An ultrasonic phased array inspection device

Abstract

The application relates to the technical field of pipeline flaw detection, and discloses an ultrasonic phased array flaw detection device. The device comprises a pipeline robot, the pipeline robot is provided with a liquid storage cavity for storing a coupling agent, and is rotationally connected with an L-shaped pipe; the L-shaped pipe is communicated with the liquid storage cavity through a liquid pump; the device further comprises a support, a scanning rod and a coupling agent nozzle; the device is integrated on the pipeline robot, and the L-shaped pipe is rotatable and the scanning rod is reciprocally slidable; the flaw detection probe on the scanning rod can continuously scan the inner wall of a straight pipeline at 360 DEG along with the walking of the robot and the reciprocating sliding of the scanning rod, the problem that the prior art cannot continuously detect the flaw of a tubular workpiece for one round is effectively solved, and the comprehensiveness and accuracy of detection are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline flaw detection technology, specifically to an ultrasonic phased array flaw detection device. Background Technology

[0002] Ultrasonic phased array flaw detection technology is an important technique in the field of non-destructive testing. By controlling the excitation timing and phase of the probe crystal and adjusting the angle, focusing position, and size of the ultrasonic beam, it achieves precise scanning and imaging of internal defects in workpieces. This technology is widely used in defect detection of industrial equipment such as pipelines, pressure vessels, and steel structures, and has advantages such as fast detection speed, high sensitivity, and accurate defect location. However, existing ultrasonic phased array flaw detection devices have significant shortcomings in the flaw detection of tubular workpieces. For example, the ultrasonic phased array flaw detection device proposed in utility model patent CN209247693U is difficult to continuously detect flaws around a circumference of a tubular workpiece (i.e., uninterrupted continuous detection), resulting in inaccurate flaw detection of tubular workpieces. In addition, existing devices usually use manual addition of coupling agent, which is not only inefficient but also makes it difficult to ensure uniform distribution of the coupling agent on the inner wall of the pipe, affecting the transmission quality of the ultrasonic signal and the accuracy of the detection results. Summary of the Invention

[0003] The main objective of this invention is to provide an acoustic phased array flaw detection device to solve the problem that existing ultrasonic phased array flaw detection devices are difficult to continuously detect one ring of a tubular workpiece when flaw detection is required.

[0004] To achieve the above objectives, the present invention provides an ultrasonic phased array flaw detection device, including a pipeline robot, the pipeline robot having a liquid storage chamber for storing coupling agent, and an L-shaped tube rotatably connected thereto, the L-shaped tube being connected to the liquid storage chamber through a liquid pump, and further including: a bracket, a scanning rod and a coupling agent nozzle. A bracket is connected to the other end of the L-shaped tube; A scanning rod is mounted on a support and can slide back and forth along the walking direction of the pipeline robot. The scanning rod is equipped with a flaw detection probe for contacting and detecting the inner wall of a straight pipeline. A coupling agent nozzle is mounted on a bracket and connected to an L-shaped pipe via a hose, for spraying coupling agent onto the inner wall of a straight pipe.

[0005] Preferably, the pipeline robot includes a cylindrical shell and three drive arms arranged circumferentially on the outer wall of the cylindrical shell; The inner cavity of the columnar shell forms a liquid-holding cavity; Each drive arm includes a crossbar, a cylinder, and a track wheel mechanism; One end of the horizontal plate is fixedly connected to the columnar shell. A horizontal groove is opened through the horizontal plate along the axial direction of the columnar shell. A sliding rod is slidably arranged in the horizontal groove. A U-shaped frame is slidably inserted at the end of the horizontal plate away from the columnar shell. The sliding rod is fixed on the U-shaped frame. A first connecting rod is hinged to each side of the U-shaped frame, and the end of the first connecting rod away from the U-shaped frame is hinged to the middle of the track wheel mechanism. Each end of the track wheel mechanism along its length is hinged to a second link, and the ends of the four second links away from the track wheel mechanism are respectively hinged to the cross plate. The cylinder seat is hinged to the horizontal plate, and the piston rod of the cylinder is fixedly connected to the U-shaped frame along the axial direction of the cylindrical shell. The track wheel mechanism can adjust the distance between itself and the cylindrical shell by extending and retracting the cylinder.

[0006] Preferably, the bracket includes a clamp, a guide rail, and a base plate; The clamp is detachably fixed to the end of the L-shaped pipe furthest from the pipe robot; The guide rail is fixedly connected to the clamp, a slider is slidably mounted on the guide rail, the slider is connected to a driving component for moving it along the guide rail, a column is fixedly mounted on the slider, and the column is fixedly connected to the base plate. Two upright plates are fixed on the base plate, and a guide groove is opened through each upright plate. The two ends of the scanning rod are slidably set in the two guide grooves respectively.

[0007] Preferably, the driving component includes a first lead screw and a sealing plate; The sealing plate is fixed to one end of the guide rail and is rotatably provided with a rotating rod. One end of the rotating rod is coaxially connected to the first lead screw, and the other end is provided with a rotating handle. The first lead screw is arranged along the length of the guide rail and is threadedly connected to the slider.

[0008] Preferably, the ultrasonic phased array flaw detector also includes a driving component; A mounting hole is provided on the substrate; The driving component includes a motor, a turntable, a transmission plate, and a connecting frame; The scanning rod includes a left rod and a right rod. The two sides of the transmission plate are fixedly connected to one end of the left rod and one end of the right rod, respectively. A drive groove is opened on the transmission plate along the sliding direction perpendicular to the scanning rod. The other ends of the left rod and the right rod are slidably set in two guide grooves, respectively. The motor's base is fixedly connected to the base plate via a connecting bracket. The motor's output shaft is coaxially fixedly connected to the turntable. The turntable is set in the mounting hole, and an eccentric column is eccentrically set on the turntable, with the eccentric column inserted into the drive slot.

[0009] Preferably, the drive unit further includes a second lead screw and a plate; A slide rail is formed on the end face of the turntable along its radial direction, and a movable block is slidably mounted on the slide rail; The panel is fixedly connected to the turntable and is rotatably provided with a shaft. One end of the shaft is coaxially connected to the second lead screw, and the other end is fixedly provided with a drive handle. The movable block is threadedly connected to the second lead screw and fixedly connected to the eccentric column. The second lead screw is arranged along the length of the slide.

[0010] Preferably, the ultrasonic phased array flaw detector further includes a connecting seat and a swing housing, with the connecting seat fixedly connected to the substrate; An extension plate is fixed to one end of the transmission plate, and a slot is opened at one end of the extension plate. One end of the swing shell is rotatably connected to the connecting seat via a rotating shaft, and this end is connected to the L-shaped tube via a flexible tube. The other end of the swing shell is fixedly connected to the coupling agent nozzle and is internally connected. A locking rod is fixed at the end of the swing shell away from the pivot, and the locking rod is embedded in the locking groove.

[0011] Preferably, the ultrasonic phased array flaw detector also includes a cleaning element detachably mounted on the scanning rod, the cleaning element being used to contact the inner wall of the straight pipe.

[0012] The beneficial effects of the above scheme are: By integrating the device onto a pipeline robot, and combining a rotatable L-shaped tube with a reciprocating sliding scanning rod, the flaw detection probe on the scanning rod can continuously scan the inner wall of a straight pipe 360° as the robot moves and slides back and forth. This effectively solves the problem of existing technologies being unable to perform uninterrupted continuous flaw detection on tubular workpieces, significantly improving the comprehensiveness and accuracy of the inspection. The device integrates a couplant nozzle on a support frame, which is connected to the pipeline robot's storage chamber via a hose, L-shaped tube, and liquid pump. During the inspection process, the couplant can be automatically and in real-time sprayed, eliminating the need for manual addition. This not only significantly improves inspection efficiency but also ensures uniform coverage of the couplant on the inner wall of the pipe, thereby optimizing the transmission quality of ultrasonic signals and ensuring the stability and reliability of the inspection results. The sliding design of the scanning rod on the support frame allows the flaw detection probe to adaptively adjust its position according to the curvature changes of the inner wall of the pipe, maintaining stable contact with the pipe wall. Attached Figure Description

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the right-side structure of the present invention; Figure 3 This is a partial three-dimensional structural schematic diagram of the present invention; Figure 4 yes Figure 3 Enlarged structural diagram of region A in the middle; Figure 5 This is a partial three-dimensional structural schematic diagram of the present invention; Figure 6 yes Figure 5 A magnified structural diagram of region B in the middle.

[0015] Explanation of reference numerals in the attached figures 1. Cleaning component; 2. Pipeline robot; 21. Liquid storage chamber; 22. L-shaped tube; 24. Columnar shell; 25. Drive arm; 251. Horizontal plate; 2511. Horizontal groove; 252. Cylinder; 253. Track wheel mechanism; 254. Slide bar; 255. U-shaped frame; 256. First connecting rod; 257. Second connecting rod; 3. Bracket; 31. Clamp; 32. Guide rail; 33. Base plate; 331. Mounting hole; 34. Drive component; 341. First lead screw 342. Sealing plate; 343. Rotating rod; 344. Rotating handle; 35. Slider; 36. Column; 37. Vertical plate; 371. Guide groove; 4. Scanning rod; 41. Left rod; 42. Right rod; 5. Flaw detection probe; 6. Coupling agent nozzle; 61. Hose; 7. Drive component; 71. Motor; 72. Turntable; 721. Slide rail; 722. Moving block; 73. Transmission plate; 731. Drive groove; 74. Connecting frame; 75. Second lead screw; 761. Shaft; 77. Eccentric column; 8. Connecting seat; 9. Swing shell; 91. Rotating shaft; 92. Extension plate; 920. Slot; 93. Locking rod. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Example

[0017] like Figures 1 to 6 As shown, this embodiment provides an ultrasonic phased array flaw detection device, which is mainly used for automated non-destructive testing of the inner wall of straight pipes. Its overall structure includes a pipe robot 2, a support 3 connected to the pipe robot 2, a scanning rod 4 set on the support 3, and a coupling agent nozzle 6.

[0018] The pipeline robot 2 serves as a mobile carrier and has an internal storage chamber 21 for storing coupling agent. One end of the pipeline robot 2 is rotatably connected to an L-shaped tube 22. One end of the L-shaped tube 22 is rotatably connected to the pipeline robot 2 (e.g., via a slewing bearing), while the other end extends outward for connecting to subsequent detection components. The L-shaped tube 22 is connected to the storage chamber 21 via a liquid pump (not shown in the figure). When the liquid pump operates, it pumps the coupling agent from the storage chamber 21 into the L-shaped tube 22.

[0019] Support 3 is connected to the other end of L-shaped tube 22 (i.e., the end furthest from the pipe robot 2) and is used to support the scanning mechanism. Scanning rod 4 is slidably mounted on support 3 along the traveling direction of pipe robot 2 (i.e., the axial direction of the pipe). A flaw detection probe 5, an ultrasonic phased array probe, is fixedly mounted on scanning rod 4 to contact and probe the inner wall of the straight pipe. Coupling nozzle 6 is mounted on support 3 and connected to L-shaped tube 22 via a flexible hose 61. The hose 61 has a certain degree of flexibility to accommodate the movement of scanning rod 4. Coupling nozzle 6 is used to spray coupling agent onto the inner wall of the straight pipe during the inspection process, ensuring good acoustic coupling between the probe and the pipe wall.

[0020] With the above structure, when the pipeline robot 2 walks in a straight pipeline, the reciprocating sliding of the scanning rod 4 allows the flaw detection probe 5 to scan a designated area on the inner wall of the pipeline, while the coupling agent nozzle 6 automatically sprays coupling agent, thus automating the detection process.

[0021] Regarding the specific structure of the pipeline robot 2, such as Figure 1 , Figure 2As shown, it includes a cylindrical shell 24 and three drive arms 25 arranged circumferentially on the outer wall of the cylindrical shell 24. The inner cavity of the cylindrical shell 24 forms the aforementioned liquid storage chamber 21. Each drive arm 25 includes a horizontal plate 251, a cylinder 252, and a track wheel mechanism 253. One end of the horizontal plate 251 is fixedly connected to the cylindrical shell 24, and a transverse groove 2511 is formed through the horizontal plate 251 along the axial direction of the cylindrical shell 24. A slide rod 254 is slidably arranged in the transverse groove 2511, and a U-shaped frame 255 is slidably inserted into the end of the horizontal plate 251 away from the cylindrical shell 24. The slide rod 254 is fixed to the U-shaped frame 255. A first connecting rod 256 is hinged to each side of the U-shaped frame 255, and the end of the first connecting rod 256 away from the U-shaped frame 255 is hinged to the middle of the track wheel mechanism 253. Each end of the track wheel mechanism 253 along its length is hinged with a second connecting rod 257. The ends of the four second connecting rods 257 away from the track wheel mechanism 253 are respectively hinged to the cross plate 251. The cylinder seat of the cylinder 252 is hinged to the cross plate 251, and the piston rod of the cylinder 252 is fixedly connected to the U-shaped frame 255 along the axial direction of the cylindrical shell 24. When the cylinder 252 extends or retracts, the piston rod drives the U-shaped frame 255 to move axially along the cylindrical shell 24. Since the U-shaped frame 255 is guided by the cooperation of the slide rod 254 and the transverse groove 2511, the movement of the U-shaped frame 255 will drive the first connecting rod 256 to swing, and then, through the constraint of the second connecting rod 257, drive the track wheel mechanism 253 to move radially relative to the cross plate 251 (i.e., relative to the cylindrical shell 24), thereby adjusting the distance between the track wheel mechanism 253 and the cylindrical shell 24. This design allows the pipeline robot 2 to adapt to pipelines of different diameters. The simultaneous movement of the three drive arms 25 reliably supports the robot against the inner wall of the pipeline, and it moves within the pipeline via the drive of the tracked wheel mechanism 253. The tracked wheel mechanism 253 is based on existing technology and will not be described in detail here.

[0022] Regarding the specific composition of stent 3, as follows: Figures 3-6 As shown, it includes a clamp 31, a guide rail 32, and a base plate 33. The clamp 31 is detachably fixed to the end of the L-shaped pipe 22 away from the pipe robot 2, facilitating disassembly and maintenance. The guide rail 32 is fixedly connected to the clamp 31, and a slider 35 is slidably mounted on the guide rail 32. The slider 35 is connected to a drive member 34 for moving along the guide rail 32. A column 36 is fixedly mounted on the slider 35 and is fixedly connected to the base plate 33, thereby suspending and supporting the base plate 33. Two upright plates 37 are fixedly mounted on the base plate 33, and each upright plate 37 has a through guide groove 371. The two ends of the scanning rod 4 are slidably mounted in the two guide grooves 371, so that the scanning rod 4 can only slide back and forth along the guiding direction of the guide groove 371 (i.e., the pipe axis). The clamp 31 is based on existing technology and will not be described in detail.

[0023] Furthermore, the driving component 34 includes a first lead screw 341 and a sealing plate 342. The sealing plate 342 is fixed to one end of the guide rail 32 and has a rotating rod 343 rotatably mounted thereon. One end of the rotating rod 343 is coaxially connected to the first lead screw 341 (e.g., via a coupling or integral molding), and the other end is provided with a rotating handle 344. The first lead screw 341 is arranged along the length of the guide rail 32 and is threadedly connected to the slider 35. By rotating the rotating handle 344, the operator can drive the first lead screw 341 to rotate, thereby driving the slider 35 to move along the guide rail 32, thus enabling inspection and processing of pipes of different diameters.

[0024] To enable the automatic reciprocating sliding of the scanning lever 4, this embodiment also includes a drive component 7. For example... Figure 3 , Figure 5 As shown, a mounting hole 331 is provided on the substrate 33. The driving component 7 includes a motor 71, a turntable 72, a transmission plate 73, and a connecting frame 74. The scanning rod 4 includes a left rod 41 and a right rod 42 (collinear and separately arranged, together forming the main body of the scanning rod 4). The two sides of the transmission plate 73 are fixedly connected to one end of the left rod 41 and the right rod 42, respectively, and a driving groove 731 is provided on the transmission plate 73 along the sliding direction perpendicular to the scanning rod 4. The other ends of the left rod 41 and the right rod 42 are slidably arranged in the guide grooves 371 of the two upright plates 37, respectively. The base of the motor 71 is fixedly connected to the substrate 33 through the connecting frame 74. The output shaft of the motor 71 is coaxially fixedly connected to the turntable 72. The turntable 72 is arranged in the mounting hole 331, and an eccentric post 77 is eccentrically arranged on the turntable 72. The eccentric post 77 is inserted into the driving groove 731 of the transmission plate 73. When motor 71 drives turntable 72 to rotate, eccentric column 77 performs circular motion and slides within drive groove 731, thereby converting rotational motion into reciprocating linear motion of transmission plate 73, which in turn drives left rod 41 and right rod 42 to slide reciprocally along guide groove 371. By adjusting the speed of motor 71, the reciprocating frequency of scanning rod 4 can be controlled to adapt to different detection speed requirements.

[0025] In order to adjust the reciprocating stroke (i.e., scanning width) of the scanning lever 4, the drive component 7 has been further optimized in design. For example... Figure 5 , Figure 6As shown, a slide rail 721 is radially formed on the end face of the turntable 72, and a movable block 722 is slidably mounted on the slide rail 721. A panel 76 is fixedly connected to the turntable 72 (e.g., by screws) and rotatably mounted on a shaft 761. One end of the shaft 761 is coaxially connected to a second lead screw 75, and the other end is fixedly fitted with a drive handle. The movable block 722 is threadedly connected to the second lead screw 75 and fixedly connected to an eccentric column 77, which is arranged along the length of the slide rail 721. By rotating the drive handle, the second lead screw 75 is driven to rotate, causing the movable block 722 to move along the slide rail 721, thereby changing the eccentricity of the eccentric column 77 relative to the center of the turntable 72. The larger the eccentricity, the greater the reciprocating stroke of the scanning rod 4, meaning the wider the scanning range of the flaw detection probe 5 along the axial direction of the pipe. This design allows the operator to flexibly adjust the scanning width according to actual inspection needs, improving the applicability of the device.

[0026] To ensure that the coupling agent nozzle 6 is always aligned with the detection area of ​​the flaw detector probe 5 and swings in a timely manner with the movement of the scanning rod 4, this embodiment also includes a connecting seat 8 and a swing housing 9. Figure 3 , Figure 4 As shown, the connecting seat 8 is fixedly connected to the base plate 33. An extension plate 92 is fixedly mounted on one end of the transmission plate 73, and a slot 920 is provided on one end of the extension plate 92. One end of the swing shell 9 is rotatably connected to the connecting seat 8 via a rotating shaft 91, and this end is connected to the L-shaped tube 22 via a flexible hose 61 (the swing shell 9 has an internal flow channel). The other end of the swing shell 9 is fixedly connected to the coupling agent nozzle 6 and is internally connected. A locking rod 93 is fixedly mounted on the end of the swing shell 9 away from the rotating shaft 91, and the locking rod 93 is embedded in the slot 920 of the extension plate 92. When the transmission plate 73 reciprocates, the locking rod 93 is driven by the slot 920 on the extension plate 92, causing the swing shell 9 to swing around the rotating shaft 91, thereby causing the coupling agent nozzle 6 to swing synchronously. This ensures that the nozzle always faces the area to be scanned by the flaw detection probe 5, achieving precise spraying of the coupling agent, avoiding waste, and ensuring that the coupling agent evenly covers the tube wall before the probe contacts it.

[0027] In addition, to clean debris from the inner wall of the pipe before testing, the device includes a cleaning component 1 detachably mounted on the scanning rod 4. The cleaning component 1 can be a brush, sponge, or scraper, etc., used to contact the inner wall of the straight pipe. As the scanning rod 4 reciprocates, the cleaning component 1 cleans the pipe wall first, creating a clean surface for subsequent coupling agent spraying and probe testing. The detachable design of the cleaning component 1 facilitates replacement and cleaning.

[0028] The working principle and process of this embodiment are as follows: Before performing flaw detection on the inner wall of a straight pipe, the three drive arms 25 of the pipe robot 2 are first adjusted according to the pipe diameter, and the track wheel mechanism 253 is pressed against the pipe wall by the cylinder 252. Then, according to the inspection requirements, the position of the base plate 33 is adjusted by the drive component 34 so that the scanning rod 4 is aligned with the area to be inspected. The eccentricity of the eccentric column 77 is adjusted by the drive component 7 to set the required scanning stroke. The liquid pump is started, and the coupling agent is sprayed from the liquid storage chamber 21 through the L-shaped tube 22, the hose 61, and the swing shell 9 from the coupling agent nozzle 6. The motor 71 is started, driving the scanning rod 4 to reciprocate, and the flaw detection probe 5 begins scanning. At the same time, the pipe robot 2 moves at a constant speed inside the pipe, and the reciprocating motion of the scanning rod 4 and the forward motion of the robot are combined to achieve full coverage of the pipe. During the scanning process, the coupling agent nozzle 6 swings with the swing shell 9, always spraying coupling agent onto the pipe wall in front of the probe. The cleaning component 1 first contacts the pipe wall to clean it. The entire inspection process requires no manual intervention and has a high degree of automation.

[0029] In summary, this invention effectively solves the problem of continuous and comprehensive inspection of pipeline inner walls in existing technologies by integrating the flaw detection mechanism onto a mobile pipeline robot and combining it with an adjustable scanning rod and an automatic coupling agent spraying system. Its variable-diameter drive arm allows it to adapt to different pipe diameters, the adjustable stroke of the scanning rod allows it to adapt to different inspection width requirements, the follow-up design of the coupling agent nozzle ensures coupling effect, and the cleaning components improve the cleanliness of the inspection environment. The combination of these structures significantly improves the automation level and inspection accuracy of ultrasonic phased array flaw detection devices in the field of pipeline inspection, and has high practical value.

[0030] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. An ultrasonic phased array flaw detection device, comprising a pipeline robot, the pipeline robot having a liquid storage chamber for storing a coupling agent, and rotatably connected to an L-shaped tube, the L-shaped tube communicating with the liquid storage chamber, characterized in that, Also includes: A bracket is connected to the other end of the L-shaped tube; A scanning rod is mounted on the support and can slide back and forth along the walking direction of the pipeline robot. The scanning rod is equipped with a flaw detection probe for contacting and detecting the inner wall of the straight pipeline. A coupling agent nozzle is mounted on the bracket and connected to the L-shaped pipe via a hose for spraying coupling agent onto the inner wall of the straight pipe.

2. The ultrasonic phased array flaw detection device according to claim 1, characterized in that, The pipeline robot includes a cylindrical shell and three drive arms arranged circumferentially on the outer wall of the cylindrical shell. The inner cavity of the columnar shell forms the liquid storage cavity; Each of the drive arms includes a crossbar, a cylinder, and a track wheel mechanism; One end of the horizontal plate is fixedly connected to the columnar shell. A horizontal groove is opened through the horizontal plate along the axial direction of the columnar shell. A sliding rod is slidably arranged in the horizontal groove. A U-shaped frame is slidably inserted at the end of the horizontal plate away from the columnar shell. The sliding rod is fixed on the U-shaped frame. A first connecting rod is hinged to each side of the U-shaped frame, and the end of the first connecting rod away from the U-shaped frame is hinged to the middle of the track wheel mechanism. A second link is hinged to both ends of the track wheel mechanism along its length direction on both sides, and the ends of the four second links away from the track wheel mechanism are respectively hinged to the cross plate. The cylinder seat of the cylinder is hinged to the horizontal plate, and the piston rod of the cylinder is fixedly connected to the U-shaped frame along the axial direction of the cylindrical shell. The track wheel mechanism can adjust its distance from the cylindrical shell by extending and retracting the cylinder.

3. The ultrasonic phased array flaw detection device according to claim 2, characterized in that, The bracket includes a clamp, a guide rail, and a base plate; The clamp is detachably fixed to the end of the L-shaped pipe away from the pipe robot; The guide rail is fixedly connected to the clamp, a slider is slidably arranged on the guide rail, the slider is connected to a driving member for driving it to move along the guide rail, a column is fixedly arranged on the slider, and the column is fixedly connected to the base plate. Two upright plates are fixed on the base plate, and a guide groove is formed through each upright plate. The two ends of the scanning rod are respectively slidably disposed in the two guide grooves.

4. The ultrasonic phased array flaw detection device according to claim 3, characterized in that, The driving component includes a first lead screw and a sealing plate; The sealing plate is fixed to one end of the guide rail and is rotatably provided with a rotating rod. One end of the rotating rod is coaxially connected to the first lead screw, and the other end is provided with a rotating handle. The first lead screw is arranged along the length of the guide rail and is threadedly connected to the slider.

5. The ultrasonic phased array flaw detection device according to claim 3, characterized in that, It also includes a driving component; A mounting hole is provided on the substrate; The driving component includes a motor, a turntable, a transmission plate, and a connecting frame; The scanning rod includes a left rod and a right rod. The two sides of the transmission plate are fixedly connected to one end of the left rod and the right rod, respectively. A drive groove is formed on the transmission plate along the sliding direction perpendicular to the scanning rod. The other ends of the left rod and the right rod are slidably disposed in the two guide grooves, respectively. The motor base is fixedly connected to the base plate via the connecting frame. The output shaft of the motor is coaxially fixedly connected to the turntable. The turntable is rotatably mounted in the mounting hole, and an eccentric column is eccentrically arranged on the turntable. The eccentric column is inserted into the drive groove.

6. The ultrasonic phased array flaw detection device according to claim 5, characterized in that, The drive unit also includes a second lead screw and a plate; A slide rail is formed on the end face of the turntable along its radial direction, and a movable block is slidably disposed on the slide rail; The panel is fixedly connected to the turntable and is rotatably provided with a shaft. One end of the shaft is coaxially connected to the second lead screw, and the other end is fixedly provided with a drive handle. The movable block is threadedly connected to the second lead screw and fixedly connected to the eccentric column. The second lead screw is arranged along the length direction of the slide.

7. The ultrasonic phased array flaw detection device according to claim 3, characterized in that, It also includes a connecting base and a swing shell, wherein the connecting base is fixedly connected to the substrate; An extension plate is fixed at one end of the transmission plate, and a slot is formed at one end of the extension plate. One end of the swing shell is rotatably connected to the connecting seat via a rotating shaft, and this end is connected to the L-shaped tube via the flexible tube; the other end of the swing shell is fixedly connected to the coupling agent nozzle and is internally connected. A locking rod is fixed at one end of the swing shell away from the rotating shaft, and the locking rod is embedded in the locking groove.

8. The ultrasonic phased array flaw detector according to claim 1, characterized in that, It also includes a cleaning element detachably mounted on the scanning bar, the cleaning element being used to contact the inner wall of the straight pipe.

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