Self-adaptive ultrasonic detection equipment for pipes

Abstract

The invention discloses self-adaptive ultrasonic detection equipment for a pipe, which comprises a water tank mechanism, and the pipe is soaked in a coupling agent injected into the water tank mechanism; the probe mechanism is used for carrying out flaw detection on the pipe; the movement mechanism is installed on the water tank mechanism, and the probe mechanism is installed on the movement mechanism and used for carrying the probe mechanism to move in the length direction of the water tank mechanism and adjusting the position and angle of the probe mechanism; the positioning mechanism is mounted on the water tank mechanism and is used for limiting the pipe; according to the invention, the movement mechanism carries the probe mechanism to carry out omnibearing detection on a pipe workpiece, the equipment can be efficiently and accurately automated to reduce the labor intensity of detection personnel, the detection quality is ensured, the detection efficiency is high, and the practicability is strong.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive testing of pipes, and in particular to an adaptive ultrasonic testing device for pipes. Background Art

[0002] During the manufacturing and use of pipes, defects such as cracks and inclusions often occur. These defects will reduce the performance of the pipes, and in severe cases, they will break during use, affecting industrial safety. Therefore, in the fields of nuclear power, chemical industry, oil and gas transportation, etc., it is necessary to inspect whether the products have defects before welding.

[0003] At present, domestic pipe inspection mainly adopts manual ultrasonic inspection method. The length of pipes is not fixed but generally long. There are many pipes in the same batch. Manual inspection will not only generate a lot of repetitive work, but also the uncertainty of inspectors will lead to poor data stability. Manual inspection has problems such as low efficiency, high error, high repetitive labor intensity, etc., which makes it difficult to meet the inspection needs of large quantities of pipes. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an efficient and accurate automated equipment to reduce the labor intensity of detection personnel, improve production efficiency and ensure detection quality.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a pipe adaptive ultrasonic testing device, comprising:

[0006] A water tank mechanism, wherein the pipe is immersed in a coupling agent injected into the water tank mechanism;

[0007] A probe mechanism, the probe mechanism is used to perform flaw detection on the pipe;

[0008] A motion mechanism, wherein the motion mechanism is mounted on the water tank mechanism, and the probe mechanism is mounted on the motion mechanism, and is used to carry the probe mechanism to move along the length direction of the water tank mechanism and adjust the position and angle of the probe mechanism; and

[0009] A positioning mechanism is installed on the water tank mechanism and is used to limit the position of the pipe.

[0010] Furthermore, in the said adaptive ultrasonic testing device for pipes, the said probe mechanism preferably comprises an elastic pressing component and a probe elastically adjusted to be pressed to the surface of the pipe in the vertical direction;

[0011] The probe for detecting the pipe is installed on the motion mechanism through the elastic holding component.

[0012] Furthermore, in the said tube adaptive ultrasonic testing device, it is preferred that the said elastic holding assembly comprises an outer frame, a sliding connection block and a first elastic member;

[0013] The outer frame is fixedly or detachably mounted on the motion mechanism, the sliding connection block is slidably mounted on the outer frame, two ends of the first elastic member providing elastic pressing force to the sliding connection block are respectively mounted on the outer frame and the sliding connection block, and the probe is mounted on the bottom of the sliding connection block.

[0014] Furthermore, in the said pipe adaptive ultrasonic testing device, preferably the said probe mechanism also includes a clamping anti-deviation component which is elastically clamped on both sides of the said pipe to prevent the said probe from deflecting, and the said clamping anti-deviation component includes a connecting frame, two semicircular sliders and two second elastic elements;

[0015] The connecting frame is slidably installed at the bottom of the sliding connecting block, and the probe is installed at the bottom of the sliding connecting block through the connecting frame, so that the two semicircular sliders on both sides of the pipe are slidably installed in horizontal directions on the inner walls on both sides of the bottom end of the connecting frame, and the two second elastic elements are respectively installed between the two semicircular sliders and the connecting frame.

[0016] Further, in the said pipe adaptive ultrasonic testing equipment, preferably, the said motion mechanism comprises an X-axis motion module moving along the length direction of the said water tank mechanism, and the said X-axis motion module comprises a gantry and a first linear module;

[0017] The gantry is slidably mounted on the water trough mechanism along the length direction of the water trough mechanism through the first linear module.

[0018] Furthermore, in the said pipe adaptive ultrasonic testing device, preferably, the said motion mechanism further comprises a Y-axis motion module moving along the width direction of the said water tank mechanism, and the said Y-axis motion module comprises a Y-axis motion plate and a second linear module;

[0019] One side of the Y-axis motion plate is slidably mounted on the gantry along the width direction of the water tank mechanism through the second linear module.

[0020] Furthermore, in the said pipe adaptive ultrasonic testing device, preferably, the said motion mechanism further comprises a Z-axis motion module moving in the vertical direction of the said water tank mechanism, and the said Z-axis motion module comprises a Z-axis motion plate and a third linear module;

[0021] The Z-axis motion plate is slidably mounted on the other side of the Y-axis motion plate along the vertical direction of the water tank mechanism through the third linear module.

[0022] Furthermore, in the said pipe adaptive ultrasonic testing equipment, it is preferred that a W-axis motion module for driving the said probe to rotate is installed on the said Z-axis motion plate; the said W-axis motion module comprises a transmission shaft and a driving motor;

[0023] The transmission shaft is rotatably mounted on the Z-axis motion plate, the bottom of the transmission shaft is fixedly or detachably mounted on the top of the probe mechanism, the drive motor is mounted on the Z-axis motion plate, and the output shaft of the drive motor is connected to the top of the transmission shaft.

[0024] Furthermore, in the said tube adaptive ultrasonic testing equipment, the said positioning mechanism preferably comprises a positioning block, a baffle and a cushion block;

[0025] The positioning block is installed on the water tank mechanism. A plurality of slots for limiting one end of the pipe are provided at equal intervals on the positioning block to support the pad at the other end of the pipe installed on the water tank mechanism. The baffle fills and clamps the gap between the pipe and the inner wall of the slot.

[0026] Furthermore, in the said adaptive ultrasonic testing device for pipes, it is preferred that a straightening mechanism for straightening the bent portion of the pipe is also installed in the said water tank mechanism, and the said straightening mechanism comprises a sliding frame, a lifting member and a lifting block;

[0027] The sliding frame is slidably mounted on the water tank mechanism, the lifting member is mounted on the sliding frame, and the lifting block for extruding the pipe is slidably mounted on the sliding frame through the lifting member.

[0028] The implementation of the present invention has the following beneficial effects: the present invention can carry out all-round inspection of pipe workpieces through the motion mechanism carrying the probe mechanism, can efficiently and accurately automate the equipment to reduce the labor intensity of inspection personnel, ensure the inspection quality, have high inspection efficiency, and have strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0030] Figure 1 It is a schematic diagram of the structure of a pipe adaptive ultrasonic detection device according to the present invention from a first perspective;

[0031] Figure 2 is a schematic structural diagram of a probe mechanism in some embodiments of the present invention;

[0032] Figure 3 is a schematic diagram of the structure of a water tank mechanism and a motion mechanism in some embodiments of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of the motion mechanism in some embodiments of the present invention;

[0034] Figure 5 In some embodiments of the present invention Figure 4 A schematic diagram of the second perspective structure;

[0035] Figure 6 is a schematic structural diagram of a positioning mechanism in some embodiments of the present invention;

[0036] Figure 7 It is a schematic structural diagram of the top straightening mechanism in some embodiments of the present invention.

[0037] Explanation of the symbols in the schematic diagram:

[0038] 1. Sink mechanism;

[0039] 2. Probe mechanism; 21. Probe; 22. Outer frame; 23. Sliding connection block; 24. First elastic member; 25. Connection frame; 26. Semicircular slider;

[0040] 3. Motion mechanism; 31. Gantry; 32. First linear module; 33. Y-axis motion board; 34. Second linear module; 35. Z-axis motion board; 36. Third linear module; 37. Transmission shaft; 38. Driving motor;

[0041] 4. Positioning mechanism; 41. Positioning block; 42. Baffle; 43. Cushion block;

[0042] 5. Sliding frame; 51. Top moving member; 52. Top block. DETAILED DESCRIPTION

[0043] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0044] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0046] The technical solution adopted by the present invention to solve its technical problem is:

[0047] like Figures 1 to 7 As shown, the present invention discloses an adaptive ultrasonic detection device for pipes, which may include: a water tank mechanism 1, a probe mechanism 2, a motion mechanism 3 and a positioning mechanism 4, wherein the pipe is immersed in a coupling agent injected into the water tank mechanism 1; the probe mechanism 2 is used for performing flaw detection on the pipe; the motion mechanism 3 is installed on the water tank mechanism 1, and the probe mechanism 2 is installed on the motion mechanism 3, and is used for carrying the probe mechanism 2 to move along the length direction of the water tank mechanism 1 and adjusting the position and angle of the probe mechanism 2; the positioning mechanism 4 is installed on the water tank mechanism 1, and is used for limiting the position of the pipe.

[0048] The pipe adaptive ultrasonic detection equipment places the pipe in the water tank mechanism 1, and the positioning mechanism 4 fixes the pipe, and then the motion mechanism 3 carries the probe mechanism 2 to perform all-round detection on the pipe. Manual detection is unnecessary, the inspection efficiency is high, and the usability is strong.

[0049] In some embodiments, the water tank mechanism 1 includes a support frame, a water tank is mounted on the support frame, the water tank is provided with water inlet and outlet holes, and a universal wheel for movement is mounted at the bottom of the support frame. The motion mechanism 3 is mounted above the water tank mechanism 1, providing movement in four directions of X, Y, Z, and W, and the probe mechanism 2 performs ultrasonic inspection on the pipe.

[0050] In some embodiments, the outer cover of the moving mechanism 3 is provided with a protective shell, which is installed on the water tank mechanism 1 to protect the moving mechanism 3 and prevent the moving mechanism 3 from being damaged, and to protect the device from being damaged by foreign objects falling into or impacting.

[0051] In some embodiments, the motion mechanism 3 on the pipe adaptive ultrasonic testing device can be equipped with multiple probe mechanisms 2 to test multiple pipe workpieces.

[0052] like Figure 1 to Figure 2 As shown, the probe mechanism 2 includes an elastic pressing component that is elastically adjusted and pressed to the surface of the pipe in the vertical direction and a probe 21; the probe 21 for detecting the pipe is installed on the motion mechanism 3 through the elastic pressing component.

[0053] In some embodiments, when the probe 21 performs ultrasonic testing, a certain amount of water is injected into the water tank mechanism 1 to act as a coupling agent to ensure that the water surface is higher than the upper surface of the workpiece to be tested. The probe 21 scans the workpiece, and the water facilitates ultrasonic transmission.

[0054] The elastic pressing assembly includes an outer frame 22, a sliding connection block 23 and a first elastic member 24; the outer frame 22 is fixedly or detachably installed on the moving mechanism 3, the sliding connection block 23 is slidably installed on the outer frame 22, and the two ends of the first elastic member 24 that provides elastic pressing force to the sliding connection block 23 are respectively installed on the outer frame 22 and the sliding connection block 23, and the probe 21 is installed at the bottom of the sliding connection block 23.

[0055] In some embodiments, a guide rail is installed on the outer frame 22, a slider is slidably installed on one side of the guide rail, the slider is installed on the sliding connection block 23, and the sliding connection block 23 can slide in the outer frame 22 through the guide rail and the slider.

[0056] In some embodiments, the first elastic member 24 of the tube adaptive ultrasonic detection device is a constant force spring, one end of the constant force spring is mounted on the outer frame 22, and the other end of the constant force spring is mounted on the sliding connection block 23, and the constant force spring provides a constant pressing force. The first elastic member 24 can also be a coil spring, a columnar spring, etc., which are not limited here.

[0057] The motion mechanism 3 is pressed downward, and the slider fixed on the sliding connection block 23 slides relative to the guide rail on the outer frame 22, pushing the constant force spring to move upward. During the movement, the spring leaf of the constant force spring is pulled out, generating a constant downward pressure, pressing the probe 21 and the workpiece, and improving the detection stability.

[0058] In some embodiments, the probe mechanism 2 also includes a spring pin, and the outer frame 22 is fixed to the motion mechanism 3 through the spring pin. The spring pin can be quickly plugged in and out, which facilitates the rapid replacement of parts of the probe mechanism 2 during ultrasonic testing and improves testing efficiency.

[0059] The probe mechanism 2 also includes a clamping anti-deviation component that is elastically clamped on both sides of the pipe to prevent the probe 21 from deviating. The clamping anti-deviation component includes a connecting frame 25, two semicircular sliders 26 and two second elastic elements; the probe 21 is installed at the bottom of the sliding connecting block 23 through the connecting frame 25, and the connecting frame 25 is slidably installed at the bottom of the sliding connecting block 23, so that the two semicircular sliders 26 on both sides of the pipe are respectively slidably installed on the inner walls on both sides of the bottom end of the connecting frame 25 in a horizontal direction, and the two second elastic elements are respectively installed between the two semicircular sliders 26 and the connecting frame 25.

[0060] In some embodiments, the connection frame 25 is a U-shaped structure, and the connection frame 25 is installed at the bottom of the sliding connection block 23. Spring pins are installed on the inner walls on both sides of the connection frame 25, and two semicircular sliders 26 are respectively slidably installed on the two spring pins, and the inner walls of the two semicircular sliders 26 are in an eight-shaped structure. The two semicircular sliders 26 and the second elastic element are used to clamp the two sides of the pipe workpiece to prevent the probe 21 from deflecting due to the bending of the workpiece.

[0061] In some embodiments, the motion mechanism 3 is pressed downward, and the semicircular slider 26 first contacts the side of the workpiece. In the process of gradually pressing down until the probe 21 contacts the surface of the workpiece, under the action of the second elastic element, the connecting frame 25 slides in the groove at the lower end of the sliding connecting block 23, positioning the probe 21 in the middle of the workpiece.

[0062] In some embodiments, a sliding groove is provided on the connecting frame 25, a ball pin is installed on the sliding connecting block 23, and the ball pin is inserted into the sliding groove, and the connecting frame 25 can slide on the ball pin through the sliding groove.

[0063] In some embodiments, a guide groove may be provided at the bottom of the sliding connection block 23, and the connection frame 25 slides in the guide groove.

[0064] In some embodiments, a guide rail is installed at the bottom of the sliding connection block 23, and a slider is installed on the top of the connection frame 25, and the slider slides in the guide rail.

[0065] like Figures 3 to 5 As shown, the motion mechanism 3 includes an X-axis motion module that moves along the length direction of the water trough mechanism 1, and the X-axis motion module includes a gantry 31 and a first linear module 32; the gantry 31 is slidably installed on the water trough mechanism 1 along the length direction of the water trough mechanism 1 through the first linear module 32.

[0066] In some embodiments, Figure 3 It shows that the gantry 31 of the pipe adaptive ultrasonic testing equipment is slidably installed with the water tank mechanism 1 through a guide rail. The water tank mechanism 1 is installed with a guide rail, and a slider is installed at the bottom of the gantry 31. The gantry 31 slides on the guide rail through the slider.

[0067] The first linear module 32 includes a motor, a gear and a rack; the motor is installed on one side of the gantry 31, the gear is installed on the output shaft of the motor, and the rack is installed on the water tank mechanism 1 and installed along the length direction of the water tank mechanism 1. The motor drives the gear to rotate, the gear and the rack are meshed with each other, and the gear rotates on the rack, so that the gantry 31 moves along the length direction of the water tank mechanism 1, driving the probe 21 to detect the length direction of the workpiece.

[0068] In some embodiments, the first linear module 32 may be a linear guide rail, which drives the gantry 31 to move along the length direction on the water tank mechanism 1 .

[0069] The motion mechanism 3 also includes a Y-axis motion module that moves along the width direction of the water trough mechanism 1, and the Y-axis motion module includes a Y-axis motion plate 33 and a second linear module 34; one side of the Y-axis motion plate 33 is slidably installed on the gantry 31 along the width direction of the water trough mechanism 1 through the second linear module 34.

[0070] In some embodiments, the second linear module 34 is a lead screw and a motor. The motor drives the lead screw to rotate. The Y-axis motion plate 33 is threadedly installed on the lead screw. The Y-axis motion plate 33 moves on the lead screw, thereby carrying the probe 21 to move along the width direction of the water tank mechanism 1, and adjusting the position of the probe 21 so that the probe 21 corresponds to the workpiece in the water tank mechanism 1.

[0071] In some embodiments, the second linear module 34 may also be a movable device such as a linear guide rail or a cylinder.

[0072] The motion mechanism 3 also includes a Z-axis motion module that moves in the vertical direction of the water trough mechanism 1, and the Z-axis motion module includes a Z-axis motion plate 35 and a third linear module 36; the Z-axis motion plate 35 is slidably installed on the other side of the Y-axis motion plate 33 along the vertical direction of the water trough mechanism 1 through the third linear module 36.

[0073] In some embodiments, the third linear module 36 is a lead screw and a motor. The motor drives the lead screw to rotate. The Z-axis motion plate 35 is threadedly installed on the lead screw. The Z-axis motion plate 35 moves on the lead screw, thereby carrying the probe 21 to move along the vertical direction of the water tank mechanism 1, adjusting the height between the probe 21 and the workpiece, and pressing the probe 21 downward to the upper surface of the probe 21.

[0074] A W-axis motion module that drives the probe 21 to rotate is installed on the Z-axis motion plate 35; the W-axis motion module includes a transmission shaft 37 and a drive motor 38; the transmission shaft 37 is rotatably installed on the Z-axis motion plate 35, and the bottom of the transmission shaft 37 is fixedly or detachably installed on the top of the probe mechanism 2, the drive motor 38 is installed on the Z-axis motion plate 35, and the output shaft of the drive motor 38 is connected to the top of the transmission shaft 37.

[0075] In some embodiments, the transmission shaft 37 is connected to the driving motor 38 through a coupling. The transmission shaft 37 is rotatably installed on the Z-axis motion plate 35 through a bearing. The driving motor 38 drives the transmission shaft 37 to rotate. The transmission shaft 37 carries the probe 21 to rotate. By adjusting the angle of the probe 21, the probe 21 can detect the workpiece at multiple angles.

[0076] Figure 5 It is shown that the positioning mechanism 4 includes a positioning block 41, a baffle 42 and a cushion block 43; the positioning block 41 is installed on the water tank mechanism 1, and a plurality of slots for limiting one end of the pipe are evenly spaced on the positioning block 41 to support the cushion block 43 at the other end of the pipe installed on the water tank mechanism 1, and the baffle 42 fills and is clamped in the gap between the pipe and the inner wall of the slot.

[0077] In some embodiments, when placing the workpiece to be inspected, the workpiece is placed in the equally spaced groove of the positioning block 41, and one end of the workpiece is aligned with the baffle 42 to ensure the horizontal installation of the workpiece, which is convenient for automatic scanning of the equipment. If the size of the workpiece changes, a pad 43 can be used between the workpiece and the equally spaced groove to increase the versatility of the equipment and reduce the workload of the inspection personnel.

[0078] Figure 7 It is shown that a straightening mechanism for straightening the bent portion of the pipe is also installed in the water tank mechanism 1, and the straightening mechanism includes a sliding frame 5, a lifting member 51 and a lifting block 52; the sliding frame 5 is slidably installed on the water tank mechanism 1, the lifting member 51 is installed on the sliding frame 5, and the lifting block 52 for squeezing the pipe is slidably installed on the sliding frame 5 through the lifting member 51.

[0079] In some embodiments, the push member 51 is a lead screw, and the top block 52 is threadedly matched with the push member 51, and the top block 52 is limited so that it can only move but not rotate. The push member 51 rotates, driving the top block 52 to move toward the workpiece, squeezing and straightening the bent or convex part of the workpiece, thereby ensuring the stability and accuracy of the probe 21 during detection.

[0080] In some embodiments, the push member 51 may also be a cylinder, which pushes the push block 52 to move toward the workpiece.

[0081] The pipe inner surface ultrasonic inspection equipment is further explained below in conjunction with the usage process.

[0082] When the adaptive ultrasonic detection equipment for pipes of the present invention is used: a certain amount of water is injected into the water tank to act as a coupling agent, ensuring that the water level is higher than the surface of the workpiece to be inspected, the workpiece is placed in the equally spaced grooves of the positioning block 41, and one end of the workpiece is aligned with the baffle 42. Move the second linear module 34 to move the probe 21 to a predetermined position above the pipe. According to the inspection process requirements, the drive motor 38 drives the transmission shaft 37 to rotate, so that the probe 21 rotates to a specified angle. Move the third linear module 36, and lower the probe 21 to contact and fully couple with the inspected surface of the pipe. Finally, move the first linear module 32, and the probe 21 scans and inspects the workpiece. After the scanning inspection is completed, the probe 21 can be reselected to a certain angle according to the inspection process requirements, and the workpiece can be scanned and inspected again.

[0083] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A pipe adaptive ultrasonic testing device, characterized in that: include: A water tank mechanism (1), wherein the pipe is immersed in a coupling agent injected into the water tank mechanism (1); A probe mechanism (2), the probe mechanism (2) being used to perform flaw detection on the pipe; A motion mechanism (3), wherein the motion mechanism (3) is mounted on the water tank mechanism (1), and the probe mechanism (2) is mounted on the motion mechanism (3), and is used to carry the probe mechanism (2) to move along the length direction of the water tank mechanism (1), and to adjust the position and angle of the probe mechanism (2); as well as A positioning mechanism (4), the positioning mechanism (4) is installed on the water tank mechanism (1) and is used to limit the position of the pipe.

2. The tube adaptive ultrasonic testing equipment according to claim 1, characterized in that: The probe mechanism (2) comprises an elastic pressing component and a probe (21) which is elastically adjusted and pressed to the surface of the pipe in a vertical direction; The probe (21) for detecting the pipe is installed on the moving mechanism (3) via the elastic holding component.

3. The tube adaptive ultrasonic testing equipment according to claim 2, characterized in that: The elastic holding assembly comprises an outer frame (22), a sliding connection block (23) and a first elastic member (24); The outer frame (22) is fixedly or detachably mounted on the moving mechanism (3); the sliding connection block (23) is slidably mounted on the outer frame (22); two ends of the first elastic member (24) providing elastic pressing force to the sliding connection block (23) are respectively mounted on the outer frame (22) and the sliding connection block (23); and the probe (21) is mounted at the bottom of the sliding connection block (23).

4. The tube adaptive ultrasonic testing equipment according to claim 3, characterized in that: The probe mechanism (2) further comprises a clamping anti-deviation component which is elastically clamped on both sides of the pipe to prevent the probe (21) from deflecting, and the clamping anti-deviation component comprises a connecting frame (25), two semicircular sliders (26) and two second elastic elements; The connecting frame (25) is slidably mounted on the bottom of the sliding connecting block (23); the probe (21) is mounted on the bottom of the sliding connecting block (23) through the connecting frame (25); the two semicircular sliders (26) on both sides of the pipe are slidably mounted on the inner walls on both sides of the bottom of the connecting frame (25) in a horizontal direction; and the two second elastic elements are respectively mounted between the two semicircular sliders (26) and the connecting frame (25).

5. The tube adaptive ultrasonic testing equipment according to claim 1, characterized in that: The motion mechanism (3) comprises an X-axis motion module that moves along the length direction of the water tank mechanism (1), and the X-axis motion module comprises a gantry (31) and a first linear module (32); The gantry (31) is slidably mounted on the water trough mechanism (1) along the length direction of the water trough mechanism (1) via the first linear module (32).

6. The tube adaptive ultrasonic testing equipment according to claim 5, characterized in that: The motion mechanism (3) further comprises a Y-axis motion module that moves along the width direction of the water tank mechanism (1), and the Y-axis motion module comprises a Y-axis motion plate (33) and a second linear module (34); One side of the Y-axis motion plate (33) is slidably mounted on the gantry (31) along the width direction of the water tank mechanism (1) via the second linear module (34).

7. The tube adaptive ultrasonic testing equipment according to claim 6, characterized in that: The motion mechanism (3) further comprises a Z-axis motion module that moves in the vertical direction of the water tank mechanism (1), and the Z-axis motion module comprises a Z-axis motion plate (35) and a third linear module (36); The Z-axis motion plate (35) is slidably mounted on the other side of the Y-axis motion plate (33) along the vertical direction of the water tank mechanism (1) via the third linear module (36).

8. The tube adaptive ultrasonic testing equipment according to claim 7, characterized in that: A W-axis motion module for driving the probe (21) to rotate is installed on the Z-axis motion plate (35); the W-axis motion module includes a transmission shaft (37) and a drive motor (38); The transmission shaft (37) is rotatably mounted on the Z-axis motion plate (35), the bottom of the transmission shaft (37) is fixedly or detachably mounted on the top of the probe mechanism (2), the drive motor (38) is mounted on the Z-axis motion plate (35), and the output shaft of the drive motor (38) is connected to the top of the transmission shaft (37).

9. The tube adaptive ultrasonic testing equipment according to claim 1, characterized in that: The positioning mechanism (4) comprises a positioning block (41), a baffle (42) and a cushion block (43); The positioning block (41) is mounted on the water tank mechanism (1), and a plurality of slots for limiting one end of the pipe are provided at equal intervals on the positioning block (41). The cushion block (43) for supporting the other end of the pipe is mounted on the water tank mechanism (1), and the baffle (42) is filled and clamped in the gap between the pipe and the inner wall of the slot.

10. The tube adaptive ultrasonic testing equipment according to claim 1, characterized in that: The water tank mechanism (1) is also provided with a straightening mechanism for straightening the bent portion of the pipe, the straightening mechanism comprising a sliding frame (5), a lifting member (51) and a lifting block (52); The sliding frame (5) is slidably mounted on the water tank mechanism (1), the lifting member (51) is mounted on the sliding frame (5), and the lifting block (52) for squeezing the pipe is slidably mounted on the sliding frame (5) through the lifting member (51).

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