A pipe adaptive ultrasonic testing device

Abstract

The application discloses a kind of pipe adaptive ultrasonic testing equipment, including water tank mechanism, pipe is soaked in the coupling agent injected in the inside of water tank mechanism;Probe mechanism, the probe mechanism is used to carry out flaw detection to the pipe;Motion mechanism, the motion mechanism is installed on the water tank mechanism, the probe mechanism is installed on the motion mechanism, for carrying the probe mechanism moves along the length direction of the water tank mechanism, and adjusts the position and angle of the probe mechanism;And positioning mechanism, the positioning mechanism is installed on the water tank mechanism, for limiting the pipe;The application carries out omnidirectional detection to pipe workpiece by motion mechanism carrying probe mechanism, can high-efficiency, accurate automation equipment to reduce the labor intensity of detection personnel, guarantee detection quality, detection efficiency is high, and practicality is strong.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe nondestructive testing, and in particular to a pipe self-adaptive ultrasonic testing device. BACKGROUND

[0002] In the manufacturing and use of pipes, cracks, inclusions and other defects often occur. These defects can reduce the performance of the pipe and even cause the pipe to 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 detection mainly adopts manual ultrasonic detection method. The length of the pipe is not fixed but generally long, and the number of pipes to be detected in the same batch is large. Manual inspection not only produces a large amount of repetitive labor, but also the uncertainty of the detection personnel can lead to poor data stability. Manual detection has the problems of low efficiency, high error, and high repetitive labor intensity, which is difficult to meet the detection needs of large quantities of pipes. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a pipe self-adaptive ultrasonic testing device that can efficiently and accurately automate the detection process to reduce the labor intensity of the detection personnel, improve production efficiency, and ensure detection quality.

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

[0006] a water tank mechanism, in which the pipe is soaked in a coupling agent injected into the water tank mechanism;

[0007] a probe mechanism for conducting flaw detection on the pipe;

[0008] a motion mechanism installed on the water tank mechanism, the probe mechanism being installed on the motion mechanism for carrying the probe mechanism to move along the length direction of the water tank mechanism and adjusting the position and angle of the probe mechanism; and

[0009] a positioning mechanism installed on the water tank mechanism for limiting the pipe.

[0010] Further, in the pipe self-adaptive ultrasonic testing device, the probe mechanism preferably comprises an elastic pressing assembly elastically adjusted to press against the surface of the pipe in the vertical direction and a probe.

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

[0012] Further, in the pipe self-adaptive ultrasonic detection device, preferably, the elastic pressing assembly comprises an outer frame, a sliding connecting block and a first elastic member;

[0013] The outer frame is fixedly or detachably installed on the motion mechanism, the sliding connecting block is slidably installed on the outer frame, the first elastic member providing elastic pressing force is installed at both ends of the sliding connecting block and the outer frame, and the probe is installed at the bottom of the sliding connecting block.

[0014] Further, in the pipe self-adaptive ultrasonic detection device, preferably, the probe mechanism further comprises a clamping anti-deviation assembly elastically clamped on both sides of the pipe to prevent deviation of the probe, the clamping anti-deviation assembly comprises a connecting frame, two semicircular sliding blocks and two second elastic members;

[0015] The connecting frame is slidably installed at the bottom of the sliding connecting block, the probe is installed at the bottom of the sliding connecting block through the connecting frame, and the two semicircular sliding blocks are slidably installed on the inner walls at both sides of the bottom end of the connecting frame in a horizontal direction, and the two second elastic members are installed between the two semicircular sliding blocks and the connecting frame.

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

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

[0018] Further, in the pipe self-adaptive ultrasonic detection device, preferably, the motion mechanism further comprises a Y-axis motion module moving along the width direction of the water tank mechanism, and the 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 installed on the gantry along the width direction of the water tank mechanism through the second linear module.

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

[0021] The Z-axis motion plate is slidably installed 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] Further, the pipe self-adaptive ultrasonic detection equipment, preferably, the W-axis movement module that rotates the probe is installed on the Z-axis movement plate; the W-axis movement module comprises a transmission shaft and a driving motor;

[0023] The transmission shaft is rotatably installed on the Z-axis movement plate, the bottom of the transmission shaft is fixedly or detachably installed on the top of the probe mechanism, the driving motor is installed on the Z-axis movement plate, and the output shaft of the driving motor is connected with the top of the transmission shaft.

[0024] Further, the pipe self-adaptive ultrasonic detection equipment, preferably, the positioning mechanism comprises a positioning block, a baffle and a pad;

[0025] The positioning block is installed on the water tank mechanism, a plurality of clamping grooves for limiting one end of the pipe are equidistantly formed on the positioning block, the pad for supporting the other end of the pipe is installed on the water tank mechanism, and the baffle is filled and clamped at the gap between the pipe and the inner wall of the clamping groove.

[0026] Further, the pipe self-adaptive ultrasonic detection equipment, preferably, the water tank mechanism further comprises a straightening mechanism for straightening the bent part of the pipe, the straightening mechanism comprises a sliding frame, a top moving piece and a top block;

[0027] The sliding frame is slidably installed on the water tank mechanism, the top moving piece is installed on the sliding frame, and the top block for extruding the pipe is slidably installed on the sliding frame through the top moving piece.

[0028] The implementation of the present application has the following beneficial effects: the present application can realize omnibearing detection of the pipe workpiece by the movement mechanism carrying the probe mechanism, and can realize efficient and accurate automation equipment to reduce the labor intensity of the detection personnel, ensure the detection quality, and has high detection efficiency and strong practicability. BRIEF DESCRIPTION OF DRAWINGS

[0029] The present application will be further described below in combination with the drawings and embodiments, and the drawings are as follows:

[0030] Figure 1 is a first perspective view of the pipe self-adaptive ultrasonic detection equipment of the present application;

[0031] Figure 2 is a structural view of the probe mechanism in some embodiments of the present application;

[0032] Figure 3 is a structural view of the water tank mechanism and the movement mechanism in some embodiments of the present application;

[0033] Figure 4 is a structural view of the movement mechanism in some embodiments of the present application;

[0034] Figure 5 is a structure schematic diagram of the positioning mechanism in some embodiments of the present application Figure 4 is a second perspective structure schematic diagram of

[0035] Figure 6 is a structure schematic diagram of the positioning mechanism in some embodiments of the present application

[0036] Figure 7 is a structure schematic diagram of the positioning mechanism in some embodiments of the present application

[0037] Explanation of the reference signs 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 sliding block;

[0040] 3, movement mechanism; 31, gantry; 32, first linear module; 33, Y-axis movement plate; 34, second linear module; 35, Z-axis movement plate; 36, third linear module; 37, transmission shaft; 38, driving motor;

[0041] 4, positioning mechanism; 41, positioning block; 42, baffle; 43, pad block;

[0042] 5, sliding frame; 51, top moving piece; 52, top block. DETAILED DESCRIPTION

[0043] In order to have a clearer understanding of the technical features, objects and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the technical solutions, and cannot be understood as indicating that the devices or elements indicated must have a particular direction, therefore, it cannot be understood as a limitation on the present application.

[0044] It should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In the following description, specific details are set forth in connection with the specific system structures, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it should be apparent to those skilled in the art that the present application can be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0046] The technical solution adopted by the present application to solve its technical problems is:

[0047] As shown in Figures 1 to 7 The present application discloses a kind of pipe adaptive ultrasonic testing equipment, which can include: water tank mechanism 1, probe mechanism 2, movement mechanism 3 and positioning mechanism 4, pipe is soaked in the coupling agent injected in water tank mechanism 1 inside;Probe mechanism 2 is used to carry out flaw detection to pipe;Movement mechanism 3 is installed on water tank mechanism 1, probe mechanism 2 is installed on movement mechanism 3, for carrying probe mechanism 2 moves along the length direction of water tank mechanism 1, and adjusts the position and angle of probe mechanism 2;Positioning mechanism 4 is installed on water tank mechanism 1, for limiting pipe.

[0048] The pipe adaptive ultrasonic testing equipment is placed in water tank mechanism 1 by pipe, and the pipe is fixed by positioning mechanism 4, then probe mechanism 2 is carried by movement mechanism 3 to carry out all-round detection to pipe, which can be detected without manual detection, with high inspection efficiency and strong usability.

[0049] In some embodiments, the water tank mechanism 1 comprises a support frame, a water tank is installed on the support frame, a water inlet and outlet hole is arranged on the water tank, and universal wheels for movement are installed on the bottom of the support frame. The motion mechanism 3 is installed above the water tank mechanism 1, providing X, Y, Z, and W four-direction movements, and the probe mechanism 2 performs ultrasonic inspection on the pipe.

[0050] In some embodiments, a protective shell is arranged outside the motion mechanism 3, and the protective shell is installed on the water tank mechanism 1 to protect the motion mechanism 3 from damage and prevent the equipment from being damaged by foreign objects falling or impacting.

[0051] In some embodiments, the motion mechanism 3 on the pipe self-adaptive ultrasonic detection equipment can be installed with multiple probe mechanisms 2 to detect multiple pipe workpieces.

[0052] As shown in Figures 1 to 2 The probe mechanism 2 comprises an elastic pressing assembly and a probe 21, which are elastically adjusted and pressed to the surface of the pipe in the vertical direction; the probe 21 for detecting the pipe is installed on the motion mechanism 3 through the elastic pressing assembly.

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

[0054] The elastic pressing 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 installed on the motion mechanism 3, the sliding connection block 23 is slidingly installed on the outer frame 22, the first elastic member 24 providing elastic pressing force is installed at both ends of the sliding connection block 23 and the outer frame 22, 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 sliding block is slidingly installed on one side of the guide rail, the sliding block 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 sliding block.

[0056] In some embodiments, the first elastic member 24 of the pipe self-adaptive ultrasonic detection equipment adopts a constant force spring, one end of the constant force spring is installed on the outer frame 22, the other end of the constant force spring is installed on the sliding connection block 23, and the constant force spring provides constant pressing force. The first elastic member 24 can also adopt a coil spring, a columnar spring, etc., which are not limited herein.

[0057] When the motion mechanism 3 is pressed down, the sliding block 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, and in the movement process, the spring leaf of the constant force spring is pulled out, generating constant downward pressure to press the probe 21 and the workpiece, improving detection stability.

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

[0059] The probe mechanism 2 also includes a clamping and anti-deviation assembly that elastically clamps the probe 21 on both sides of the pipe to prevent it from shifting. The clamping and anti-deviation assembly includes a connecting frame 25, two semi-circular sliders 26, and two second elastic elements. The probe 21 is mounted on the bottom of the sliding connecting block 23 through the connecting frame 25. The connecting frame 25 is slidably mounted on the bottom of the sliding connecting block 23 so that the two semi-circular sliders 26 on both sides of the pipe are slidably mounted on the inner walls of the bottom sides of the connecting frame 25 in a horizontal direction. The two second elastic elements are respectively installed between the two semi-circular sliders 26 and the connecting frame 25.

[0060] In some embodiments, the connecting frame 25 has a U-shaped structure and is installed at the bottom of the sliding connecting block 23. Spring pins are installed on the inner walls of both sides of the connecting frame 25, and two semi-circular sliders 26 are slidably mounted on the two spring pins, with the inner walls of the two semi-circular sliders 26 forming a V-shape. The two semi-circular sliders 26 and the second elastic element are used to clamp the two sides of the tubular workpiece, preventing the probe 21 from shifting due to workpiece bending.

[0061] In some embodiments, when the motion mechanism 3 presses down, the semi-circular slider 26 first contacts the side of the workpiece. As it gradually presses 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, and a ball head pin is installed on the sliding connecting block 23, with the ball head pin inserted into the sliding groove, so that the connecting frame 25 can slide on the ball head pin through the sliding groove.

[0063] In some embodiments, a guide groove can be provided at the bottom of the sliding connecting block 23, and the connecting frame 25 can slide within the guide groove.

[0064] In some embodiments, a guide rail is installed at the bottom of the sliding connecting block 23, and a slider is installed at the top of the connecting frame 25, with the slider sliding within 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 of the water tank mechanism 1. The X-axis motion module includes a gantry 31 and a first linear module 32. The gantry 31 is slidably mounted on the water tank mechanism 1 along the length of the water tank mechanism 1 via the first linear module 32.

[0066] In some embodiments,Figure 3 The gantry 31 of the pipe self-adaptive ultrasonic detection device is slidably installed between the water tank mechanism 1 through a guide rail, the water tank mechanism 1 is provided with a guide rail, and the bottom of the gantry 31 is provided with a sliding block. The gantry 31 slides on the guide rail through the sliding block.

[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 along the length direction of the water tank mechanism 1. The motor drives the gear to rotate, the gear and the rack are engaged with each other, and the gear rotates and travels on the rack. In this way, the gantry 31 moves along the length direction of the water tank mechanism 1, and drives the probe 21 to detect the length direction of the workpiece.

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

[0069] The motion mechanism 3 further includes a Y-axis motion module which moves along the width direction of the water tank mechanism 1. 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 tank mechanism 1 through the second linear module 34.

[0070] In some embodiments, the second linear module 34 can be a lead screw and a motor. The motor drives the lead screw to rotate, and 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, 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 can also be a linear guide rail, a pneumatic cylinder or other movable device.

[0072] The motion mechanism 3 further includes a Z-axis motion module which moves along the vertical direction of the water tank mechanism 1. 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 tank mechanism 1 through the third linear module 36.

[0073] In some embodiments, the third linear module 36 can be a lead screw and a motor. The motor drives the lead screw to rotate, and 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] The W-axis movement module that drives the probe 21 to rotate is installed on the Z-axis movement plate 35; the W-axis movement module comprises a transmission shaft 37 and a driving motor 38; the transmission shaft 37 is rotatably installed on the Z-axis movement plate 35, the bottom of the transmission shaft 37 is fixedly or detachably installed on the top of the probe mechanism 2, and the driving motor 38 is installed on the Z-axis movement plate 35, and the output shaft of the driving motor 38 is connected with the top of the transmission shaft 37.

[0075] In some embodiments, the transmission shaft 37 and the driving motor 38 are connected through a shaft coupling, the transmission shaft 37 is rotatably installed on the Z-axis movement 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, the angle of the probe 21 is adjusted, and the probe 21 can be used to detect the workpiece at multiple angles.

[0076] Figure 5 It is shown that the positioning mechanism 4 comprises a positioning block 41, a baffle 42 and a pad block 43; the positioning block 41 is installed on the water tank mechanism 1, a plurality of clamping grooves for limiting one end of the pipe are equidistantly formed on the positioning block 41, the pad block 43 for supporting the other end of the pipe is installed on the water tank mechanism 1, and the baffle 42 fills the gap between the pipe and the inner wall of the clamping groove.

[0077] In some embodiments, when the workpiece to be detected is placed, the workpiece is placed in the equidistant grooves of the positioning block 41, and one end of the workpiece is aligned with the baffle 42, so as to ensure the horizontal installation of the workpiece and facilitate the automatic scanning of the equipment. If the size of the workpiece changes, the pad block 43 can be used to pad between the workpiece and the equidistant grooves, so as to increase the universality of the equipment and reduce the workload of the detection personnel.

[0078] Figure 7 It is shown that the water tank mechanism 1 is also provided with a straightening mechanism for straightening the bent part of the pipe, the straightening mechanism comprises a sliding frame 5, a top moving piece 51 and a top block 52; the sliding frame 5 is slidably installed on the water tank mechanism 1, the top moving piece 51 is installed on the sliding frame 5, and the top block 52 for extruding the pipe is slidably installed on the sliding frame 5 through the top moving piece 51.

[0079] In some embodiments, the top moving piece 51 is a lead screw, the top block 52 is threadedly connected with the top moving piece 51, and the top block 52 is limited to move and cannot rotate. The top moving piece 51 rotates to drive the top block 52 to move towards the workpiece, so as to extrude and straighten the bent or protruding part of the workpiece, and ensure the stability and accuracy of the detection of the probe 21.

[0080] In some embodiments, the top moving piece 51 can also be a pneumatic cylinder, and the pneumatic cylinder moves towards the workpiece to push the top block 52.

[0081] The pipeline inner surface ultrasonic inspection equipment will be further described below in combination with the use process.

[0082] The pipe self-adapting ultrasonic detection device in the application injects certain water into the tank as a coupling agent to ensure that the water surface is higher than the surface of the workpiece to be detected, and the workpiece is placed in the equidistant 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, drive the motor 38 to drive the transmission shaft 37 to rotate according to the detection process requirements, and rotate the probe 21 to a specified angle. Move the third linear module 36 to lower the probe 21 to contact and fully couple with the detected surface of the pipe. Finally, move the first linear module 32 to scan and check the workpiece by the probe 21. After the scanning and checking is completed, the probe 21 can be selected at a certain angle according to the checking process requirements, and the workpiece is scanned and checked again.

[0083] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application should belong to the scope of the claims of the present application.

Claims

1. A pipe adaptive ultrasonic testing apparatus, characterized by, It comprises: a water tank mechanism (1) in which the pipe is soaked in the coupling agent injected therein; a probe mechanism (2) for detecting the pipe; a movement mechanism (3) installed on the water tank mechanism (1) and the probe mechanism (2) installed on the movement mechanism (3) for moving the probe mechanism (2) along the length direction of the water tank mechanism (1) and adjusting the position and angle of the probe mechanism (2); and a positioning mechanism (4) installed on the water tank mechanism (1) for limiting the pipe; The probe mechanism (2) comprises an elastic pressing assembly 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 movement mechanism (3) through the elastic pressing assembly; The elastic pressing assembly comprises an outer frame (22), a sliding connecting block (23) and a first elastic member (24); the outer frame (22) is fixedly or detachably installed on the movement mechanism (3), the sliding connecting block (23) is slidingly installed on the outer frame (22), the first elastic member (24) providing elastic pressing force to the sliding connecting block (23) is installed at both ends of the outer frame (22) and the sliding connecting block (23), and the probe (21) is installed at the bottom of the sliding connecting block (23); The probe mechanism (2) further comprises a clamping anti-deviation assembly elastically clamped on both sides of the pipe to prevent the probe (21) from deviating. The clamping anti-deviation assembly comprises a connecting frame (25), two semicircular sliding blocks (26) and two second elastic members; 2. The pipe adaptive ultrasonic inspection apparatus of claim 1, wherein, The connecting frame (25) is slidingly installed at the bottom of the sliding connecting block (23), the probe (21) is installed at the bottom of the sliding connecting block (23) through the connecting frame (25), the two semicircular sliding blocks (26) abutting against both sides of the pipe are slidingly installed on the inner walls at both sides of the bottom end of the connecting frame (25) in the horizontal direction, and the two second elastic members are installed between the two semicircular sliding blocks (26) and the connecting frame (25). The movement mechanism (3) comprises an X-axis movement module moving along the length direction of the water tank mechanism (1), and the X-axis movement module comprises a gantry (31) and a first linear module (32); 3. The pipe adaptive ultrasonic inspection apparatus of claim 1, wherein, The gantry (31) is slidingly installed on the water tank mechanism (1) through the first linear module (32) along the length direction of the water tank mechanism (1). The movement mechanism (3) further comprises a Y-axis movement module moving along the width direction of the water tank mechanism (1), and the Y-axis movement module comprises a Y-axis movement plate (33) and a second linear module (34); 4. The pipe adaptive ultrasonic inspection apparatus of claim 3, wherein, One side of the Y-axis movement plate (33) is slidingly installed on the gantry (31) through the second linear module (34) along the width direction of the water tank mechanism (1). ​ 5. The pipe adaptive ultrasonic inspection apparatus of claim 4, wherein, The motion mechanism (3) further comprises a Z-axis motion module moving along the vertical direction of the water tank mechanism (1), wherein 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 installed on the other side of the Y-axis motion plate (33) through the third linear module (36) along the vertical direction of the water tank mechanism (1).

6. The pipe adaptive ultrasonic inspection apparatus of claim 5, wherein, A W-axis motion module driving the probe (21) to rotate is installed on the Z-axis motion plate (35), wherein the W-axis motion module comprises a transmission shaft (37) and a driving motor (38); The transmission shaft (37) is rotatably installed on the Z-axis motion plate (35), the bottom of the transmission shaft (37) is fixedly or detachably installed on the top of the probe mechanism (2), the driving motor (38) is installed on the Z-axis motion plate (35), and the output shaft of the driving motor (38) is connected with the top of the transmission shaft (37).

7. The pipe adaptive ultrasonic inspection apparatus of claim 1, wherein, The positioning mechanism (4) comprises a positioning block (41), a baffle (42) and a pad (43); The positioning block (41) is installed on the water tank mechanism (1), a plurality of clamping grooves limiting one end of the pipe are equidistantly formed on the positioning block (41) to support the pad (43) on the other end of the pipe, the pad (43) is installed on the water tank mechanism (1), and the baffle (42) fills the gap between the pipe and the inner wall of the clamping groove.

8. The pipe adaptive ultrasonic inspection apparatus of claim 1, wherein, A straightening mechanism is further installed in the water tank mechanism (1) to straighten the bent part of the pipe, wherein the straightening mechanism comprises a sliding frame (5), a top moving piece (51) and a top block (52); The sliding frame (5) is slidably installed on the water tank mechanism (1), the top moving piece (51) is installed on the sliding frame (5), and the top block (52) pressing the pipe is slidably installed on the sliding frame (5) through the top moving piece (51).

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