Device for controlling the motion path of phased array probe and phased array ultrasonic testing method for tube sheet cladding layer

Abstract

The present invention discloses a device for controlling the motion path of a phased array probe and a phased array ultrasonic detection method for a tube sheet weld cladding layer. The device comprises an active beam provided with a first straight track, a driving wheel and a first supporting wheel are connected to the active beam, a driven beam and a probe mounting seat are both slidably fixed on the first straight track, a pair of driven wheels and a pair of second supporting wheels are slidably connected to the driven beam, the spacing between the two driven wheels and the spacing between the two second supporting wheels are adjustable, the rotation center lines of the driving wheel and the driven wheel are parallel to each other and perpendicular to the rotation center line of the supporting wheel, each supporting wheel adopts a universal wheel, and the bottom thereof is located on the same supporting plane parallel to the first straight track; an angular displacement sensor is installed on a driven wheel, and a linear displacement sensor for radial positioning of the probe is installed on the active beam. The detection method adopts the above-mentioned device, which can realize automatic scanning of phased array detection of tube sheet weld cladding layer, reduce labor intensity, and improve detection efficiency and stability.

Description

Technical Field

[0001] The invention relates to an auxiliary device used in ultrasonic phased array detection. Background Art

[0002] As an important component of the heat exchanger, the tube sheet is made of low alloy steel as the base material, and the stainless steel cladding layer is welded. After cladding, the header holes are densely added, and the tube sheet and the heat exchange tube are welded on the cladding surface. In order to ensure the quality of the welding corner seam between the heat exchange tube and the tube sheet and avoid failure and leakage, the tube sheet cladding layer must be strictly controlled in terms of quality. The general design requires that the tube sheet cladding layer be inspected by conventional pulse ultrasonic testing, and multiple scans are performed in different directions using straight and oblique probes. The detection intensity is high, the efficiency is low, and the reproducibility is poor. In addition, long-term operation is prone to arm and visual fatigue, resulting in insufficient probe coupling, resulting in missed detection and missed judgment of defects.

[0003] Currently available phased array automatic scanning devices are mostly used for the detection of annular butt welds of pipelines, and there are also automatic scanning devices for the inner or outer walls of pipelines. However, there is currently no easy-to-use ultrasonic phased array detection auxiliary device designed for disc-shaped workpieces. The patent document with announcement number CN208621561U discloses an "automatic ultrasonic non-destructive testing scanning device for wind turbine blades", including a blade scanner end, a work vehicle end and a main cable. The blade scanner end includes a longitudinal beam, a walking device, a cross beam, a support frame and a pneumatic suction cup, etc., which can be used for non-destructive testing of two-dimensional planar components, but the device cannot be directly used for automatic detection of tube sheet cladding layers. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a stable and easy-to-operate device for controlling the motion path of a phased array probe, so as to achieve the purpose of automatically scanning the cladding layer on a circular tube sheet by ultrasonic phased array detection.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a device for controlling the motion path of a phased array probe, comprising an active beam provided with a first straight track, and a driven beam vertically connected to the first straight track, the position of the driven beam on the active beam can be slidably fixed, a second straight track is provided on the driven beam, the second straight track is perpendicular to the first straight track, the plane where the first straight track is located and the plane where the second straight track is located are parallel to each other, a driving wheel with a fixed position is connected to the active beam, a first supporting wheel is provided adjacent to the driving wheel, a pair of driven wheels are slidably connected to the second straight track, the two driven wheels are symmetrically arranged relative to the first straight track and the two driven wheels are parallel to the first straight track. The distance between the first straight track is adjustable, the rotation center lines of the driving wheel and the driven wheel are parallel to each other and perpendicular to the plane where the first straight track is located, and a pair of second support wheels with adjustable positions are arranged on the second straight track. The second support wheels are located on the inner side of the driven wheel, and the bottoms of each support wheel are located on the same support plane, which is parallel to the plane where the first straight track is located. Each support wheel adopts a universal wheel; a probe mounting seat that can reciprocate along the first straight track is connected to the first straight track; an angular displacement sensor for circumferential positioning of the probe is installed on one of the driven wheels, and a linear displacement sensor for radial positioning of the probe is installed on the active beam. The device has a simple structure, can adapt to a certain range of size changes of the workpiece, can drive the probe to achieve circumferential and radial movement, thereby replacing manual adjustment of the probe position, which is labor-saving, accurate and will not be missed.

[0006] The active beam is also provided with a circumferential limit sensor and a radial limit sensor. The circumferential limit sensor controls the forward and reverse triggering of the driving wheel to facilitate automatic control. The radial limit sensor controls the maximum value of the scanning radius of the probe to avoid damage to the probe due to the probe hitting the workpiece.

[0007] A third support wheel is also connected to the first straight track of the active beam. The third support wheel and the first support wheel are respectively located on both sides of the driven beam. In this way, a pair of active beam support wheels can be used to support the device first, and then the position of the support wheels on the driven beam can be adjusted to facilitate the operation of the device.

[0008] The driven beam is connected to the active beam through a connecting device, and the connecting device can be slidably fixedly connected to the first straight track, and the driven beam can be rotatably fixed relative to the connecting device. By designing a connecting device to connect the active beam and the driven beam, the track on the driven beam position can be adjusted to be perpendicular to the track on the active beam in the working state, and in the non-working state, the driven beam can be rotated to a state with a small angle with the active beam, which is convenient for storage of the device.

[0009] The driven wheel is mounted on a driven wheel mounting seat, and the driven wheel mounting seat can be slidably and fixedly connected to the second straight track. A driven wheel spacing adjustment device is installed on the connecting device, and the spacing between the driven wheel and the first straight track is adjusted by the driven wheel spacing adjustment device, which is convenient for operation.

[0010] The driven wheel spacing adjustment device includes a coaxially arranged drum and gear, and a screw meshing with the gear, a limitable crank is connected to the screw, the drum is connected to the two driven wheel mounting seats at the same time through two symmetrically wound cables, the axis of the drum is parallel to the plane where the second straight track is located but perpendicular to the second straight track, when the drum rotates in one direction, the driven wheel spacing increases, and when the drum rotates in the opposite direction, the driven wheel spacing decreases, which facilitates the rapid adjustment of the driven wheel spacing.

[0011] The driven wheel mounting seat is provided with a locking screw for fixing the position of the driven wheel to accurately adapt to the size change of the workpiece, thereby ensuring the smooth rotation of the device along the circumferential wall of the workpiece as much as possible. When adjusting the spacing of the driven wheels, the locking screw should be loosened.

[0012] The driven wheel, a pair of rocker arms and a driven wheel mounting seat are connected to form a parallelogram mechanism. The driven wheel mounting seat is provided with a compression spring, and the two ends of the compression spring are respectively fixed at the middle position of the driven wheel mounting seat and one of the rocker arms, thereby ensuring that the driven wheel is pressed tightly against the circumferential wall and rotates under the action of the driving wheel.

[0013] The active beam is also provided with a wiring support rod socket, which also serves as a rotation limiting structure for the driven beam relative to the connecting device. The wiring support rod installed on the wiring support rod socket is basically perpendicular to the active beam and the driven beam, so as to avoid the wiring hindering the movement of the probe mounting seat.

[0014] The present invention also provides a phased array ultrasonic detection method for a tube sheet weld overlay layer, wherein the tube sheet comprises a circumferential wall, a boss and a scanning surface having a weld overlay layer, and the above-mentioned device for controlling the motion path of a phased array probe is used, and an electric control system electrically connected to the device is also used. The detection method comprises the following steps:

[0015] According to the size of the tube sheet, adjust the position of each supporting wheel so that the supporting wheels are all located on the boss of the tube sheet, adjust the position of the driving wheel and each driven wheel, and make the driving wheel and each driven wheel close to the circumferential wall through the driven wheel locking device;

[0016] Install the probe on the probe mounting base, adjust the probe mounting base to one of the extreme positions of the scanning radius of the scanning surface, and complete the wiring of the detection equipment;

[0017] A circumferential limit contact matching the circumferential limit sensor is installed on the tube sheet, the step length of the probe mounting seat is set, and the scanning mode is set to control the driving wheel to reverse when reaching the circumferential limit contact point while the probe mounting seat moves a step length along the first straight track, and the driving wheel is started until the scanning is completed. The above detection method can realize efficient detection of the scanning surface without omission or duplication.

[0018] The beneficial effects of the present invention are: it can realize automatic detection and scanning of the phased array detection of the tube plate cladding layer, reduce the detection labor intensity, and improve the detection efficiency and detection stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of a common heat exchanger tube sheet.

[0020] Figure 2 It is an axonometric view of an embodiment of the present invention.

[0021] Figure 3 yes Figure 2 A partial enlarged schematic diagram of part A in the middle.

[0022] Figure 4 yes Figure 2 A partial enlarged schematic diagram of part B in the middle.

[0023] Figure 5 yes Figure 2 A partial enlarged schematic diagram of part C in the middle.

[0024] Figure 6 yes Figure 2 A partial enlarged schematic diagram of part D in the middle.

[0025] Figure 7 1 is a front view of the device according to an embodiment of the present invention.

[0026] Figure 8 yes Figure 7 A partial enlarged schematic diagram of part E in the middle.

[0027] Marked in the figure: 1-active beam, 2-driven beam, 3-connecting device, 4-driving wheel, 5-driven wheel, 6-driven wheel mounting seat, 7-second locking screw, 8-probe mounting seat, 9-angular displacement sensor, 10-linear displacement sensor, 11-first straight track, 12-second straight track, 13-third support wheel, 14-first support wheel, 15-second support wheel, 16-circumferential limit sensor, 17-radial limit sensor, 18-rocker, 19-compression spring, 20-wiring support rod socket, 21-wiring support rod, 22-emergency stop button, 23-control box, 24-slide, 25-first motor, 26-second motor, 31-crank handle, 32-screw, 33-gear, 34-reel, 35-positioning pin, 61-locking screw, 100-tube plate, 101-boss, 102-circumferential wall, 103-scanning surface, 106-circumferential limit contact. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figures 1 to 8 As shown, the present invention provides a device for controlling the motion path of a phased array probe, which includes an active beam 1 provided with a first straight track 11, and a driven beam 2 vertically connected to the first straight track 11, the position of the driven beam 2 on the active beam 1 can be slidably fixed, a second straight track 12 is provided on the driven beam 2, the second straight track 12 is perpendicular to the first straight track 11, the plane where the first straight track is located and the plane where the second straight track is located are parallel to each other, a fixed driving wheel 4 is connected to the active beam 1, a first supporting wheel 14 is provided adjacent to the driving wheel 4, a pair of driven wheels 5 are slidably connected to the second straight track 12, the two driven wheels 5 are symmetrically arranged relative to the first straight track 11 and the two driven wheels 5 are parallel to the first straight track 11 The distance between them is adjustable, the rotation center lines of the driving wheel 4 and the driven wheel 5 are parallel to each other and perpendicular to the plane where the straight track is located, and a pair of second support wheels 15 with adjustable positions are arranged on the second straight track 12, the second support wheels 15 are located on the inner side of the driven wheel 5, and the bottoms of each support wheel 13, 14, 15 are located on the same support plane, which is parallel to the plane where the first straight track is located, and each support wheel 13, 14, 15 adopts a universal wheel; a probe mounting seat 8 that can reciprocate along the first straight track 11 is connected to the first straight track 11; an angular displacement sensor 9 for circumferential positioning of the probe is installed on one of the driven wheels 5, and a linear displacement sensor 10 for radial positioning of the probe is installed on the active beam 1.

[0030] When the device is in use, the support plane is perpendicular to the tube sheet axis. By adjusting the position of the driven beam 2 relative to the driving wheel 4 and the position of the driven wheel 5 on the driven beam 2, the driving wheel 4 and the driven wheel 5 can be supported by circumferential walls of different diameters. Similarly, the position of each supporting wheel can be adjusted, so that the device has a certain versatility and can detect workpieces within a certain size range. When the driving wheel 4 rotates, the entire device can rotate around the axis of the tube sheet 100, and the probe carried by the probe mounting seat 8 also rotates to form a circular scanning surface. After completing a circle of scanning, the driving wheel 4 pauses, and the probe mounting seat 8 steps a certain distance along the first straight track 11 and then fixes its position relative to the active beam 1 again. The driving wheel 4 starts again, so that multiple superimposed circular surfaces can cover the entire scanning surface 103 to complete the detection. When the driving wheel 4 stops unexpectedly, due to the linear displacement sensor 10 and the angular displacement sensor 9, the completed scanning area can also be determined in time. The angular displacement sensor 9 is arranged on the driven wheel 5 to avoid affecting the accuracy of the measurement due to the slippage of the driving wheel.

[0031] Compared with the existing scanning frame, the device has a simple and novel structure and is very convenient for detecting the cladding layer on disc-type workpieces such as tube sheets.

[0032] Example:

[0033] like Figures 1 to 8 As shown, the device for phased array ultrasonic testing of tube plate cladding layer includes a mechanical part and an electronic control part. The mechanical part includes an active beam 1, a driven beam 2, a connecting device 3, a driving wheel 4, a driven wheel 5, a supporting wheel, a driven wheel locking device, a probe clamping device, a circumferential encoder used as an angular displacement sensor 9, a radial encoder used as a linear displacement sensor 10, a circumferential limit sensor 16, a radial limit sensor 17, and a wiring support rod 21. The electronic control part includes a control box 23, an emergency stop button 22, etc. The control box 23 has a built-in software module for necessary parameter settings and automatic control of the scanning process.

[0034] The active beam 1 uses a finished linear module to facilitate the realization of electric control, including a motor, a chain, a synchronous belt, a slide and a straight track. The straight track is the first straight track 11 located in the middle of the active beam 1. The material of the driven beam 2 is a frame assembled from aluminum alloy profiles that are not easily deformed. A second straight track 12 is formed in the middle of the driven beam 2 to facilitate the fixation and installation of other components on the beam. The active beam 1 and the driven beam 2 are connected to each other through a connecting device 3. After the connection, the plane where the first straight track is located and the plane where the second straight track is located are parallel to each other. The connecting device 3 can be slidably and fixedly connected to the first straight track 11. The driven beam 2 can be rotatably fixed relative to the connecting device 3. The connecting device 3 is provided with a positioning pin structure. When the driven beam 2 rotates to be perpendicular to the active beam 1, the first straight track 11 and the second straight track 12 are also perpendicular to each other. At this time, the positioning is locked for easy use. After use, the driven beam 2 is rotated to form a small angle with the active beam 1 for easy storage. The specific structure of the connecting device can refer to a variety of existing rotary positioning structure designs.

[0035] like Figure 2 and Figure 3 As shown, the driving wheel 4 is installed at one end of the active beam 2 and is driven by a first motor 25 electrically connected to the electronic control part to provide the movement power of the device.

[0036] like Figure 2 and Figure 5 As shown, the driven wheels 5 are symmetrically arranged at the two ends of the driven beam 2 through the driven wheel mounting seat 6. The driven wheel mounting seat 6 can be slidably fixedly connected to the second straight track 12. The driven wheel spacing adjustment device includes a coaxially arranged drum 34 and a gear 33, and a screw 32 meshing with the gear 33. The screw 32 is connected to a limitable crank 31. The drum 34 is connected to the two driven wheel mounting seats 6 at the same time through two symmetrically wound cables (omitted in the figure). The axis of the drum 34 is parallel to the plane where the second straight track is located but perpendicular to the second straight track 12. The driven wheel 5 can be tightened or loosened by turning the crank 31. A locking screw 61 is provided on the driven wheel mounting seat 6, and the driven wheel 5 can be fixed to the circumferential outer wall of the workpiece by the locking screw 61. When the system is running, the distance between the two driven wheels 5 can be adjusted according to the specifications of the workpiece, so that the driving wheel 4 and the driven wheel 5 are tangent to the circumferential wall 102: as shown in FIG. Figure 7 and Figure 8 As shown, the driven wheel 5 is connected with a pair of rocker rods 18 and a driven wheel mounting seat 6 to form a parallelogram mechanism. The driven wheel mounting seat 6 is provided with a clamping spring 19, and the two ends of the clamping spring 19 are respectively fixed at the middle position of the driven wheel mounting seat 6 and one of the rocker rods 18, so that the driven wheel 5 can be pressed against the surface of the workpiece.

[0037] The rotation center lines of the driving wheel 4 and the driven wheel 5 are parallel to each other and perpendicular to the plane where the first straight track is located.

[0038] like Figure 2 and Figure 4 As shown, a wiring support rod socket 20 is also provided on the active beam 1 , and the wiring support rod socket 20 also serves as a rotation limiting structure of the driven beam 2 relative to the connecting device 3 .

[0039] like Figure 2 , Figure 3 and Figure 5 As shown, the first support wheel 14 and the third support wheel 13 are respectively installed near the two ends of the active beam 1 to support the entire system. In the working state, the third support wheel 13 and the first support wheel 14 are respectively located on both sides of the driven beam 2, wherein the first support wheel 14 is fixedly connected to the mounting seat of the driving wheel 4, the third support wheel 13 is slidably fixedly connected to the first straight track 11, and can be fixed in position by the second locking screw 7, and the two second support wheels 15 are installed on the inner side of the two driven wheels 5 on the driven beam 2, and the position of the second support wheels 15 can be fixed. It is designed to be independently adjusted, and each support wheel is a universal wheel. The bottom of each support wheel is located on the same support plane, which is parallel to the plane where the first straight track is located. In this embodiment, the second support wheel 15 is installed on the driven wheel mounting seat 6, and the second support wheel 15 and the adjacent driven wheel 5 can be fixedly connected by a buckle of appropriate size. After adjusting the spacing between the driven wheels 5, the second support wheel 15 can fall exactly on the boss 101, and there is no need to adjust the position of the second support wheel 15 separately. The support plane is the circular end face of the boss 101.

[0040] like Figure 2 and Figure 6 As shown, the probe mounting seat 8 is connected to a slide 24 which is slidably connected to the first straight rail 11. The slide 24 realizes reciprocating motion on the first straight rail 11 through a chain and a synchronous belt. The chain 25 is driven by a second motor 26 which is electrically connected to the electronic control part. The slide 24, the chain, the synchronous belt and the second motor 26 are all existing structures of the linear module and are not marked in detail in the figure. The probe is fixed to the probe mounting seat 8 in a clamped manner and can be pressed against the workpiece by a spring to ensure the contact between the workpiece and the probe. The elastic pressure-touch structure of the probe can refer to the similar structure disclosed in CN111551632A and will not be described in detail.

[0041] like Figure 3 and Figure 5 As shown, a circumferential encoder for circumferential positioning of the probe is installed on one of the driven wheels 5, and is used as an angular displacement sensor 9. The angular displacement sensor 9 can be used to control the arc range of motion of the probe. A radial encoder for radial positioning of the probe is installed on the active beam 1, and is used as a linear displacement sensor 10. The linear displacement sensor 10 can also be used to control the radial range of motion of the probe.

[0042] like Figure 1 and Figure 3 As shown, a circumferential limit sensor 16 is also provided on the active beam 1, and a circumferential limit contact 106 cooperating with the circumferential limit sensor 16 is installed on the tube plate 100. The circumferential limit sensor 16 controls the forward and reverse triggering of the first motor 25, completes the circumferential motion limit of the probe and gives a corresponding operation signal: let the first motor 25 reverse.

[0043] like Figure 2 As shown, a radial limit sensor 17 is also provided on the synchronous belt of the active beam 1. The radial limit sensor 17 controls the maximum value of the scanning radius of the probe, completes the radial movement limit of the probe and gives a corresponding operation signal: cuts off the power supply of the second motor 26.

[0044] like Figure 2 and Figure 4 As shown, a wiring support rod 21 is used to support and store the probe line and the system's power line and control line. The wiring support rod 21 is plugged into a wiring support rod socket 20 provided on the active beam 1. The wiring support rod socket 20 also serves as a rotation limiting structure for the driven beam 2 relative to the connecting device 3, and cooperates with the positioning pin structure to fix the position of the driven beam 2.

[0045] like Figure 2 As shown, the control box 23 is configured separately, which integrates all power connections and control lines of the device (omitted in the figure), and is installed with motion control buttons, programs and display modules to realize the motion control of the system.

[0046] like Figure 3 As shown, the emergency stop button 22 is electrically connected to the first motor 25 on the active beam 1 and is used for emergency stop operation during the movement of the system to instantly cut off the power supply of the first motor 25 .

[0047] The above device is used to detect the cladding layer of the tube sheet. The tube sheet height is 600mm, the diameter is 2m, the material is 20MnMoNbIV forgings, the cladding layer thickness is ≥6mm, and the detection requirements are: 100% cladding layer phased array detection. The specific operation steps are as follows.

[0048] According to the diameter of the tube sheet, adjust the distance between the third support wheel 13 on the active beam 1 and the first support wheel 14, place the device on the tube sheet 100, and lock the second locking screw 7 so that the two support wheels are located on the boss 101 of the tube sheet, and the driving wheel 4 is close to the circumferential wall 102 of the tube sheet 100.

[0049] According to the diameter of the tube sheet, adjust the position of the driven beam 2 on the first straight track 11, rotate the driven beam 2 until it is perpendicular to the active beam 1, insert the positioning pin 35, lock the driven beam 2, and install the circumferential limit contact 106 that cooperates with the circumferential limit sensor 16 on the tube sheet 100.

[0050] The distance between the second support wheel 15 and the driven wheel 5 on the driven beam 2 is adjusted so that both second support wheels 15 are located on the boss 101 on the edge of the tube sheet, and the driven wheel 5 is pressed against the circumferential wall 102 of the tube sheet 100 by tightening the bolts 61.

[0051] The position of the radial limit sensor 17 is adjusted according to the width of the boss 101, the probe is fixed on the active beam 1 with the probe mounting seat 8, and the position of the probe mounting seat 8 is adjusted so that the probe can scan the maximum diameter of the scanning surface 103 and the probe is in good contact with the scanning surface 103 of the tube sheet 100.

[0052] Insert the wiring support rod 21 into the wiring support rod socket 20, and set up and connect all probe wires, power wires, control wires, etc. in place.

[0053] The scanning surface radius parameter is set in the control box 23, the step length of the probe mounting seat 8 is set, the device is started, and scanning begins from the circumferential limit contact 106. The scanning mode is that when the driving wheel 4 reaches the circumferential limit contact 106 again, the driving wheel 4 is controlled to reverse and the probe mounting seat 8 moves a step length along the first straight track 11 toward the center of the circle.

[0054] After the scanning is completed, the locking screw 61 of the driven wheel 5 is loosened and the detection device is removed.

[0055] The above is a processing method for comprehensive scanning of the cladding layer. If there are defects in the cladding layer, the defects can be repaired and then scanned again. Two circumferential limit contacts 106 can be set according to the defect and the repair position, and the initial position of the probe mounting seat 8 can be adjusted to save detection time.

[0056] That is, the device can also scan a sector-shaped area of ​​a set size.

[0057] When used for the inspection of large-sized tube sheets, the inspection device can be moved to the inspection workpiece or removed by hoisting.

Claims

1. A device for controlling the motion path of a phased array probe, comprising an active beam (1) provided with a first straight track (11), and a driven beam (2) vertically connected to the first straight track (11), wherein the driven beam (2) is slidably fixed on the active beam (1), a second straight track (12) is provided on the driven beam (2), the second straight track (12) is perpendicular to the first straight track (11), and a plane where the first straight track is located and a plane where the second straight track is located are parallel to each other, wherein: A driving wheel (4) with a fixed position is connected to the driving beam (1), a first supporting wheel (14) is arranged adjacent to the driving wheel (4), a pair of driven wheels (5) are slidably connected to the second straight track (12), the two driven wheels (5) are symmetrically arranged relative to the first straight track (11), and the distance between the two driven wheels (5) and the first straight track (11) is adjustable, the rotation center lines of the driving wheel (4) and the driven wheel (5) are parallel to each other and perpendicular to the plane where the first straight track is located, and a pair of second supporting wheels (14) with adjustable positions are also arranged on the second straight track (12). 5), the second support wheel (15) is located on the inner side of the driven wheel (5), the bottom of each support wheel (14, 15) is located on the same support plane, the support plane is parallel to the plane where the first straight track is located, and each support wheel (14, 15) adopts a universal wheel; a probe mounting seat (8) that can reciprocate along the first straight track (11) is connected to the first straight track (11); an angular displacement sensor (9) for circumferential positioning of the probe is installed on one of the driven wheels (5), and a linear displacement sensor (10) for radial positioning of the probe is installed on the active beam (1).

2. The device for controlling the motion path of a phased array probe according to claim 1, characterized in that: A circumferential limit sensor (16) and a radial limit sensor (17) are also provided on the active beam (1), respectively. The circumferential limit sensor (16) controls the forward and reverse triggering of the driving wheel (4), and the radial limit sensor (17) controls the maximum value of the scanning radius of the probe.

3. The device for controlling the motion path of a phased array probe according to claim 2, characterized in that: The first straight track (11) of the active beam (1) is also connected to a third support wheel (13), and the third support wheel (13) and the first support wheel (14) are respectively located on both sides of the driven beam (2).

4. The device for controlling the motion path of a phased array probe according to claim 1, 2 or 3, characterized in that: The driven beam (2) is connected to the driving beam (1) via a connecting device (3); the connecting device (3) is slidably and fixedly connected to the first straight track (11); and the driven beam (2) is rotatably and fixedly connected relative to the connecting device (3).

5. The device for controlling the motion path of a phased array probe according to claim 4, characterized in that: The driven wheel (5) is mounted on a driven wheel mounting seat (6), the driven wheel mounting seat (6) is slidably and fixedly connected to the second straight track (12), and a driven wheel spacing adjustment device is installed on the connecting device (3).

6. The device for controlling the motion path of a phased array probe according to claim 5, characterized in that: The driven wheel spacing adjustment device comprises a coaxially arranged drum (34) and a gear (33), and a lead screw (32) meshing with the gear (33), the lead screw (32) being connected to a limitable crank (31), the drum (34) being connected to two driven wheel mounting seats (6) via two symmetrically wound cables, and the axis of the drum (34) being parallel to the plane where the second straight track is located but perpendicular to the second straight track (12).

7. The device for controlling the motion path of a phased array probe according to claim 5, characterized in that: The driven wheel mounting seat (6) is provided with a locking screw (61) for fixing the position of the driven wheel.

8. The device for controlling the motion path of a phased array probe according to claim 5, characterized in that: The driven wheel (5) is connected to a pair of swing rods (18) and a driven wheel mounting seat (6) to form a parallelogram mechanism. The driven wheel mounting seat (6) is provided with a compression spring (19). The two ends of the compression spring (19) are respectively fixed at the middle position between the driven wheel mounting seat (6) and one of the swing rods (18).

9. The device for controlling the motion path of a phased array probe according to claim 4, characterized in that: The active beam (1) is also provided with a wiring support rod socket (20), and the wiring support rod socket (20) also serves as a rotation limiting structure of the driven beam (2) relative to the connecting device (3).

10. A phased array ultrasonic detection method for a tube sheet weld overlay layer, wherein the tube sheet (100) comprises a circumferential wall (102), a boss (101) and a scanning surface (103) having a weld overlay layer, wherein: The device for controlling the motion path of a phased array probe as claimed in any one of claims 2 to 9 is used, and an electric control system electrically connected to the device is also used. The detection method comprises the following steps: According to the size of the tube sheet, the positions of the supporting wheels (14, 15) are adjusted so that the supporting wheels (14, 15) are both located on the boss (101) of the tube sheet (100), and the positions of the driving wheel (4) and the driven wheels (5) are adjusted so that the driving wheel (4) and the driven wheels (5) are closely attached to the circumferential wall (102); Install the probe on the probe mounting seat (8), adjust the probe mounting seat (8) to one of the extreme positions of the scanning radius of the scanning surface (103), and complete the wiring of the detection equipment; One or two circumferential limit contacts (106) cooperating with the circumferential limit sensor (16) are installed on the tube plate (100), the step length of the probe mounting seat (8) is set, and the scanning mode is set so that when the circumferential limit contact (106) is reached, the driving wheel (4) is controlled to reverse and the probe mounting seat (8) moves a step length along the first straight track (11), and the driving wheel (4) is started until the scanning is completed.

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