environments, ensuring flaw detection accuracy and efficiency, significantly improving inspection quality and operational safety, and reducing enterprise operating costs.

Description

Technical Field

[0001] This utility model relates to the field of welding, and in particular to a portable all-position automatic weld flaw detection and scanning robot. Background Technology

[0002] Current ultrasonic flaw detection is performed manually, meaning that operators hold the ultrasonic probe and scan the weld seam (which may be located in overhead pipelines, bridges, towers, large tanks, spherical tanks, as well as ships, petrochemical plants, wind power plants, hydropower plants, thermal power plants, long-distance pipelines, etc.) by hand. This method has the following disadvantages or deficiencies:

[0003] 1. The pressure applied to the handheld probe must be appropriate, and a coupling agent of uniform thickness must always be present between the probe and the contact surface. The angle of the handheld probe must always keep the probe parallel to the surface being inspected. When scanning with an ultrasonic probe, the lateral (left-right) movement distance is half the probe width each time. The longitudinal (back-forward) movement distance must ensure that the secondary reflected wave can scan the cross-section of the weld. Therefore, ultrasonic testing requires a very high level of skill and experience from the operator.

[0004] 2. For ultrasonic testing of dense welds (long weld length and large number of welds), manual operation has drawbacks such as poor stability, high missed detection rate and low efficiency.

[0005] 3. Since most welds are located at high altitudes or in the air, manual scaffolding needs to be erected before ultrasonic testing of welds, and safety requirements are high.

[0006] 4. Areas for ultrasonic testing of welds, including testing, maintenance, and construction sites where personnel cannot access hazardous or dangerous environments.

[0007] 5. Ultrasonic testing of welds in overhead pipelines, bridges, towers, large tanks, spherical tanks, as well as ships, petrochemicals, wind power, hydropower, thermal power, and long-distance pipelines mostly involves field operations in harsh environments such as strong sunlight, strong winds, high temperatures, and cold temperatures. As a result, ultrasonic testing of welds suffers from drawbacks such as poor stability, high false negative rate, and low efficiency.

[0008] 6. In environments with dust, fumes, or toxic and harmful gases, operators cannot perform routine ultrasonic testing of welds. If ultrasonic testing of welds is necessary, protective measures against dust, fumes, and toxic and harmful gases must be taken before the ultrasonic testing operation can proceed.

[0009] 7. The working space for manual ultrasonic testing of welds must be of a size that allows personnel to enter before the manual ultrasonic testing of welds can be carried out.

[0010] 8. Manual ultrasonic testing of welds has problems such as worker fatigue, absenteeism, and short working hours; it also results in high labor costs and worker fatigue, which usually delays the project schedule and affects the company's profits.

[0011] 9. Manual ultrasonic testing of welds is difficult to guarantee in locations where ultrasonic testing is challenging, such as narrow spaces and the lower part of pipes, and manual ultrasonic testing is inefficient.

[0012] 10. For large workpieces and equipment components, especially for intensive and batch inspections, manual ultrasonic testing of welds requires a large number of personnel. However, the large number of personnel results in varying skill levels and qualifications, high labor intensity, and unstable quality, which are disadvantages of manual grinding.

[0013] The existing manual methods of flaw detection have many limitations and cannot meet the needs of efficient and accurate detection. There is an urgent need to introduce automated and intelligent flaw detection technologies to improve operational efficiency and detection quality. Summary of the Invention

[0014] The technical problem to be solved by this utility model is to provide a portable all-position automatic weld flaw detection and scanning robot that is compact in structure, easy to operate, has high flaw detection efficiency and good results, and can be applied to a variety of complex environments.

[0015] This utility model provides a portable, all-position automatic weld flaw detection robot, which includes:

[0016] The walking mechanism includes a vehicle body 1, on which wheels 11 are provided, and magnets are provided at the lower end of the vehicle body 1 and / or on the wheels 11 and can be attracted to the surface of the workpiece.

[0017] The telescopic mechanism is installed on the vehicle body 1 and includes a slide block that can slide horizontally, wherein the sliding direction of the slide block is perpendicular to the forward direction of the traveling mechanism;

[0018] The flaw detection mechanism is mounted on the telescopic mechanism and can move with the slide. The flaw detection mechanism includes an ultrasonic probe 51 mounted on the slide and an elastic component. The elastic component causes the ultrasonic probe 51 to have a downward movement tendency so that the ultrasonic probe 51 fits against the surface of the workpiece.

[0019] The magnetic adsorption walking mechanism enables it to stably adsorb and move on the weld seams of workpieces in complex spatial positions such as vertical, upward, and curved surfaces, breaking through the positional limitations of manual inspection and achieving full-position adaptability.

[0020] Furthermore, the vehicle body 1 is equipped with a battery 62 for power supply, which can achieve independent power supply, making the whole machine self-contained, with a more compact structure, which meets the original intention of "portable" design, and is convenient for carrying, transportation and rapid transfer between different workpieces.

[0021] Furthermore, the bottom surface of the vehicle body 1 is an inwardly concave arc-shaped surface 1a.

[0022] Furthermore, the vehicle body 1 is provided with one or more handles 12 for carrying, which facilitates transportation.

[0023] Furthermore, the handle 12 is located at the front and / or rear end of the vehicle body 1 to facilitate movement and handling operations.

[0024] Furthermore, the ultrasonic probe 51 is located on one or both sides of the vehicle body 1. The vehicle body can travel parallel to the edges of obstacles such as walls, flanges, and reinforcing ribs. The probe extends laterally to cover the weld seam adjacent to the obstacle, solving the problem of blind spot detection that cannot be accessed manually and improving the edge detection capability.

[0025] Furthermore, the telescopic mechanism also includes a drive motor 25, the output end of which is provided with a lead screw 251. The lead screw 251 is threadedly connected to the slide block and can drive it to slide horizontally, with high driving accuracy and good stability.

[0026] Furthermore, the telescopic mechanism also includes a base plate 21 and a slide rail 22 disposed on the base plate 21. The slide block is slidably fitted on the slide rail 22, has high strength, and can ensure the smooth movement of the slide block and the ultrasonic probe.

[0027] Furthermore, the slide includes a slider 23 and a mounting plate 26. The slider 23 is slidably mounted on the slide rail 22, and the mounting plate 26 is connected to the slider 23 through a connecting plate. The ultrasonic probe is mounted on the mounting plate 26, forming a modular structure that facilitates loading, unloading, and maintenance.

[0028] Furthermore, the vehicle body 1 is provided with a limit switch 28 for limiting the movement stroke of the slide, and the slide is provided with a trigger 27 that can trigger the limit switch 28, which can limit the movement stroke of the slide and improve operational safety and reliability.

[0029] Furthermore, the limit switch 28 is a contact switch or an inductive switch.

[0030] Furthermore, the height and / or clamping force of the ultrasonic probe 51 are adjustable to meet different testing conditions, making it widely applicable and effective.

[0031] Furthermore, a lifting adjustment assembly 3 is installed on the slide, and the ultrasonic probe 51 is installed on the lifting adjustment assembly 3.

[0032] Furthermore, the lifting adjustment assembly 3 includes a fixed seat 31 fixed on the slide and a lifting seat 32 vertically slidably mounted on the fixed seat 31. The lifting seat 32 is provided with a rack, and a gear meshing with the rack is rotatably mounted on the fixed seat 31. The gear is provided with a knob 33 for driving the gear to rotate. By adjusting the gear driven by the knob 33, the vertical movement of the lifting seat 32 can be realized, accurately adjusting the probe height and clamping force, adapting to complex detection environments, ensuring detection accuracy and effect, and being convenient and labor-saving to adjust, with high reliability.

[0033] Furthermore, a locking bolt 34 is provided between the fixed base 31 and the lifting base 32, which can securely lock the lifting base 32, prevent loosening during the detection process, ensure that the probe is always in the optimal detection position, and improve the accuracy and consistency of the detection data.

[0034] Furthermore, the ultrasonic probe 51 is mounted on an elastic support 4. The elastic support 4 includes a fixed support 41 and a movable support 42 that is vertically slidably mounted on the fixed support 41 via a guide rod 43. An elastic component 44 is provided between the fixed support 41 and the movable support 42. The elastic component 44 causes the movable support 42 to have a downward movement tendency. The ultrasonic probe 51 is mounted on the movable support 52, which enables the elastic installation of the ultrasonic probe, ensures close contact between the probe and the detection surface, avoids detection data errors caused by unevenness of the detection surface, and provides buffer protection when subjected to impact.

[0035] Furthermore, the movable support 42 is provided with a mounting base 52, and the mounting base 52 has a mounting groove 520 with an open lower end. The ultrasonic probe 52 is installed in the mounting groove 520. The mounting groove structure protects the ultrasonic probe, preventing it from being damaged by accidental drops or collisions, extending its service life, and improving the overall durability and stability of the equipment.

[0036] Furthermore, it also includes a remote control module for remote operation, namely a wireless communication module, which can connect to the main control system via wireless signals to realize remote operation and monitoring of the equipment, completely freeing it from the constraints of external cables and avoiding tangling, jamming, or travel restrictions caused by dragging cables, thus achieving true all-position unobstructed detection; enabling workers to efficiently complete detection tasks within a safe distance, improving work safety and efficiency.

[0037] This utility model features a portable, all-position automatic weld flaw detection robot. It is compact, small in size, easy to carry, and can be quickly deployed and flexibly moved. It adapts to various complex environments, ensures flaw detection accuracy and efficiency, significantly improves inspection quality and operational safety, and reduces enterprise operating costs. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the portable all-position automatic weld flaw detection and scanning robot of this utility model;

[0039] Figure 2 This is another structural schematic diagram of the portable all-position automatic weld flaw detection and scanning robot of this utility model;

[0040] Figure 3 This is a cross-sectional view of the portable all-position automatic weld flaw detection robot of this utility model;

[0041] Figure 4 This is a schematic diagram of the telescopic mechanism of the portable all-position automatic weld flaw detection robot of this utility model;

[0042] Figure 5 This is a cross-sectional view of the telescopic mechanism of the portable all-position automatic weld flaw detection robot of this utility model;

[0043] Figure 6 This is a schematic diagram of the installation of the lifting and adjusting assembly of the portable all-position automatic weld flaw detection and scanning robot of this utility model;

[0044] Figure 7 This is a schematic diagram of the elastic support structure of the portable all-position automatic weld flaw detection robot of this utility model. Detailed Implementation

[0045] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0046] See Figures 1-7 This utility model provides a portable all-position automatic weld flaw detection robot, which can automatically detect flaws in welds. It includes a walking mechanism, a telescopic mechanism 2, and a flaw detection mechanism.

[0047] The walking mechanism is used to achieve walking. It includes a vehicle body 1, on which multiple wheels 11 are provided (four in this embodiment). Magnets 7 are provided at the lower end of the vehicle body 1 or on the wheels 11, so that the vehicle body 1 can be attracted to the surface of the workpiece and walk. In this embodiment, the magnets 7 are permanent magnets, which are set inside the vehicle body 1 and attached to the bottom surface of the vehicle body 1. At the same time, a walking motor 8 is also provided inside the vehicle body 1 to drive the wheels 11 to rotate, thereby achieving walking.

[0048] The telescopic mechanism is installed on the vehicle body 1 and includes a slide that can slide horizontally. The sliding direction of the slide is perpendicular to the forward direction of the traveling mechanism and can move left and right relative to the vehicle body 1.

[0049] The flaw detection mechanism 5 is installed on the telescopic mechanism and can move left and right with the slide. The flaw detection mechanism includes an ultrasonic probe 51 and an elastic component installed on the slide. The elastic component is a compression spring, which makes the ultrasonic probe 51 have a downward movement tendency, thereby enabling the ultrasonic probe 51 to fit against the surface of the workpiece.

[0050] This application employs a magnetic adsorption walking mechanism, enabling it to stably adsorb and move on the weld seams of workpieces (such as large storage tanks, pipelines, ships, and steel structures) in complex spatial positions such as vertical, upward, and curved surfaces, breaking through the positional limitations of manual inspection and achieving full-position adaptability.

[0051] Compared with traditional manual flaw detection, this application has the following advantages:

[0052] By combining the forward movement of the walking mechanism and the lateral scanning of the telescopic mechanism, it can automatically complete the two-dimensional grid scanning of the weld area, with a wide coverage and efficiency far exceeding that of manual inspection, greatly improving the detection efficiency and realizing automated and efficient scanning.

[0053] The elastic component always provides downward pressure, allowing the ultrasonic probe to fit tightly against the workpiece surface. It automatically adapts to weld reinforcement and slight surface unevenness, ensuring stable and reliable coupling, reducing missed detections, and improving the consistency of test results.

[0054] By programmatically controlling the scanning path and speed, the influence of human factors (such as experience and fatigue) on key parameters such as probe movement speed, scanning coverage, and coupling pressure is reduced, thereby improving the repeatability and objectivity of the detection data.

[0055] It can replace manual inspection in dangerous locations (high altitude, confined spaces, near radiation areas), reduce safety risks, and ensure personnel safety;

[0056] It solves the pain points of manual ultrasonic testing in terms of all-position accessibility, efficiency, coupling stability, labor intensity and human factors, and realizes the automation, efficiency and reliability of weld inspection.

[0057] In this application, a battery 62 for power supply is provided on the vehicle body 1, enabling it to be independently powered. Specifically, a battery box 61 with a cover 63 is provided on the vehicle body 1, and the battery 62 is placed inside the battery box 61 for easy battery installation, removal, and maintenance. This application has its own battery, completely eliminating the constraints of external cables, allowing the robot to continuously walk and scan on complex structures (such as pipe bends and areas with dense support components) and large areas of welds, avoiding entanglement, jamming, or travel limitations caused by dragging cables, and achieving true all-position obstacle-free detection; at the same time, there is no need to find an external power source. With a portable generator / long-distance cable, it can be started immediately upon arrival at the testing location, significantly reducing preparation time. It is especially suitable for field environments with inconvenient power supply, such as outdoor, high-altitude, and mobile equipment (e.g., ships, on-site assembled storage tanks). It eliminates common on-site risks of cable tripping (especially important for high-altitude operations) and accidental power outages or signal interference caused by cable wear / pulling, enhancing equipment stability and personnel safety. The built-in battery makes the whole machine self-contained, with a more compact structure, in line with the "portable" design concept, making it easy to carry, transport, and quickly transfer between different workpieces.

[0058] In this application, the bottom surface of the vehicle body 1 is an inwardly concave arc surface 1a. The arc surface can closely fit the surface of curved workpieces such as pipes and storage tanks. Compared with a flat vehicle body, it significantly improves the adsorption stability and smooth movement on cylindrical / spherical structures, avoids magnetic force attenuation or bumps caused by local suspension, and enhances its environmental adaptability. Moreover, the arc edge design makes the center of gravity of the vehicle body closer to the surface of the workpiece. When detecting in a vertical or inverted position, the combination of magnetic adsorption can effectively suppress the tendency to tip over and ensure the safety of operation under complex postures.

[0059] To facilitate handling, one or more handles 12 are provided on the vehicle body 1 to provide a stable grip point and avoid the risk of slipping out of the hand due to wet or oily equipment or accidental attraction of metal debris by magnets when handling by hand. This is especially important to ensure handling safety in dangerous environments such as high altitudes and scaffolding. In this application, the handles 12 are located at the front or rear end of the vehicle body 1. Preferably, handles 12 are provided at both the front and rear ends of the vehicle body 1 to facilitate detaching the vehicle body from the workpiece surface and to facilitate movement and handling operations.

[0060] To improve adaptability, the ultrasonic probe 51 is located on one or both sides of the vehicle body 1. The vehicle body can travel parallel to the edges of obstacles such as walls, flanges, and reinforcing ribs. The probe extends laterally to cover the weld seam adjacent to the obstacle, solving the problem of blind spot detection that cannot be accessed manually and improving the edge detection capability.

[0061] The telescopic mechanism 2 in this application also includes a drive motor 25, which is a servo motor or a stepper motor. The output end of the drive motor 25 is provided with a lead screw 251, which is threadedly connected to the slide block, thereby driving the slide block to slide horizontally and realize the reciprocating scanning of the ultrasonic probe. The lead screw converts the motor rotation into linear displacement. In conjunction with the stepper / servo motor, high positioning accuracy can be achieved, ensuring that the probe scanning trajectory is strictly parallel to the weld seam and avoiding missed detection. It also ensures that the probe speed fluctuates during scanning and has good speed stability.

[0062] The telescopic mechanism 2 also includes a base plate 21 and a slide rail 22 mounted on the base plate 21. The slide block is slidably fitted onto the slide rail 22, which can ensure the smooth movement of the slide block and the ultrasonic probe. Specifically, the slide block includes a slider 23 and a mounting plate 26. The slider 23 is slidably fitted onto the slide rail 22. The mounting plate 26 is connected to the slider 23 through a connecting plate to form a slide block structure. The connecting plate includes a first connecting plate 241 at the upper end and a second connecting plate 242 on one side. Both the first connecting plate and the second connecting plate are strip plates. The slide block as a whole has a strip structure. The mounting plate 26 is located on one side of the vehicle body. The ultrasonic probe is mounted on the mounting plate 26, which forms a modular structure that is easy to install, remove and maintain.

[0063] To improve operational safety, limit switches 28 are provided on the vehicle body 1. Specifically, the limit switches are fixed to the side wall of the base plate 21 via bracket plate 29. There are two limit switches 28, located at the two extreme positions of the slide block, which are used to limit the movement stroke of the slide block. At the same time, a trigger 27 is provided on the slide block to trigger the limit switches 28, which can limit the movement stroke of the slide block, preventing overtravel from causing the lead screw to seize up, causing the motor to stall and burn out, or causing mechanical structure deformation, thereby improving operational safety and reliability. The limit switches 28 are contact switches or inductive switches, preferably inductive switches, which have good reliability and long service life.

[0064] In this application, the telescopic mechanism is installed on the top surface of the vehicle body 1, which is convenient to install; in order to protect the telescopic mechanism and improve the aesthetics, a protective cover 13 is provided on the outside of the telescopic mechanism in this application.

[0065] In this application, the height and / or clamping force of the ultrasonic probe 51 are adjustable, which can meet different testing conditions, has a wide range of applications, and provides good testing results.

[0066] A lifting adjustment assembly 3 is installed on the slide, and the ultrasonic probe 51 is installed on the lifting adjustment assembly 3, thereby enabling height adjustment. Specifically, the lifting adjustment assembly 3 includes a fixed base 31 and a lifting base 32. The fixed base is fixed on the slide, and the lifting base 32 is vertically slidably fitted onto the side wall of the fixed base 31. A rack is provided on the lifting base 32, which is vertically arranged. A gear is rotatably installed on the fixed base 31, and the gear meshes with the rack. At the same time, a knob 33 is provided on the gear. By rotating the knob 33, the gear can be adjusted and the rack can be moved, thereby realizing the vertical movement of the lifting base 32 and achieving different height adjustments. It can accurately adjust the probe height and clamping force, adapt to complex detection environments, ensure detection accuracy and effect, and is convenient and labor-saving to adjust, with high reliability. In order to further improve the operational reliability, a locking bolt 34 is provided between the fixed base 31 and the lifting base 32, which can lock and fix the lifting base 32 to prevent loosening during the detection process, ensure that the probe is always in the optimal detection position, and improve the accuracy and consistency of the detection data.

[0067] In this application, the ultrasonic probe 51 is mounted on an elastic support 4, which elastically connects the ultrasonic probe 51 to the end of the slide, specifically, to the lifting adjustment assembly. The elastic support 4 includes a fixed support 41 and a movable support 42. Multiple guide rods are fixed at the upper end of the movable support 42. Guide holes corresponding to the guide rods are opened on the fixed support 41, and the guide rods are sleeved in the guide holes to achieve a sliding connection between the movable support and the fixed support 41. The movable support is located at the lower end of the fixed support. At the same time, an elastic component 44, which is a compression spring, is provided between the fixed support 41 and the movable support 42, giving the movable support 42 a downward tendency. A fixing sleeve (not shown in the figure) is installed at the end of the guide rod by bolts to limit the lower limit position of the movable support. The ultrasonic probe 51 is mounted on the movable support 52, which enables the elastic installation of the ultrasonic probe, ensures close contact between the probe and the detection surface, avoids detection data errors caused by unevenness of the detection surface, and provides buffer protection when subjected to impact.

[0068] A mounting base 52 is provided on the movable support 42. The mounting base 52 has a mounting groove 520 with an open lower end. The ultrasonic probe 52 is installed in the mounting groove 520. The mounting groove structure protects the ultrasonic probe, preventing it from being damaged by accidental drops or collisions, extending its service life, and improving the overall durability and stability of the equipment.

[0069] This application also includes a remote control module, namely a wireless communication module, which can connect to the main control system via wireless signals to enable remote operation and monitoring of the equipment. This completely eliminates the constraints of external cables, avoids tangling, jamming, or travel limitations caused by dragging cables, and achieves true all-position unobstructed detection. It enables workers to efficiently complete detection tasks within a safe distance, improving operational safety and efficiency.

[0070] This utility model of a portable, all-position automatic weld flaw detection and scanning robot has the following advantages:

[0071] The pressure of the ultrasonic probe remains relatively constant, ensuring that there is always a coupling agent between the probe and the contact surface with uniform thickness; it also ensures that the probe remains parallel to the surface being inspected; the robot-held ultrasonic probe scanning replaces manual operation, and the parameters can be set to meet the high standards required by the operator's skill and experience.

[0072] For ultrasonic testing of dense welds (long welds and many welds), the portable all-position automatic weld inspection robot has advantages such as good stability, low missed detection rate and high efficiency.

[0073] For welding seams at heights or in the air, the portable all-position automatic weld seam flaw detection and scanning robot can operate without or with minimal manual scaffolding, and is highly safe.

[0074] In areas where ultrasonic testing of welds is required, portable all-position automatic weld flaw detection robots can be used in inspection, maintenance, and construction sites where hazardous or dangerous factors exist.

[0075] In scenarios involving dust, fumes, and toxic or harmful gases, a portable, all-position automatic weld inspection robot can perform ultrasonic testing of welds without requiring protective measures against dust, fumes, or toxic or harmful gases.

[0076] There are no issues such as worker fatigue, absenteeism, or short working hours; there are no issues such as worker fatigue, high labor costs, and generally no delays in the construction period or impact on the company's profits.

[0077] Ultrasonic testing can ensure quality and efficiency in difficult locations such as narrow spaces and the lower part of pipes.

[0078] For large workpieces and equipment components, especially for intensive ultrasonic flaw detection and batch ultrasonic flaw detection, the portable all-position automatic weld flaw detection robot of this application solves the disadvantages of large numbers of people with varying skill levels and qualities, high labor intensity, and unstable quality, demonstrating the advantages of the portable all-position automatic weld flaw detection robot.

[0079] This utility model features a portable, all-position automatic weld flaw detection robot. It is compact, small in size, easy to carry, and can be quickly deployed and flexibly moved. It adapts to various complex environments, ensures flaw detection accuracy and efficiency, significantly improves inspection quality and operational safety, and reduces enterprise operating costs.

[0080] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A portable, all-position automatic weld flaw detection robot, characterized in that, include: A traveling mechanism, comprising a vehicle body, wheels on the vehicle body, and magnets on the lower end of the vehicle body and / or on the wheels that can be attracted to the surface of a workpiece; A telescopic mechanism, installed on the vehicle body, includes a slide block capable of horizontal sliding, wherein the sliding direction of the slide block is perpendicular to the forward direction of the traveling mechanism; A flaw detection mechanism is installed on the telescopic mechanism and can move with the slide. The flaw detection mechanism includes an ultrasonic probe and an elastic component installed on the slide. The elastic component causes the ultrasonic probe to have a downward movement tendency so that the ultrasonic probe is in contact with the surface of the workpiece.

2. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The vehicle body is equipped with a battery for power supply.

3. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The bottom surface of the vehicle body is an inwardly concave arc shape.

4. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The vehicle body is equipped with one or more handles for carrying.

5. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The telescopic mechanism also includes a drive motor, the output end of which is provided with a lead screw, which is threadedly connected to the slide block and can drive it to slide horizontally.

6. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The height and / or clamping force of the ultrasonic probe are adjustable.

7. The portable all-position automatic weld flaw detection robot as described in claim 1 or 6, characterized in that: A lifting adjustment assembly is installed on the slide, and the ultrasonic probe is installed on the lifting adjustment assembly. The lifting adjustment assembly includes a fixed seat fixed on the slide and a lifting seat vertically slidable on the fixed seat. The lifting seat is provided with a rack, and a gear meshing with the rack is rotatably installed on the fixed seat. The gear is provided with a knob for driving the gear to rotate.

8. The portable all-position automatic weld flaw detection robot as described in claim 7, characterized in that: A locking bolt is provided between the fixed seat and the lifting seat.

9. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: The ultrasonic probe is mounted on an elastic support, which includes a fixed support and a movable support that is vertically slidably mounted on the fixed support via a guide rod. An elastic component is provided between the fixed support and the movable support, which causes the movable support to have a downward movement tendency. The ultrasonic probe is mounted on the movable support.

10. The portable all-position automatic weld flaw detection robot as described in claim 1, characterized in that: It also includes a remote control module for remote operation.

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