CN117783284B - Full-automatic accumulator welding seam ultrasonic phased array detection equipment - Google Patents

Abstract

The invention discloses full-automatic accumulator welding seam ultrasonic phased array detection equipment, which comprises a water tank, a top detection mechanism, a middle detection mechanism and a manipulator capable of clamping an accumulator to translate, lift and rotate; the top surface of the shell of the energy accumulator is provided with a detection plane, the detection plane is positioned at the outer side of the top welding seam and is close to the top welding seam, the energy accumulator is clamped by the manipulator and conveyed into the water tank filled with water, the top probe is correspondingly matched with the detection plane, the middle probe is correspondingly matched with the upper side of the middle welding seam of the energy accumulator, the manipulator enables the clamped energy accumulator to rotate, the top welding seam of the energy accumulator is scanned and detected through the top probe, and the middle welding seam of the energy accumulator is scanned and detected through the middle probe. The invention can be adaptively adjusted with the detection parts of the accumulators with different specifications and models, reduces the detection time and improves the detection efficiency and the detection precision.

Description

Full-automatic accumulator welding seam ultrasonic phased array detection equipment

Technical Field

The invention relates to the technical field of ultrasonic flaw detection, in particular to full-automatic accumulator welding seam ultrasonic phased array detection equipment.

Background

The energy accumulator is an energy storage device which stores hydraulic energy and releases the energy for the system to use when the hydraulic energy is needed. The hydraulic pressure control system has important functions in ensuring normal operation of the system, improving the dynamic quality of the system, maintaining the working stability, prolonging the service life, reducing noise, relieving hydraulic impact, absorbing pressure pulsation and the like.

In the automotive field, nitrogen accumulators are widely used in braking systems. The brake system needs to generate a large amount of pressure in a short time to stop the vehicle. The nitrogen accumulator can release stored nitrogen during braking, so that high-pressure gas is generated, and the brake generates larger braking force. The brake efficiency can be improved, the abrasion of the brake can be reduced, and the service life of the brake can be prolonged.

The performance of an automobile and the quality of each part are indiscriminate. In the manufacture of automotive accumulators, the most used welding processes are: how … such as argon arc welding, vacuum brazing, friction stir welding, laser welding and the like detect the welding quality reliability of the energy accumulator is a key technology for evaluating the quality of the automobile energy accumulator. Currently, common automobile accumulators include bulb-type accumulators, straight-tube-type accumulators and the like. In general, the structure of the automobile accumulator shell comprises an upper shell and a lower shell, the upper shell and the lower shell are mutually buckled and connected, an oil filling nozzle is arranged at the top of the upper shell, and the welding position of the shell of the accumulator comprises the welding between the top of the upper shell and the oil filling nozzle and the welding between the buckling positions of the upper shell and the lower shell. The welding seam between the top of the upper shell and the oil filling nozzle is called a top welding seam, and the welding seam at the buckling position between the upper shell and the lower shell is called a middle welding seam. The detection of the top weld joint and the middle weld joint adopts manual flaw detection.

The probe detection position is the position with the strongest ultrasonic reflection (namely the optimal detection position determined according to the process) according to the actual workpiece structure. When in detection, as the size, the shape and the like of the energy accumulators with different specifications are greatly changed, the welding seam is uneven, the detection surface is provided with radian and plane, if the probe is directly contacted with the welding seam by manpower, the probe is easy to jolt and the probe is unstable to mount, the manual flaw detection can not accurately, stably and rapidly coincide the probe on the strongest echo detection position of the energy accumulator, the detection efficiency is low, the manual detection is needed one by one, the time and the labor are consumed, different detection personnel can have different judgments, the repeatability and the consistency of the detection are influenced, and the requirement of mass production can not be met; moreover, manual flaw detection has higher requirements on detection personnel, the detection personnel is required to have professional knowledge and experience, and long-time continuous detection work forms certain pressure on the physical health and labor intensity of the detection personnel, so that the problem of high labor intensity is brought to the detection personnel.

Disclosure of Invention

The invention aims to solve the problem of providing full-automatic accumulator weld ultrasonic phased array detection equipment, which can be adaptively adjusted with detection positions of accumulators with different specifications and types, reduce detection time and improve detection efficiency and detection precision.

In order to solve the technical problems, the invention adopts the following technical scheme:

A full-automatic accumulator welding seam ultrasonic phased array detection device is characterized in that: the device comprises a water tank, a top detection mechanism, a middle detection mechanism and a manipulator capable of clamping the energy accumulator to translate, lift and rotate, wherein the manipulator is arranged on the outer side of the water tank; the top detection mechanism comprises a first support, a first adjusting seat, a first horizontal self-adjusting unit, a first longitudinal guide seat, a front-back position adjusting unit, a translation seat, an up-down direction self-adjusting unit, a first U-shaped frame, a top probe and a first limiting block, wherein the first support is arranged on an inner side wall of the water tank, the rear end of the first adjusting seat is detachably arranged on the first support, and the lower part of the first longitudinal guide seat is arranged on the front end of the first adjusting seat through the first horizontal self-adjusting unit; the translation seat is movably arranged on the upper part of the first longitudinal guide seat through the front-back position adjusting unit, the rear end of the first U-shaped frame is arranged on the translation seat through the up-down direction self-adjusting unit, the opening of the first U-shaped frame is arranged forward, and two ends of the top probe are respectively arranged in the opening of the first U-shaped frame in a torsion mode through corresponding torsion springs; the rear end of the first limiting block is arranged on the first longitudinal guide seat and can be lifted up and down along the first longitudinal guide seat, the first limiting block is positioned below the top probe, and the front end surface of the first limiting block is in contact fit with the outer wall of the shell of the energy accumulator; the middle detection mechanism comprises a second support, a second adjusting seat, a second horizontal self-adjusting unit, a probe frame and a middle probe, wherein the second support is arranged on an inner side wall of the water tank, the rear end of the second adjusting seat is detachably arranged on the second support, the rear end of the probe frame is arranged at the front end of the second adjusting seat through the second horizontal self-adjusting unit, the middle probe is arranged on the probe frame, and the top probe is positioned above the middle probe; the top surface of the shell of the energy accumulator is provided with a detection plane, the detection plane is positioned at the outer side of the top welding seam and is close to the top welding seam, the energy accumulator is clamped by the manipulator and conveyed into the water tank filled with water, the top probe is correspondingly matched with the detection plane, the middle probe is correspondingly matched with the upper side of the middle welding seam of the energy accumulator, the manipulator enables the clamped energy accumulator to rotate, the top welding seam of the energy accumulator is scanned and detected through the top probe, and the middle welding seam of the energy accumulator is scanned and detected through the middle probe.

The front and rear are defined as the front side near the detection accumulator and the rear side far from the detection accumulator.

Before detection, the position of the translation seat and the position of the top probe on the translation seat are adjusted through the front-back position adjusting unit in advance, so that the top probe corresponds to a detection plane on the top surface of the shell of the energy accumulator, and during detection, the top probe is only required to be scanned and detected on the detection plane, and the top probe does not need to be directly stretched into an annular concave seam of the energy accumulator to be contacted with a top welding seam, so that the situation that the top probe is bumpy and the top probe is not stably installed can be avoided. During detection, a certain amount of water is stored in the water tank, the energy accumulator to be detected is clamped by the mechanical arm and moved into the water tank, the energy accumulator is immersed in the water and positioned between the top detection mechanism and the middle detection mechanism, the outer wall of the shell of the energy accumulator is contacted with the front end face of the first limiting block through the translation of the mechanical arm, the first limiting block on the first longitudinal guide seat is elastically self-regulated in the front-back direction on the first regulating seat through the first horizontal self-regulating unit, and the front end face of the first limiting block is tightly attached to the outer wall of the shell of the energy accumulator; the shell of the energy accumulator is driven by the manipulator to ascend upwards, so that the top probe on the first U-shaped frame performs elastic self-adjustment in the vertical direction on the translation seat through the vertical direction self-adjustment unit, and the top probe can be pressed down on a detection plane on the top surface of the shell of the energy accumulator; the top probe can be in torsion self-adjustment in the opening of the first U-shaped frame through the torsion spring, so that the top probe can be in contact with a detection plane of the top surface of the shell of the energy accumulator through torsion self-adjustment, and the top probe is correspondingly matched with a top welding seam of the energy accumulator; meanwhile, through the translation of the manipulator, the middle probe on the probe frame is elastically self-adjusted in the front-back direction on the second adjusting seat through the second horizontal self-adjusting unit, so that the detection surface of the middle probe is tightly attached to the outer wall of the shell of the energy accumulator and is positioned on the upper side of the middle welding seam, and the middle probe can be correspondingly matched with the middle welding seam of the energy accumulator; and then the manipulator rotates the clamped energy accumulator, the top welding seam of the energy accumulator is scanned and detected through the top probe, and the middle probe scans and detects the middle welding seam of the energy accumulator.

In a preferred scheme, the first longitudinal guide seat is an inverted L-shaped guide seat, and the front-rear position adjusting unit is arranged on a transverse plate of the inverted L-shaped guide seat; the longitudinal plate of the inverted L-shaped guide seat is sequentially provided with a guide through hole and a strip-shaped guide groove from top to bottom, and the lower end opening of the guide through hole is communicated with the strip-shaped guide groove; install adjusting bolt in the direction through-hole, adjusting bolt's pole portion is in the bar guide way, the rear end of first stopper is equipped with the guide block, is equipped with the regulation screw with adjusting bolt's pole portion assorted on the guide block, the guide block is in the bar guide way to the guide block passes through regulation screw and adjusting bolt's pole portion end-to-end connection. If the first limiting block is required to lift up and down along the first longitudinal guide seat, the guide block at the rear end of the first limiting block is lifted up and down along the rod part of the adjusting bolt by screwing the head part of the adjusting bolt and under the limit of the strip-shaped guide groove, so that the mounting height of the first limiting block on the longitudinal plate is adjusted, the lower edge of the front end surface of the first limiting block is far away from the middle welding line of the energy accumulator, and the lower edge of the front end surface of the first limiting block is prevented from touching the middle welding line of the energy accumulator to scratch the middle welding line.

In a further preferred scheme, the front-back position adjusting unit comprises a first limit bolt and a transverse guide groove arranged on the transverse plate, the transverse guide groove is distributed along the inner and outer directions, the translation seat is provided with a first screw hole corresponding to the transverse guide groove, the rod part of the first limit bolt penetrates through the transverse guide groove, the tail end of the rod part of the first limit bolt is screwed in the first screw hole, and the head part of the first limit bolt clamps the transverse plate together with the translation seat. Through the mutual cooperation of the transverse guide groove on the inverted L-shaped guide seat and the first limit bolt, the position of the first limit bolt in the transverse guide groove can be adjusted, the position of the translation seat on the transverse plate of the inverted L-shaped guide seat can be adjusted after the translation seat translates along the inner and outer directions, the top probe is controlled to translate back and forth so as to detect welding seams at different positions of the top of the energy accumulator, stable fixing and position limiting of the translation seat can be ensured, accidental movement of the top probe in the detection process is avoided, and the detection accuracy and reliability are improved.

In the preferred scheme, the up-down direction self-adjusting unit comprises a first guide column, a first compression spring, a first connecting seat and a first guide hole arranged on the translation seat, wherein the first guide column is positioned in the first guide hole, two ends of the first guide column extend out from two openings of the first guide hole, an upper limit ring is arranged at the upper end of the first guide column, and the upper limit ring is in snap fit with the edge of the opening at the upper end of the first guide hole; the first connecting seat is installed on the lower extreme of first guide post, and first compression spring suit is on first guide post to first compression spring is in between translation seat and the first connecting seat, and the upper end of first compression spring and the lower surface contact cooperation of translation seat, the lower extreme of first compression spring and the upper surface contact cooperation of first connecting seat. Through the cooperation of first guide post, last spacing ring, first compression spring between translation seat and first connecting seat, can drive first connecting seat and follow the upper and lower direction on the translation seat and carry out the self-interacting, realize the vertical movement and the regulation to top probe, make it can follow the surface shape change of top welding seam, keep certain contact force and adaptability, improve the stability that detects. The first compression spring is arranged between the translation seat and the first connecting seat, so that the U-shaped wedge block can be pressed to the top of the detected energy accumulator, and the whole top detection mechanism can be protected from being broken.

In a further preferred scheme, the up-down direction self-adjusting unit further comprises an L-shaped limiting piece, the first U-shaped frame is rotatably installed on the first connecting seat, the L-shaped limiting piece is provided with a vertical piece and a transverse piece, the vertical piece is installed on the first connecting seat and can move up and down along the first connecting seat, the vertical piece is located between the first connecting seat and the first U-shaped frame, the transverse piece is located below the first U-shaped frame, the transverse piece is parallel to the lower surface of the first U-shaped frame, and a gap is reserved between the transverse piece and the lower surface of the first U-shaped frame. In a specific scheme, a first pin shaft is arranged on the first connecting seat, a ball bearing is sleeved on the first pin shaft, a first through hole is formed in the first U-shaped frame, the ball bearing is positioned in the first through hole, and the outer ring of the ball bearing is tightly matched with the first through hole; the vertical piece is provided with a strip-shaped through hole which runs up and down, and the vertical piece is hung on the first pin shaft through the strip-shaped through hole. Typically, the vertical piece is hung by the bar-shaped through hole against the first pin shaft and between the first connecting seat and the first U-shaped frame, and the transverse piece is parallel to the lower surface of the first U-shaped frame. In order to ensure that the top probe does not need to move back and forth in the detection process, only the distance between the top welding seam and the front end of the top probe needs to be determined, so that the whole detected area can be covered by sound beams, and the torsion angle of the top probe needs to be checked. When the torsion angle of the top probe is checked, the first U-shaped frame can be rotated around the first pin shaft by slightly rotating the first U-shaped frame clockwise or anticlockwise, the lower surface of the first U-shaped frame is contacted with the transverse sheet of the L-shaped limiting sheet in the rotation process, the L-shaped limiting sheet can limit the torsion angle of the top probe, the torsion angle of the top probe is prevented from generating excessive rotation in the detection process, the stability and consistency of the weld joint detection are maintained, and the limited torsion distance of the first U-shaped frame is approximately the same no matter the first U-shaped frame is slightly rotated clockwise or anticlockwise. By rotating the first U-shaped frame for torsion angle inspection, the operation process can be simplified and the reliability of measurement can be improved. In one embodiment, the gap distance between the transverse sheet and the lower surface of the first U-shaped frame is 0.8mm-1.5mm.

In a preferred scheme, the top probe comprises a U-shaped wedge block and a first phased array probe, wherein second pin shafts are respectively arranged on two arm end parts of the first U-shaped frame, the two arm end parts of the U-shaped wedge block are respectively rotatably arranged on the inner ends of the corresponding second pin shafts, and the U-shaped wedge block is positioned in the first U-shaped frame; the torsion springs are sleeved on the second pin shafts, the torsion springs are positioned between the U-shaped wedge blocks and the first U-shaped frames, the first torsion arms of the torsion springs extend to be in buckling fit with one arm of the U-shaped wedge blocks, and the second torsion arms of the torsion springs are in buckling fit with one arm of the first U-shaped frames; the lower end of the U-shaped wedge block is provided with a flaw detection plane, and the first phased array probe is arranged on the upper end of the U-shaped wedge block. The first torque arm of the torsion spring is stretched to be in snap fit with one arm of the U-shaped wedge block, the second torque arm of the torsion spring is in snap fit with one arm of the first U-shaped frame, and therefore the U-shaped wedge block can be properly twisted around the second pin shaft under the elastic action, and the pitch angle of the top probe is checked. Before detection, whether the two torsion springs can work normally or not is checked, namely, in an initial state, a flaw detection plane at the lower end of the U-shaped wedge block is low in front and high in back; then through the manual work touching the front end of U-shaped voussoir, the flaw detection plane of U-shaped voussoir lower extreme should twist to horizontal position (i.e. front and back parallel and level), when the manual work did not touch the U-shaped voussoir, the flaw detection plane of U-shaped voussoir lower extreme should be fast to the initial condition of front low back height. During detection, the energy accumulator to be detected is clamped by the manipulator and moves towards the direction of the top probe, so that the shell of the energy accumulator firstly touches the first limiting block, and the first longitudinal guide seat can stretch back and forth on the first adjusting seat until the shell of the energy accumulator presses the first limiting block and then moves backwards; then, driving the energy accumulator to vertically move upwards through the manipulator, and firstly touching the U-shaped wedge block of the top probe until the top of the energy accumulator presses the U-shaped wedge block; and after the detected energy accumulator is completely in place, rotating the clamped energy accumulator by a certain angle according to a set speed by using a manipulator, and detecting a top welding seam on a detection plane of the energy accumulator by using a first phased array probe.

In the preferred scheme, the front end face of the first limiting block is a cambered surface. The outer walls of the shell of the bulb-type energy accumulator and the straight-tube type energy accumulator are provided with cambered surfaces, so that the front end surface of the first limiting block is designed to be the cambered surface, and the front end surface of the first limiting block can be better contacted and matched with the shell of the bulb-type energy accumulator and the straight-tube type energy accumulator.

In a preferred scheme, the first horizontal self-adjusting unit comprises a second guide column, a second compression spring and a second guide hole arranged at the front end of the first adjusting seat, wherein the second guide hole is in a front-back trend, the second guide column is positioned in the second guide hole, two ends of the second guide column extend out from two openings of the second guide hole, a first limiting ring is arranged at the rear end of the second guide column, and the first limiting ring is in snap fit with the edge of the opening at the rear end of the second guide hole; the front end of the second guide post is arranged on the first longitudinal guide seat, the second compression spring is sleeved on the second guide post, the second compression spring is positioned between the first longitudinal guide seat and the front end of the first adjusting seat, the front end of the second compression spring is in contact fit with the first longitudinal guide seat, and the rear end of the second compression spring is in contact fit with the front end of the first adjusting seat. Through setting up the second compression spring between the front end of first vertical guide seat and first regulation seat, make first vertical guide seat carry out the back and forth flexible on first regulation seat, can let the preceding terminal surface of first stopper compress tightly the energy storage ware that detects, also can protect whole top detection mechanism not to be crashed.

In the preferred scheme, a plurality of first jacks matched with the front ends of the second guide posts are sequentially arranged on the first longitudinal guide seats from top to bottom, and the front ends of the second guide posts are inserted into the corresponding first jacks. The front end of the second guide post is in plug-in connection with each first jack on the first longitudinal guide seat, so that the first longitudinal guide seat can be detachably mounted on the first adjusting seat and the mounting height of the first longitudinal guide seat can be adjusted.

In the preferred scheme, be equipped with a plurality of first spacing screw from top to bottom in proper order on the first support, install first stop screw in the first spacing screw, the rear end of first regulation seat is equipped with the third guiding hole of going towards from front to back, and in the pole portion of first stop screw passed the third guiding hole, the rear end of first regulation seat was installed on first support through the cooperation of first stop screw and corresponding first spacing screw. Through the cooperation of first stop screw and each first spacing screw on the first support, can make first regulation seat demountable installation and adjust the mounting height of first regulation seat on first support.

In a preferred scheme, the middle probe comprises an n-shaped wedge block and a second phased array probe, the second phased array probe is arranged on the front end part of the probe frame, and the n-shaped wedge block is arranged on the front end of the second phased array probe; the front end face of the n-shaped wedge block is provided with a flaw detection cambered surface, and the lower end of the n-shaped wedge block is positioned above the middle welding seam. Because the shell bodies of the bulb-type energy accumulator and the straight cylinder-type energy accumulator are provided with cambered surfaces, the front end of the n-shaped wedge block is provided with a flaw detection cambered surface, so that the flaw detection cambered surface can be better contacted and matched with the shell bodies of the bulb-type energy accumulator and the straight cylinder-type energy accumulator. During detection, the energy accumulator to be detected is clamped by the manipulator and moves towards the middle probe, so that the shell of the energy accumulator firstly touches the n-shaped wedge block of the middle probe, and the probe frame can stretch back and forth on the second adjusting seat until the shell of the energy accumulator presses the n-shaped wedge block and then the probe frame moves backwards; and after the detected energy accumulator is completely in place, the clamped energy accumulator is rotated by a certain angle according to a set speed by a manipulator, and a middle welding seam on the energy accumulator is detected by a second phased array probe. Typically, the front face of the n-shaped wedge cannot touch the snap-fit location between the accumulator upper and lower shells, i.e., the middle weld.

In the preferred scheme, the second horizontal self-adjusting unit comprises a third guide column, a third compression spring and a fourth guide hole arranged at the front end of the second adjusting seat, wherein the fourth guide hole is in a front-back trend, the third guide column is positioned in the fourth guide hole, two ends of the third guide column extend out from two openings of the fourth guide hole, a second limiting ring is arranged at the rear end of the third guide column, and the second limiting ring is in snap fit with the edge of the opening at the rear end of the fourth guide hole; the front end of the third guide post is arranged on the probe frame, the third compression spring is sleeved on the third guide post, the third compression spring is positioned between the probe frame and the front end of the second adjusting seat, the front end of the third compression spring is in contact fit with the probe frame, and the rear end of the third compression spring is in contact fit with the front end of the second adjusting seat. The third compression spring is arranged between the probe frame and the front end of the second adjusting seat, so that the probe frame stretches back and forth on the second adjusting seat, the front end face of the middle probe can be pressed against the detected energy accumulator, and the whole middle detection mechanism can be protected from being damaged.

In the preferred scheme, be equipped with a plurality of second spacing screw from top to bottom in proper order on the second support, install second stop screw in the spacing screw of second, the rear end of second regulation seat is equipped with the fifth guiding hole of going towards from front to back, and in the pole portion of second stop screw passed the fifth guiding hole, the rear end of second regulation seat was installed on the second support through the cooperation of second stop screw and corresponding spacing screw of second. Through the cooperation of each second spacing screw on second spacer screw and the second support, can make the second adjust seat demountable installation on the second support and adjust the installation height of second adjust seat.

Compared with the prior art, the invention has the following advantages:

The invention can automatically feed and discharge the accumulator, and automatically and nondestructively detect the accumulator by adopting a detection mode of water immersion, workpiece rotation and probe immobility mutual coordination, rapidly and efficiently detect the weld defects of the accumulator, detect whether the weld penetration on the accumulator shell meets the standards, and detect whether the weld inside has the defects of cracks, virtual welding, welding holes and the like, so that the detection can meet the specification of a standard NB/T47013.15, greatly reduce the detection time, and improve the detection efficiency and the detection precision. In addition, the invention can realize the accurate positioning and adjustment of the probe in the welding line detection by the action adjustment of the top detection mechanism and the middle detection mechanism, is adaptive and stable to the detection part of the energy accumulator, ensures that the distance and the position between the probe and the welding line meet the requirements, so as to obtain an accurate detection result, and can be suitable for the energy accumulators with different sizes and shapes.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of the interior cross-section of the sink of FIG. 1;

FIG. 3 is a schematic diagram of a top detection mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of the top detection mechanism of FIG. 3;

FIG. 5 is a schematic diagram of a middle detection mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a test bulb accumulator in an embodiment of the present invention;

Fig. 7 is a schematic diagram of a structure of a detection straight cylinder type accumulator in an embodiment of the present invention.

Detailed Description

The invention is described in detail below with reference to the drawings and the specific embodiments.

As shown in fig. 1-7, the full-automatic accumulator welding seam ultrasonic phased array detection device in the embodiment comprises a water tank 1, a top detection mechanism 2, a middle detection mechanism 3 and a manipulator 4 capable of clamping the accumulator 5 to translate, lift and rotate, wherein the manipulator 4 is arranged on the outer side of the water tank 1, the top detection mechanism 2 is arranged on one inner side wall of the water tank 1, and the middle detection mechanism 3 is arranged on the other inner side wall of the water tank 1; the top detection mechanism 2 comprises a first support 21, a first adjusting seat 22, a first horizontal self-adjusting unit 23, a first longitudinal guide seat 24, a front-rear position adjusting unit 25, a translation seat 26, an up-down direction self-adjusting unit 27, a first U-shaped frame 28, a top probe 29 and a first limiting block 20, wherein the first support 21 is arranged on an inner side wall of the water tank 1, the rear end of the first adjusting seat 22 is detachably arranged on the first support 21, and the lower part of the first longitudinal guide seat 24 is arranged on the front end of the first adjusting seat 22 through the first horizontal self-adjusting unit 23; the translation seat 26 is movably arranged on the upper part of the first longitudinal guide seat 24 through the front-back position adjusting unit 25, the rear end of the first U-shaped frame 28 is arranged on the translation seat 26 through the up-down direction self-adjusting unit 27, the opening of the first U-shaped frame 28 is arranged forward, and two ends of the top probe 29 are respectively arranged in the opening of the first U-shaped frame 28 in a twisting way through corresponding torsion springs 281; the rear end of the first limiting block 20 is arranged on the first longitudinal guide seat 24 and can be lifted up and down along the first longitudinal guide seat 24, the first limiting block 20 is positioned below the top probe 29, and the front end surface of the first limiting block 20 is in contact fit with the outer wall of the shell of the energy accumulator 5; the middle detection mechanism 3 comprises a second support 31, a second adjusting seat 32, a second horizontal self-adjusting unit 33, a probe frame 34 and a middle probe 35, wherein the second support 31 is arranged on an inner side wall of the water tank 1, the rear end of the second adjusting seat 32 is detachably arranged on the second support 31, the rear end of the probe frame 34 is arranged on the front end of the second adjusting seat 32 through the second horizontal self-adjusting unit 33, the middle probe 35 is arranged on the probe frame 34, and the top probe 29 is positioned above the middle probe 35; the detection plane 51 is arranged on the top surface of the shell of the energy accumulator 5, the detection plane 51 is positioned on the outer side of the top welding seam 52 and is close to the top welding seam 52, the mechanical arm 4 clamps the energy accumulator 5 and conveys the energy accumulator 5 into the water tank 1 filled with water, the top probe 29 is correspondingly matched with the detection plane 51, the middle probe 35 is correspondingly matched with the upper side of the middle welding seam 53 of the energy accumulator 5, the mechanical arm 4 enables the clamped energy accumulator 5 to rotate, the top welding seam 52 of the energy accumulator 5 is scanned and detected through the top probe 29, and the middle probe 35 scans and detects the middle welding seam 53 of the energy accumulator 5.

The definition of front and rear is that the side close to the detection accumulator 5 is the front and the side far from the detection accumulator 5 is the rear.

Before detection, the positions of the translation seat 26 and the top probe 29 on the translation seat are adjusted in advance through the front-rear position adjusting unit 25, so that the top probe 29 corresponds to the detection plane 51 on the top surface of the shell of the energy accumulator 5, and the detection is performed by only scanning the top probe 29 on the detection plane 51, so that the top probe 29 does not need to directly extend into an annular concave seam of the energy accumulator 5 to be in contact with the top welding seam 52, and the situation that the top probe 29 is bumpy and the top probe 29 is not stably installed can be avoided. During detection, a certain amount of water is stored in the water tank 1, the energy accumulator 5 to be detected is clamped by the mechanical arm 4 and moved into the water tank 1, the energy accumulator 5 is immersed in the water and positioned between the top detection mechanism 2 and the middle detection mechanism 3, the outer wall of the shell of the energy accumulator 5 is contacted with the front end surface of the first limiting block 20 through the translation of the mechanical arm 4, the first limiting block 20 on the first longitudinal guide seat 24 is elastically self-regulated in the front-back direction on the first regulating seat 22 through the first horizontal self-regulating unit 23, and the front end surface of the first limiting block 20 is tightly attached to the outer wall of the shell of the energy accumulator 5; the shell of the energy accumulator 5 is driven to ascend upwards by the manipulator 4, so that the top probe 29 on the first U-shaped frame 28 performs elastic self-adjustment in the vertical direction on the translation seat 26 through the vertical direction self-adjustment unit 27, and the top probe 29 can be pressed down on the detection plane 51 on the top surface of the shell of the energy accumulator 5; the top probe 29 can be in torsion self-adjustment in the opening of the first U-shaped frame 28 through the torsion spring 281, so that the top probe 29 can be in contact with the detection plane 51 of the top surface of the shell of the energy accumulator 5 through torsion self-adjustment, and the top probe 29 is correspondingly matched with the top welding seam 52 of the energy accumulator 5; simultaneously, through the translation of the manipulator 4, the middle probe 35 on the probe frame 34 performs elastic self-adjustment in the front-rear direction on the second adjusting seat 32 through the second horizontal self-adjustment unit 33, so that the detection surface of the middle probe 35 is tightly attached to the outer wall of the shell of the energy accumulator 5 and is positioned on the upper side of the middle welding seam 53, and the middle probe 35 can be correspondingly matched with the middle welding seam 53 of the energy accumulator 5; the manipulator 4 then rotates the held accumulator 5, and the top probe 29 scans the top weld 52 of the accumulator 5, and the middle probe 35 scans the middle weld 53 of the accumulator 5.

The first longitudinal guide 24 is an inverted L-shaped guide 241, and the front-rear position adjusting unit 25 is mounted on a lateral plate 242 of the inverted L-shaped guide 241; the longitudinal plate 243 of the inverted L-shaped guide seat 241 is provided with a guide through hole 244 and a strip-shaped guide groove 245 in sequence from top to bottom, and the lower end opening of the guide through hole 244 is communicated with the strip-shaped guide groove 245; the guide through hole 244 is internally provided with an adjusting bolt 246, the rod part of the adjusting bolt 246 is positioned in a strip-shaped guide groove 245, the rear end of the first limiting block 20 is provided with a guide block 201, the guide block 201 is provided with an adjusting screw hole 202 matched with the rod part of the adjusting bolt 246, the guide block 201 is positioned in the strip-shaped guide groove 245, and the guide block 201 is connected with the tail end of the rod part of the adjusting bolt 246 through the adjusting screw hole 202. If the first limiting block 20 is to be lifted up and down along the first longitudinal guide 24, the guide block 201 at the rear end of the first limiting block 20 is lifted up and down along the rod portion of the adjusting bolt 246 by screwing the head portion of the adjusting bolt 246 and under the limitation of the bar-shaped guide groove 245, so as to adjust the installation height of the first limiting block 20 on the longitudinal plate 243, and the lower edge of the front end surface of the first limiting block 20 is far away from the middle welding seam 53 of the accumulator 5, so that the lower edge of the front end surface of the first limiting block 20 is prevented from touching the middle welding seam 53 of the accumulator 5 to scratch the middle welding seam 53.

The front-rear position adjusting unit 25 includes a first limit bolt 251 and a transverse guide groove 252 disposed on the transverse plate 242, the transverse guide groove 252 is distributed along the inner-outer direction, the translation seat 26 is provided with a first screw hole corresponding to the transverse guide groove 252, the rod portion of the first limit bolt 251 passes through the transverse guide groove 252, the tail end of the rod portion of the first limit bolt 251 is screwed in the first screw hole, and the head portion of the first limit bolt 251 and the translation seat 26 clamp the transverse plate 242 together. Through the mutual cooperation of the transverse guide groove 252 on the inverted L-shaped guide seat 241 and the first limit bolt 251, the position of the first limit bolt 251 in the transverse guide groove 252 can be adjusted, the position of the translation seat 26 on the transverse plate 242 of the inverted L-shaped guide seat 241 can be adjusted after the translation seat 26 translates along the inner and outer directions, the top probe 29 is controlled to translate back and forth so as to detect welding seams at different positions of the top of the energy accumulator 5, stable fixation and position limitation of the translation seat 26 can be ensured, accidental movement of the top probe 29 in the detection process is avoided, and the detection accuracy and reliability are improved.

The up-down direction self-adjusting unit 27 comprises a first guide post 271, a first compression spring 272, a first connecting seat 273 and a first guide hole 274 arranged on the translation seat 26, wherein the first guide post 271 is positioned in the first guide hole 274, two ends of the first guide post 271 extend out from two openings of the first guide hole 274, an upper limit ring 275 is arranged at the upper end of the first guide post 271, and the upper limit ring 275 is in snap fit with the edge of the upper end opening of the first guide hole 274; the first connection seat 273 is mounted on the lower end of the first guide post 271, the first compression spring 272 is sleeved on the first guide post 271, and the first compression spring 272 is positioned between the translation seat 26 and the first connection seat 273, the upper end of the first compression spring 272 is in contact fit with the lower surface of the translation seat 26, and the lower end of the first compression spring 272 is in contact fit with the upper surface of the first connection seat 273. Through the cooperation of first guide post 271, last spacing ring 275, first compression spring 272 between translation seat 26 and first connecting seat 273, can drive first connecting seat 273 and follow the upper and lower direction and carry out the self-interacting on translation seat 26, realize the vertical movement and the regulation to top probe 29, make it can follow the surface shape change of top welding seam 52, keep certain contact force and adaptability, improve the stability that detects. The first compression spring 272 is arranged between the translation seat 26 and the first connecting seat 273, so that the U-shaped wedge 291 can be pressed against the top of the detected energy accumulator 5, and the whole top detection mechanism 2 can be protected from being broken.

The up-down direction self-adjusting unit 27 further includes an L-shaped stopper 276, the first U-shaped frame 28 is rotatably mounted on the first connecting seat 273, the L-shaped stopper 276 has a vertical piece 2761 and a lateral piece 2762, the vertical piece 2761 is mounted on the first connecting seat 273 and can move up and down along the first connecting seat 273, the vertical piece 2761 is located between the first connecting seat 273 and the first U-shaped frame 28, the lateral piece 2762 is located below the first U-shaped frame 28, and the lateral piece 2762 is parallel to the lower surface of the first U-shaped frame 28, and a gap 2764 is provided between the lateral piece 2762 and the lower surface of the first U-shaped frame 28. In a specific scheme, a first pin shaft 278 is disposed on the first connecting seat 273, a ball bearing 279 is sleeved on the first pin shaft 278, a first through hole 282 is disposed on the first U-shaped frame 28, the ball bearing 279 is disposed in the first through hole 282, and an outer ring of the ball bearing 279 is tightly matched with the first through hole 282; the vertical piece 2761 is provided with a strip-shaped through hole 2763 which runs up and down, and the vertical piece 2761 is hung on the first pin 278 through the strip-shaped through hole 2763. Typically, the vertical tab 2761 is hung against the first pin 278 between the first connecting seat 273 and the first U-shaped frame 28 by a bar-shaped through hole 2763, and the lateral tab 2762 is parallel to the lower surface of the first U-shaped frame 28. In order to avoid the need to move the top probe 29 back and forth during the inspection, the distance between the top weld 52 and the front end of the top probe 29 needs to be determined to ensure that the sound beam can cover the whole inspected area, and the torsion angle of the top probe 29 needs to be inspected. When the torsion angle of the top probe 29 is checked, the first U-shaped frame 28 can be rotated around the first pin shaft 278 by lightly rotating the first U-shaped frame 28 clockwise or anticlockwise, the lower surface of the first U-shaped frame 28 will touch the transverse sheet 2762 of the L-shaped limiting sheet 276 in the rotation process, the L-shaped limiting sheet 276 can limit the torsion angle of the top probe 29, the excessive rotation of the top probe 29 is avoided in the detection process, and the stability and consistency of the weld detection are maintained, and the limited torsion distance of the first U-shaped frame 28 is approximately the same regardless of the clockwise or anticlockwise lightly rotating of the first U-shaped frame 28. By rotating the first U-shaped frame 28 for torsion angle inspection, the operation process can be simplified and the reliability of measurement can be improved. In one embodiment, the gap 2764 between the transverse tab 2762 and the lower surface of the first U-shaped frame 28 is 0.8mm to 1.5mm.

The top probe 29 comprises a U-shaped wedge 291 and a first phased array probe 292, wherein second pin shafts 283 are respectively arranged on two arm ends of the first U-shaped frame 28, the two arm ends of the U-shaped wedge 291 are respectively rotatably arranged on the inner ends of the corresponding second pin shafts 283, and the U-shaped wedge 291 is positioned in the first U-shaped frame 28; each second pin shaft 283 is sleeved with the torsion spring 281, the torsion spring 281 is located between the U-shaped wedge 291 and the first U-shaped frame 28, a first torsion arm of the torsion spring 281 extends to be in snap fit with one arm of the U-shaped wedge 291, and a second torsion arm of the torsion spring 281 is in snap fit with one arm of the first U-shaped frame 28; the lower end of the U-shaped wedge 291 has a flaw detection plane 2911, and a first phased array probe 292 is mounted on the upper end of the U-shaped wedge 291. The first torque arm of the torsion spring 281 is engaged with one arm of the U-shaped wedge 291, and the second torque arm of the torsion spring 281 is engaged with one arm of the first U-shaped frame 28, so that the U-shaped wedge 291 can be suitably twisted around the second pin 283 under the elastic action, and the pitch angle of the top probe 29 is checked. Before detection, whether the two torsion springs can work normally or not should be checked, namely, in the initial state, the flaw detection plane 2911 at the lower end of the U-shaped wedge 291 should be low in front and high in back; then, by manually touching the front end of the U-shaped wedge 291, the flaw detection plane 2911 at the lower end of the U-shaped wedge 291 should be twisted to a horizontal position (i.e., front-rear flush), and when the U-shaped wedge 291 is not touched manually, the flaw detection plane 2911 at the lower end of the U-shaped wedge 291 should be quickly restored to an initial state of front low and rear high. During detection, the energy accumulator 5 to be detected is clamped by the manipulator 4 and moves towards the direction of the top probe 29, so that the shell of the energy accumulator 5 firstly touches the first limiting block 20, and the first longitudinal guide seat 24 can stretch back and forth on the first adjusting seat 22 until the shell of the energy accumulator 5 presses the first limiting block 20 and then the first longitudinal guide seat 24 moves backwards; then, the manipulator 4 drives the energy accumulator 5 to vertically move upwards, and the energy accumulator 5 firstly touches the U-shaped wedge block 291 of the top probe 29 until the top of the energy accumulator 5 presses the U-shaped wedge block 291; when the detected accumulator 5 is completely in place, the clamped accumulator 5 is rotated by a certain angle at a set speed by the manipulator 4, and the first phased array probe 292 detects the top weld 52 on the detection plane 51 of the accumulator 5.

The front end surface of the first limiting block 20 is an arc surface 203. Since the shell bodies of the bulb-type energy accumulator 5 and the straight-tube-type energy accumulator 5 are provided with the cambered surfaces 203, the front end surface of the first limiting block 20 is designed to be the cambered surface 203, so that the front end surface of the first limiting block 20 can be better contacted and matched with the shell bodies of the bulb-type energy accumulator 5 and the straight-tube-type energy accumulator 5.

The first horizontal self-adjusting unit 23 comprises a second guide post 231, a second compression spring 232 and a second guide hole 233 arranged on the front end of the first adjusting seat 22, the second guide hole 233 is in a front-back trend, the second guide post 231 is positioned in the second guide hole 233, two ends of the second guide post 231 extend out from two openings of the second guide hole 233, a first limiting ring 234 is arranged at the rear end of the second guide post 231, and the first limiting ring 234 is in snap fit with the edge of the rear end opening of the second guide hole 233; the front end of the second guide post 231 is mounted on the first longitudinal guide 24, the second compression spring 232 is sleeved on the second guide post 231, the second compression spring 232 is located between the first longitudinal guide 24 and the front end of the first adjusting seat 22, the front end of the second compression spring 232 is in contact fit with the first longitudinal guide 24, and the rear end of the second compression spring 232 is in contact fit with the front end of the first adjusting seat 22. By arranging the second compression spring 232 between the first longitudinal guide 24 and the front end of the first adjusting seat 22, the first longitudinal guide 24 stretches back and forth on the first adjusting seat 22, so that the front end surface of the first limiting block 20 can be pressed against the detected accumulator 5, and the whole top detection mechanism 2 can be protected from being broken.

The first longitudinal guide 24 is provided with a plurality of first insertion holes 247 which are matched with the front ends of the second guide posts 231 in sequence from top to bottom, and the front ends of the second guide posts 231 are inserted into the corresponding first insertion holes 247. The front end of the second guide post 231 is engaged with each of the first insertion holes 247 of the first longitudinal guide 24, so that the first longitudinal guide 24 can be detachably mounted on the first adjustment seat 22 and the mounting height of the first longitudinal guide 24 can be adjusted.

The first support 21 is provided with a plurality of first limit screw holes 211 from top to bottom in sequence, a first limit screw 212 is arranged in the first limit screw holes 211, the rear end of the first adjusting seat 22 is provided with a third guide hole 221 running back and forth, the rod part of the first limit screw 212 penetrates through the third guide hole 221, and the rear end of the first adjusting seat 22 is arranged on the first support 21 through the cooperation of the first limit screw 212 and the corresponding first limit screw hole 211. The first adjusting seat 22 can be detachably mounted on the first support 21 and the mounting height of the first adjusting seat 22 can be adjusted by the cooperation of the first limiting screw 212 and each first limiting screw hole 211 on the first support 21.

The middle probe 35 includes an n-shaped wedge 351 and a second phased array probe 352, the second phased array probe 352 being mounted on the front end of the probe frame 34, the n-shaped wedge 351 being mounted on the front end of the second phased array probe 352; the front end surface of the n-shaped wedge 351 is provided with a flaw detection cambered surface 353, and the lower end of the n-shaped wedge 351 is positioned above the middle weld 53. Because the outer walls of the shells of the bulb-type energy accumulator 5 and the straight-tube-type energy accumulator 5 are provided with cambered surfaces, the front end of the n-shaped wedge 351 is provided with a flaw detection cambered surface 353, so that the flaw detection cambered surface 353 can be better contacted and matched with the shells of the bulb-type energy accumulator 5 and the straight-tube-type energy accumulator 5. During detection, the accumulator 5 to be detected is clamped by the manipulator 4 and moves towards the middle probe 35, so that the shell of the accumulator 5 firstly touches the n-shaped wedge 351 of the middle probe 35, and the probe frame 34 can stretch back and forth on the second adjusting seat 32 until the shell of the accumulator 5 presses the n-shaped wedge 351 and then the probe frame 34 moves backwards; when the detected accumulator 5 is completely in place, the clamped accumulator 5 is rotated by a certain angle at a set speed by the manipulator 4, and the middle weld 53 on the accumulator 5 is detected by the second phased array probe 352. Typically, the front face of the n-shaped wedge 351 cannot touch the snap-fit location between the upper and lower shells of the accumulator 5, i.e., the middle weld 53.

The second horizontal self-adjusting unit 33 comprises a third guide post 331, a third compression spring 332 and a fourth guide hole 333 arranged on the front end of the second adjusting seat 32, the fourth guide hole 333 extends forwards and backwards, the third guide post 331 is positioned in the fourth guide hole 333, two ends of the third guide post 331 extend out from two openings of the fourth guide hole 333, a second limiting ring 334 is arranged at the rear end of the third guide post 331, and the second limiting ring 334 is in snap fit with the edge of the rear end opening of the fourth guide hole 333; the front end of the third guide post 331 is mounted on the probe frame 34, the third compression spring 332 is sleeved on the third guide post 331, the third compression spring 332 is located between the probe frame 34 and the front end of the second adjusting seat 32, the front end of the third compression spring 332 is in contact fit with the probe frame 34, and the rear end of the third compression spring 332 is in contact fit with the front end of the second adjusting seat 32. By arranging the third compression spring 332 between the probe holder 34 and the front end of the second adjusting seat 32, the probe holder 34 is made to stretch back and forth on the second adjusting seat 32, so that the front end face of the middle probe 35 can be pressed against the detected accumulator 5, and the whole middle detection mechanism 3 can be protected from being broken.

A plurality of second limit screw holes 311 are sequentially formed in the second support 31 from top to bottom, a second limit screw 312 is arranged in the second limit screw holes 311, a fifth guide hole 321 running back and forth is formed in the rear end of the second adjusting seat 32, the rod portion of the second limit screw 312 penetrates through the fifth guide hole 321, and the rear end of the second adjusting seat 32 is arranged on the second support 31 through the cooperation of the second limit screw 312 and the corresponding second limit screw hole 311. The second adjusting seat 32 can be detachably mounted on the second support 31 and the mounting height of the second adjusting seat 32 can be adjusted by the cooperation of the second limiting screw 312 and each second limiting screw hole 311 on the second support 31.

In addition, it should be noted that, in the specific embodiments described in the present specification, names of various parts and the like may be different, and all equivalent or simple changes of the structures, features and principles described in the conception of the present invention are included in the protection scope of the present invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the scope of the invention as defined in the accompanying claims.

Claims (7)

1. A full-automatic accumulator welding seam ultrasonic phased array detection device is characterized in that: the device comprises a water tank, a top detection mechanism, a middle detection mechanism and a manipulator capable of clamping the energy accumulator to translate, lift and rotate, wherein the manipulator is arranged on the outer side of the water tank; the top detection mechanism comprises a first support, a first adjusting seat, a first horizontal self-adjusting unit, a first longitudinal guide seat, a front-back position adjusting unit, a translation seat, an up-down direction self-adjusting unit, a first U-shaped frame, a top probe and a first limiting block, wherein the first support is arranged on an inner side wall of the water tank, the rear end of the first adjusting seat is detachably arranged on the first support, and the lower part of the first longitudinal guide seat is arranged on the front end of the first adjusting seat through the first horizontal self-adjusting unit; the translation seat is movably arranged on the upper part of the first longitudinal guide seat through the front-back position adjusting unit, the rear end of the first U-shaped frame is arranged on the translation seat through the up-down direction self-adjusting unit, the opening of the first U-shaped frame is arranged forward, and two ends of the top probe are respectively arranged in the opening of the first U-shaped frame in a torsion mode through corresponding torsion springs; the rear end of the first limiting block is arranged on the first longitudinal guide seat and can be lifted up and down along the first longitudinal guide seat, the first limiting block is positioned below the top probe, and the front end surface of the first limiting block is in contact fit with the outer wall of the shell of the energy accumulator; the middle detection mechanism comprises a second support, a second adjusting seat, a second horizontal self-adjusting unit, a probe frame and a middle probe, wherein the second support is arranged on an inner side wall of the water tank, the rear end of the second adjusting seat is detachably arranged on the second support, the rear end of the probe frame is arranged at the front end of the second adjusting seat through the second horizontal self-adjusting unit, the middle probe is arranged on the probe frame, and the top probe is positioned above the middle probe; the top surface of the shell of the energy accumulator is provided with a detection plane, the detection plane is positioned at the outer side of the top welding seam and is close to the top welding seam, the energy accumulator is clamped by a manipulator and conveyed into a water tank filled with water, a top probe is correspondingly matched with the detection plane, a middle probe is correspondingly matched with the upper side of the middle welding seam of the energy accumulator, the manipulator rotates the clamped energy accumulator, the top welding seam of the energy accumulator is scanned and detected through the top probe, and the middle welding seam of the energy accumulator is scanned and detected through the middle probe;

The first longitudinal guide seat is an inverted L-shaped guide seat, and the front-rear position adjusting unit is arranged on a transverse plate of the inverted L-shaped guide seat;

The front-rear position adjusting unit comprises a first limit bolt and a transverse guide groove arranged on the transverse plate, the transverse guide groove is distributed along the inner-outer direction, the translation seat is provided with a first screw hole corresponding to the transverse guide groove, the rod part of the first limit bolt penetrates through the transverse guide groove, the tail end of the rod part of the first limit bolt is screwed in the first screw hole, and the head part of the first limit bolt and the translation seat clamp the transverse plate together;

the vertical direction self-adjusting unit comprises a first guide column, a first compression spring, a first connecting seat and a first guide hole arranged on the translation seat, wherein the first guide column is positioned in the first guide hole, two ends of the first guide column extend out from two openings of the first guide hole, an upper limit ring is arranged at the upper end of the first guide column, and the upper limit ring is in snap fit with the edge of the upper end opening of the first guide hole; the first connecting seat is arranged at the lower end of the first guide post, the first compression spring is sleeved on the first guide post, the first compression spring is positioned between the translation seat and the first connecting seat, the upper end of the first compression spring is in contact fit with the lower surface of the translation seat, and the lower end of the first compression spring is in contact fit with the upper surface of the first connecting seat;

The upper and lower direction self-interacting unit still includes L shape spacing piece, first U-shaped frame rotatable mounting is in on the first connecting seat, L shape spacing piece have vertical piece and horizontal piece, vertical piece is installed on first connecting seat and can follow first connecting seat and reciprocate, vertical piece is in between first connecting seat and the first U-shaped frame, horizontal piece is in the below of first U-shaped frame to horizontal piece is parallel with the lower surface of first U-shaped frame, has the clearance between horizontal piece and the lower surface of first U-shaped frame.

2. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein: the longitudinal plate of the inverted L-shaped guide seat is sequentially provided with a guide through hole and a strip-shaped guide groove from top to bottom, and the lower end opening of the guide through hole is communicated with the strip-shaped guide groove; install adjusting bolt in the direction through-hole, adjusting bolt's pole portion is in the bar guide way, the rear end of first stopper is equipped with the guide block, is equipped with the regulation screw with adjusting bolt's pole portion assorted on the guide block, the guide block is in the bar guide way to the guide block passes through regulation screw and adjusting bolt's pole portion end-to-end connection.

3. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein: the top probe comprises a U-shaped wedge block and a first phased array probe, second pin shafts are respectively arranged at the two arm end parts of the first U-shaped frame, the two arm end parts of the U-shaped wedge block are respectively rotatably arranged at the inner ends of the corresponding second pin shafts, and the U-shaped wedge block is arranged in the first U-shaped frame; the torsion springs are sleeved on the second pin shafts, the torsion springs are positioned between the U-shaped wedge blocks and the first U-shaped frames, the first torsion arms of the torsion springs extend to be in buckling fit with one arm of the U-shaped wedge blocks, and the second torsion arms of the torsion springs are in buckling fit with one arm of the first U-shaped frames; the lower end of the U-shaped wedge block is provided with a flaw detection plane, and the first phased array probe is arranged on the upper end of the U-shaped wedge block.

4. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein:

the front end face of the first limiting block is a cambered surface;

The first horizontal self-adjusting unit comprises a second guide column, a second compression spring and a second guide hole arranged at the front end of the first adjusting seat, the second guide hole is in a front-back trend, the second guide column is positioned in the second guide hole, two ends of the second guide column extend out from two openings of the second guide hole, a first limiting ring is arranged at the rear end of the second guide column, and the first limiting ring is in snap fit with the edge of the opening at the rear end of the second guide hole; the front end of the second guide post is arranged on the first longitudinal guide seat, the second compression spring is sleeved on the second guide post, the second compression spring is positioned between the first longitudinal guide seat and the front end of the first adjusting seat, the front end of the second compression spring is in contact fit with the first longitudinal guide seat, and the rear end of the second compression spring is in contact fit with the front end of the first adjusting seat;

The first longitudinal guide seat is sequentially provided with a plurality of first jacks matched with the front ends of the second guide columns from top to bottom, and the front ends of the second guide columns are spliced in the corresponding first jacks;

The first support is provided with a plurality of first limit screw holes from top to bottom in sequence, a first limit screw is arranged in the first limit screw holes, the rear end of the first adjusting seat is provided with a third guide hole which runs forwards and backwards, the rod part of the first limit screw penetrates through the third guide hole, and the rear end of the first adjusting seat is arranged on the first support through the cooperation of the first limit screw and the corresponding first limit screw hole.

5. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein: the middle probe comprises an n-shaped wedge block and a second phased array probe, the second phased array probe is arranged on the front end part of the probe frame, and the n-shaped wedge block is arranged on the front end of the second phased array probe; the front end face of the n-shaped wedge block is provided with a flaw detection cambered surface, and the lower end of the n-shaped wedge block is positioned above the middle welding seam.

6. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein: the second horizontal self-adjusting unit comprises a third guide column, a third compression spring and a fourth guide hole arranged at the front end of the second adjusting seat, the fourth guide hole is in a front-back trend, the third guide column is positioned in the fourth guide hole, two ends of the third guide column extend out from two openings of the fourth guide hole, a second limiting ring is arranged at the rear end of the third guide column, and the second limiting ring is in snap fit with the edge of the opening at the rear end of the fourth guide hole; the front end of the third guide post is arranged on the probe frame, the third compression spring is sleeved on the third guide post, the third compression spring is positioned between the probe frame and the front end of the second adjusting seat, the front end of the third compression spring is in contact fit with the probe frame, and the rear end of the third compression spring is in contact fit with the front end of the second adjusting seat.

7. The full-automatic accumulator weld ultrasonic phased array detection apparatus of claim 1, wherein: the second support is provided with a plurality of second limit screw holes from top to bottom in sequence, a second limit screw is arranged in the second limit screw holes, the rear end of the second adjusting seat is provided with a fifth guide hole which runs forwards and backwards, the rod part of the second limit screw penetrates through the fifth guide hole, and the rear end of the second adjusting seat is arranged on the second support through the cooperation of the second limit screw and the corresponding second limit screw hole.