A portable welding inspection device

Abstract

The utility model discloses a movable welding detection device, including walking subassembly, moving assembly and detection component, and walking subassembly is provided with moving assembly and detection component, moving assembly includes rotating mechanism and sets up mechanical arm mechanism on rotating mechanism, and detection component includes camera and ultrasonic detection unit, and the one end of mechanical arm mechanism away from rotating mechanism is provided with camera and ultrasonic detection unit respectively, and walking subassembly still is equipped with industrial computer, and through walking subassembly makes device freely movable in complex terrain, and cooperation mechanical arm's multi -joint rotation and telescopic function, can real -time adjustment detection component and the optimum detection distance and angle of measured weld, adapts to different weld shape, double -mode detection, high resolution camera captures the weld surface defect, and ultrasonic detection unit penetrates the inside of material, makes up the limitation of single detection means, solves the low efficiency of traditional welding detection, many blind area, the pain point of high risk, to improve the detection of welding quality.

Description

Technical Field

[0001] This utility model relates to the field of welding inspection technology, and in particular to a mobile welding inspection device. Background Technology

[0002] Welding, also known as fusion welding, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. Modern welding has many energy sources, including gas flame, electric arc, laser, electron beam, friction and ultrasound. In addition to being used in factories, welding can also be carried out in a variety of complex environments.

[0003] Damage generally refers to missed weld points during the welding process or damage that occurs during use after welding. Damage can easily lead to quality accidents, and the root cause is difficult to find. The starting point for solving the problem is also unclear. Preventive measures can only strengthen self-inspection and eliminate missed welds and damage. In the current technology, if one is not proficient in damage detection technology or does not check in time after welding, it is necessary to adopt a certain method for damage detection. However, the existing damage detection cannot adjust the detection position and cannot comprehensively inspect the workpiece, which is not conducive to improving the efficiency of detection. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a mobile welding inspection device, which aims to solve the technical problems mentioned in the background art.

[0005] A mobile welding inspection device includes a walking component, a moving component, and a detection component. The walking component is equipped with the moving component and the detection component. The moving component includes a rotating mechanism and a robotic arm mechanism mounted on the rotating mechanism. The detection component includes a camera and an ultrasonic detection unit. The camera and the ultrasonic detection unit are respectively mounted at the end of the robotic arm mechanism away from the rotating mechanism. The camera is used to acquire welding images, and the ultrasonic detection unit is used to detect weld gaps. The walking component is also equipped with an industrial control computer, which is electrically connected to the walking component, the moving component, the camera, and the ultrasonic detection unit.

[0006] The beneficial effects of this utility model are: The device can move freely in complex terrain through walking components (such as tracks). Combined with the multi-joint rotation and extension functions of the robotic arm, it can cover narrow or high-altitude welding areas that are difficult for traditional fixed equipment to reach. The linkage between the walking components and the moving components (such as the pitch / rotation of the robotic arm) can adjust the optimal detection distance and angle between the detection components and the weld being tested in real time, adapting to different weld shapes. It features dual-mode detection, with a high-resolution camera capturing surface defects (cracks, porosity) of the weld and combining them with image algorithms for real-time analysis. The ultrasonic detection unit penetrates the material to identify internal defects such as incomplete fusion and slag inclusions, making up for the limitations of single detection methods. It solves the pain points of low efficiency, many blind spots, and high risk in traditional welding inspection, thereby improving the detection of welding quality.

[0007] Furthermore, the walking assembly includes a support frame, a drive wheel, a wheel assembly unit, and a track. The wheel assembly unit includes a plurality of walking wheels and a plurality of support wheels. The drive wheel is respectively arranged at opposite ends of the support frame, and a plurality of walking wheels and a plurality of support wheels are respectively arranged on opposite sides of the support frame. The drive wheel, the walking wheel, and the support wheel are connected by the track. The moving assembly is arranged on the support frame.

[0008] Furthermore, the rotating mechanism includes a base, a first motor, a first synchronous belt, a connecting shaft, and a connecting seat. The base is mounted on the bracket, the first motor is mounted on one side of the base, the first motor is connected to the connecting shaft via the first synchronous belt, the two opposite ends of the connecting shaft are respectively connected to the base and the connecting seat, and the robotic arm mechanism is mounted on the connecting seat.

[0009] Furthermore, the robotic arm mechanism includes a first-level moving unit, a second-level moving unit, and a third-level moving unit. The two opposite ends of the first-level moving unit are respectively connected to the connecting seat and the second-level moving unit. The third-level moving unit is located at the end of the second-level moving unit away from the first-level moving unit, and the detection component is located at the end of the third-level moving unit away from the second-level moving unit.

[0010] Furthermore, the first-stage moving unit includes a second motor, two first connecting plates, two second connecting plates, and a connecting rod. The second motor is mounted on the connecting seat. The two first connecting plates and the two second connecting plates are arranged opposite to each other. The output shaft of the second motor passes through the connecting seat and is connected to one of the first connecting plates and one of the second connecting plates. The connecting rod is provided at one end of one of the second connecting plates facing away from the connecting seat. The other second connecting plate is rotatably connected to the connecting seat through the other first connecting plate. A support plate is provided between the two first connecting plates.

[0011] Furthermore, the second-level moving unit includes two third connecting plates, two fourth connecting plates, a third motor, a second synchronous belt, and a first turntable. The two third connecting plates and the two fourth connecting plates are arranged opposite to each other, and the two third connecting plates are connected to the two fourth connecting plates. One end of each of the two third connecting plates is rotatably connected to the two second connecting plates, and the other end of each of the two third connecting plates is connected to the connecting rod through a support rod. The third motor is provided on one of the fourth connecting plates, and the third motor is connected to the first turntable through the second synchronous belt. The side of the first turntable facing the first fourth connecting plate is provided with a first rotating shaft. The first rotating shaft passes through the first fourth connecting plate and is connected to a first rotating coupling through the third synchronous belt. The first rotating coupling passes through the other fourth connecting plate and protrudes outside the other fourth connecting plate.

[0012] Furthermore, the third-level moving unit includes two fifth connecting plates, a sixth connecting plate, a fourth motor, a fourth synchronous belt, and a second turntable. The two fifth connecting plates are arranged opposite to each other. The first rotating shaft is connected to the two fifth connecting plates through the sixth connecting plate. The fourth motor is provided on one of the fifth connecting plates. The fourth motor is connected to the second turntable through the fourth synchronous belt. The side of the second turntable facing one of the fifth connecting plates is provided with a second rotating shaft. The second rotating shaft is connected to the second rotating shaft through the fifth synchronous belt. The two opposite ends of the second rotating shaft are rotatably connected to the two fifth connecting plates respectively.

[0013] Furthermore, the second rotating shaft is provided with a fixed seat and a fixed bracket, the fixed bracket being located below the fixed seat and protruding from the fixed seat.

[0014] Furthermore, the camera is mounted on the fixed base, and the industrial control computer is mounted on the bracket.

[0015] Furthermore, the ultrasonic detection unit includes an ultrasonic probe and a flaw detector electrically connected to the ultrasonic probe. The ultrasonic probe is mounted on the fixed bracket, the flaw detector is mounted on the bracket, and the flaw detector is electrically connected to the industrial control computer. Attached Figure Description

[0016] Figure 1 This is a front view of the portable welding inspection device of this utility model; Figure 2 This is a rear view of the movable welding inspection device of this utility model; Figure 3 This is a top view of the movable component of this utility model.

[0017] In the diagram: 1. Walking assembly; 11. Bracket; 12. Drive wheel; 13. Wheelset unit; 131. Walking wheel; 132. Support wheel; 14. Track; 2. Moving assembly; 21. Rotating mechanism; 211. Base; 212. First motor; 213. First synchronous belt; 214. Connecting shaft; 215. Connecting seat; 22. Robotic arm mechanism; 221. First-stage moving unit; 2211. Second motor; 2212. First connecting plate; 2213. Second connecting plate; 2214. Connecting rod; 2215. Support plate; 222. Second-stage moving unit; 2221. Third connecting plate; 2222. Fourth connecting plate; 2223. Support 2224. Rod; 2225. Third motor; 2226. Second synchronous belt; 2227. First turntable; 2228. First rotating shaft; 2229. Third rotating shaft; 223. Third-level moving unit; 2231. Fifth connecting plate; 2232. Sixth connecting plate; 2233. Fourth motor; 2234. Fourth synchronous belt; 2235. Second turntable; 2236. Second rotating shaft; 2237. Fifth synchronous belt; 2238. Second rotating shaft; 3. Detection assembly; 31. Camera; 32. Ultrasonic detection unit; 321. Ultrasonic probe; 322. Flaw detector; 4. Industrial control computer; 5. Fixed base; 6. Fixed bracket. Detailed Implementation

[0018] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0019] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Furthermore, the various embodiments of the invention, the features within those embodiments, and the features of the embodiments may be freely combined without obvious conflict or contradiction.

[0021] A mobile welding inspection device, such as Figures 1 to 3 As shown, it includes a walking component 1, a moving component 2, and a detection component 3.

[0022] Specifically, the walking component 1 is equipped with a moving component 2 and a detection component 3, and the walking component 1 is used to change the position of the moving component 2 and the detection component 3.

[0023] Specifically, the walking assembly 1 includes a bracket 11, drive wheels 12, wheel set unit 13, and track 14. The wheel set unit 13 includes multiple walking wheels 131 and multiple support wheels 132. Drive wheels 12 are respectively arranged at opposite ends of the bracket 11, and multiple walking wheels 131 and multiple support wheels 132 are respectively arranged on opposite sides of the bracket 11. The drive wheels 12, walking wheels 131, and support wheels 132 are connected by the track 14. The drive wheels 12 are the power core of the system and have a drive motor inside. Multiple sets of walking wheels 131 and support wheels 132 are evenly distributed to distribute the load and absorb bumps, improving the smoothness of driving. The bracket 11 serves as a rigid frame to fix the drive wheels 12, walking wheels 131, and support wheels 132 in a reasonable position, ensuring that the spacing and angle of each wheel axle are matched. When the drive wheels 12 start to rotate, the power is transmitted to the track 14 through gears, driving the track 14 to rotate around the entire wheel set unit 13.

[0024] Specifically, a moving component 2 is mounted on the support 11. The moving component 2 includes a rotating mechanism 21 and a robotic arm mechanism 22 mounted on the rotating mechanism 21. The rotating mechanism 21 includes a base 211, a first motor 212, a first synchronous belt 213, a connecting shaft 214, and a connecting seat 215. The base 211 is mounted on the support 11, and the first motor 212 is located on one side of the base 211. The first motor 212 is connected to the connecting shaft 214 via the first synchronous belt 213. The two opposite ends of the connecting shaft 214 are connected to the base 211 and the connecting seat 215, respectively. One end of the connecting shaft 214 is rigidly connected to the connecting seat 215, and the other end is hinged to the base 211 via a rotating joint. The power system is driven by the first motor 212, which drives the first synchronous belt 213 to transmit torque to the connecting shaft 214, thereby causing the connecting seat 215 to rotate around the axis of the base 211. The angular displacement change of the rotary joint can be accurately transmitted to the connecting seat 215, thereby realizing the synchronous posture adjustment of the connecting seat 215 and the robotic arm mechanism 22 it carries.

[0025] Specifically, a robotic arm mechanism 22 is mounted on the connecting base 215. The robotic arm mechanism 22 includes a first-stage moving unit 221, a second-stage moving unit 222, and a third-stage moving unit 223. The two opposite ends of the first-stage moving unit 221 are connected to the connecting base 215 and the second-stage moving unit 222, respectively. The third-stage moving unit 223 is located at the end of the second-stage moving unit 222 furthest from the first-stage moving unit 221. Through a multi-stage linkage drive mechanism, the first-stage moving unit 221 module coordinates with the second-stage moving unit 222 to precisely control the spatial displacement of the third-stage moving unit 223, achieving multi-degree-of-freedom precise positioning of the camera 31 and the ultrasonic probe 321 in three-dimensional space, thereby completing omnidirectional non-destructive testing of the welding position. This structural design effectively expands the operating range of the testing device, ensuring the coordinated work of capturing weld surface morphology features and detecting internal defects via ultrasonic echo, and meeting the positioning accuracy requirements for quality assessment of complex welds in irregularly shaped components.

[0026] Specifically, the first-stage moving unit 221 includes a second motor 2211, two first connecting plates 2212, two second connecting plates 2213, and a connecting rod 2214. The second motor 2211 is mounted on the connecting seat 215. The two first connecting plates 2212 and the two second connecting plates 2213 are arranged opposite to each other. The output shaft of the second motor 2211 passes through the connecting seat 215 and one of its first connecting plates 2212 and connects to one of its second connecting plates 2213. One end of the second connecting plate 2213 facing away from the connecting seat 215 is provided with a connecting rod. A second connecting plate 2214 and a second connecting plate 2213 are rotatably connected to a connecting seat 215 via a first connecting plate 2212. A support plate 2215 is provided between the two first connecting plates 2212. A second motor 2211 serves as a power source, with its output shaft passing directly through the connecting seat 215 and sequentially connecting the first connecting plate 2212 and the second connecting plate 2213, transmitting rotational motion to the second connecting plate 2213. The two first connecting plates 2212 and the two second connecting plates 2213 form a four-bar linkage mechanism resembling a parallelogram. When the second motor 2211 drives the second connecting plate 2213 on one side to rotate, the second connecting plate 2213 on the other side is hinged to the connecting seat 215 via another first connecting plate 2212, forming a linkage. One of the second connecting plates 2213 has a connecting rod 2214 at its end, serving as a key component for motion output. When the second connecting plate 2213 moves, the connecting rod 2214 transmits power to the second-stage moving unit 222 to change the overall height of the second-stage moving unit 222. The support plate 2215 is fixed between the two first connecting plates 2212 to prevent deformation caused by the load of the second motor 2211 or external force, thus ensuring motion accuracy.

[0027] Specifically, the second-level moving unit 222 includes two third connecting plates 2221, two fourth connecting plates 2222, a third motor 2224, a second synchronous belt 2225, and a first turntable 2226. The two third connecting plates 2221 and the two fourth connecting plates 2222 are arranged opposite to each other, and the two third connecting plates 2221 are connected to the two fourth connecting plates 2222. One end of each of the two third connecting plates 2221 is rotatably connected to the two second connecting plates 2213, and the other end of each of the two third connecting plates 2221 is connected to the connecting plate 2226 via a support rod 2223. A rod 2214 is connected, and a third motor 2224 is mounted on one of the fourth connecting plates 2222. The third motor 2224 is connected to the first turntable 2226 via a second synchronous belt 2225. The first turntable 2226 has a first rotating shaft 2227 on the side facing the first fourth connecting plate 2222. The first rotating shaft 2227 passes through the first fourth connecting plate 2222 and is connected to a first rotating coupling 2229 via a third synchronous belt 2228. The first rotating coupling 2229 passes through the other fourth connecting plate 2222 and protrudes from it. Outside the other fourth connecting plate 2222, as a power source, the third motor 2224 (mounted on one of the fourth connecting plates 2222) starts to rotate. The output shaft of the third motor 2222 drives the first turntable 2226 to rotate via the second synchronous belt 2225. The first rotating shaft 2227 on the first turntable 2226 rotates with the first turntable 2226, and the first rotating shaft 2227 passes through one of its fourth connecting plates 2222 to transmit power to the third synchronous belt 2228, which in turn transmits it to the first rotating coupling 2229, forcing the first rotating coupling 2222 to rotate. 29 rotates synchronously with the first rotating shaft 2227 to achieve a 360° rotation of the first rotating shaft 2229. The two third connecting plates 2221 are rotatably connected to the two second connecting plates 2213 respectively, forming a hinge fulcrum, allowing the second-stage moving unit 2222 to rotate around the axis as a whole. The other end of the two third connecting plates 2221 forms a rigid triangular structure with the support rod 2223 and the connecting rod 2214, converting the rotational motion into pitching motion. The fourth connecting plates 2222 on both sides serve as a fixed frame to constrain the direction of motion and achieve dynamic balance on both sides.

[0028] Specifically, the third-level moving unit 223 includes two fifth connecting plates 2231, a sixth connecting plate 2232, a fourth motor 2233, a fourth synchronous belt 2234, and a second turntable 2235. The two fifth connecting plates 2231 are arranged opposite to each other. A first rotating shaft 2229 is connected to the two fifth connecting plates 2231 through the sixth connecting plate 2232. The fourth motor 2233 is mounted on one of the fifth connecting plates 2231. The fourth motor 2233 is connected to the second turntable 2235 through the fourth synchronous belt 2234. A second rotating shaft 2236 is mounted on the side of the second turntable 2235 facing one of the fifth connecting plates 2231. The second rotating shaft 2236 is connected to the second rotating shaft 2238 through the fifth synchronous belt 2237. The two opposite ends of the second rotating shaft 2238 are respectively connected to the two fifth connecting plates 2231. The fourth motor 2233 is started as a power source and outputs rotational motion. The fourth synchronous belt 2234 transmits the rotational power of the motor to the second turntable 2235, realizing the first-level transmission of power. The second turntable 2235 has a second rotating shaft 2236 fixed on the side facing the fifth connecting plate 2231. When the second turntable 2235 rotates, it drives the second rotating shaft 2236 to rotate synchronously. The design of the fourth synchronous belt 2234 and the fifth synchronous belt 2237 ensures that the speed and torque are converted according to a preset ratio, which may be used for deceleration or to maintain synchronization. The second rotating shaft 2238 drives the fixed seat and fixed bracket to generate tilting motion, so as to change the position of the fixed seat 5 and fixed bracket 6. The sixth connecting plate 2232 serves as a structural support, fixing the relative position of the two fifth connecting plates 2231 to ensure motion stability.

[0029] Specifically, a detection component 3 is installed at the end of the third-level moving unit 223 away from the second moving unit 222. The detection component 3 includes a camera 31 and an ultrasonic detection unit 32. The camera 31 is used to acquire welding images, and the ultrasonic detection unit 32 is used to detect welding gaps. A fixed seat 5 and a fixed bracket 6 are provided on the second rotating shaft 2238. The fixed bracket 6 is located below the fixed seat 5 and protrudes from the fixed seat 5. The camera 31 is mounted on the fixed seat 5. The ultrasonic detection unit 32 includes an ultrasonic probe 321 and a flaw detector 322 electrically connected to the ultrasonic probe 321. The ultrasonic probe 321 is mounted on the fixed bracket 6. The flaw detector 322 and the industrial control computer 4 are mounted on the bracket 11. The industrial control computer 4 is connected to the walking component 1, the moving component 2, the camera 31, and the flaw detector. The instrument 322 is electrically connected to the fixed base 5 and the fixed bracket 6 via the second rotating shaft 2238, so that the camera 31 is close to the weld. The high-resolution camera 31 captures surface defects (cracks, porosity) of the weld and transmits the acquired images to the industrial control computer 4. The industrial control computer 4 analyzes the images in real time using image algorithms. The second rotating shaft 2238 drives the fixed bracket 6 so that the ultrasonic probe 321 contacts the weld surface. The ultrasonic probe 321 penetrates the material and identifies internal defects such as incomplete fusion and slag inclusions. The identified information is transmitted to the flaw detector 322, which analyzes the information and transmits the results to the industrial control computer 4. The fixed bracket 6 protrudes from the fixed base 5 to ensure that the camera 31 does not contact the weld surface when the ultrasonic probe 321 contacts the weld surface.

[0030] It is understandable that the industrial control computer 4 has a built-in control chip and signal transmission chip, and can be controlled by an external terminal. The industrial control computer 4 controls the walking component 1 and the moving component 2 respectively.

[0031] This invention enables the device to move freely across complex terrain via a walking component 1 (such as track 14). Combined with the multi-joint rotation and extension functions of the robotic arm, it can cover narrow or high-altitude welding areas that are difficult for traditional fixed equipment to reach. The linkage between the walking component 1 and the moving component 2 (such as the pitch / rotation of the robotic arm) allows for real-time adjustment of the optimal detection distance and angle between the detection component 3 and the weld being tested, adapting to different weld shapes. Dual-mode detection is employed: a high-resolution camera 31 captures surface defects (cracks, porosity) in the weld, which are then analyzed in real-time using image algorithms; an ultrasonic detection unit 32 penetrates the material to identify internal defects such as incomplete fusion and slag inclusions, overcoming the limitations of single detection methods. This solves the pain points of low efficiency, numerous blind spots, and high risk in traditional welding inspection, thereby improving the detection of welding quality.

[0032] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The embodiments described above are merely illustrative of the implementation of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A portable welding inspection device, characterized in that: The system includes a walking component, a moving component, and a detection component. The walking component houses the moving component and the detection component. The moving component includes a rotating mechanism and a robotic arm mechanism mounted on the rotating mechanism. The detection component includes a camera and an ultrasonic detection unit. The camera and the ultrasonic detection unit are respectively located at the end of the robotic arm mechanism away from the rotating mechanism. The camera is used to acquire welding images, and the ultrasonic detection unit is used to detect weld gaps. An industrial control computer is also mounted on the walking component, and the industrial control computer is electrically connected to the walking component, the moving component, the camera, and the ultrasonic detection unit. The walking component includes a support frame, drive wheels, a wheel assembly unit, and tracks. The wheel assembly unit includes several walking wheels and several support wheels. The drive wheels are respectively located at opposite ends of the support frame, and several walking wheels and several support wheels are respectively located on opposite sides of the support frame. The drive wheel, the walking wheel, and the support wheel are connected by the track, and the moving component is mounted on the bracket; the rotating mechanism includes a base, a first motor, a first synchronous belt, a connecting shaft, and a connecting seat. The base is mounted on the bracket, the first motor is located on one side of the base, and the first motor is connected to the connecting shaft via the first synchronous belt. The two opposite ends of the connecting shaft are respectively connected to the base and the connecting seat, and the robotic arm mechanism is mounted on the connecting seat; the robotic arm mechanism includes a first-stage moving unit, a second-stage moving unit, and a third-stage moving unit. The two opposite ends of the first-stage moving unit are respectively connected to the connecting seat and the second-stage moving unit. The third-stage moving unit is located at the end of the second-stage moving unit away from the first-stage moving unit, and the detection component is located at the end of the third-stage moving unit away from the second-stage moving unit.

2. The mobile welding inspection device according to claim 1, characterized in that: The first-stage moving unit includes a second motor, two first connecting plates, two second connecting plates, and a connecting rod. The second motor is mounted on the connecting seat. The two first connecting plates and the two second connecting plates are arranged opposite to each other. The output shaft of the second motor passes through the connecting seat and is connected to one of the first connecting plates and one of the second connecting plates. The connecting rod is provided at one end of one of the second connecting plates facing away from the connecting seat. The other second connecting plate is rotatably connected to the connecting seat through the other first connecting plate. A support plate is provided between the two first connecting plates.

3. The mobile welding inspection device according to claim 2, characterized in that: The second-level moving unit includes two third connecting plates, two fourth connecting plates, a third motor, a second synchronous belt, and a first turntable. The two third connecting plates and the two fourth connecting plates are arranged opposite to each other, and the two third connecting plates are connected to the two fourth connecting plates. One end of each of the two third connecting plates is rotatably connected to the two second connecting plates, and the other end of each of the two third connecting plates is connected to the connecting rod through a support rod. The third motor is provided on one of the fourth connecting plates, and the third motor is connected to the first turntable through the second synchronous belt. The side of the first turntable facing the first fourth connecting plate is provided with a first rotating shaft. The first rotating shaft passes through the first fourth connecting plate and is connected to a first rotating coupling through the third synchronous belt. The first rotating coupling passes through the other fourth connecting plate and protrudes outside the other fourth connecting plate.

4. The portable welding inspection device according to claim 3, characterized in that: The third-level moving unit includes two fifth connecting plates, a sixth connecting plate, a fourth motor, a fourth synchronous belt, and a second turntable. The two fifth connecting plates are arranged opposite to each other. The first rotating shaft is connected to the two fifth connecting plates through the sixth connecting plate. The fourth motor is provided on one of the fifth connecting plates. The fourth motor is connected to the second turntable through the fourth synchronous belt. The second turntable has a second rotating shaft on its side facing one of the fifth connecting plates. The second rotating shaft is connected to the second rotating shaft through the fifth synchronous belt. The two opposite ends of the second rotating shaft are rotatably connected to the two fifth connecting plates respectively.

5. The mobile welding inspection device according to claim 4, characterized in that: The second rotating shaft is provided with a fixed seat and a fixed bracket, the fixed bracket being located below the fixed seat and protruding from the fixed seat.

6. The mobile welding inspection device according to claim 5, characterized in that: The camera is mounted on the fixed base, and the industrial control computer is mounted on the bracket.

7. The mobile welding inspection device according to claim 6, characterized in that: The ultrasonic detection unit includes an ultrasonic probe and a flaw detector electrically connected to the ultrasonic probe. The ultrasonic probe is mounted on the fixed bracket, and the flaw detector is mounted on the bracket. The flaw detector is electrically connected to the industrial control computer.

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