CN117129564A

CN117129564A - Ultrasonic flaw detector

Info

Publication number: CN117129564A
Application number: CN202311054345.0A
Authority: CN
Inventors: 向垂悦; 欧阳书荀; 危斌; 刘炼; 张洁
Original assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Current assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Priority date: 2023-08-21
Filing date: 2023-08-21
Publication date: 2023-11-28

Abstract

The invention belongs to the technical field of ultrasonic flaw detection and provides an ultrasonic flaw detection device, which comprises a base, a first mounting seat, probe assemblies and a first driving piece, wherein the first mounting seat is rotatably arranged on the base and is provided with a first pivot axis, the first mounting seat is provided with a plurality of probe mounting positions in the circumferential direction around the first pivot axis, the probe assemblies are arranged on the probe mounting positions in a plurality of groups in a one-to-one correspondence manner, and the first driving piece is used for driving the first mounting seat to rotate and driving the probe assemblies to rotate to flaw detection positions. The first mounting seat is driven to rotate around the first pivot axis through the first driving piece, so that probe assemblies of different types can be sequentially rotated to flaw detection positions, and quick switching of probes is realized.

Description

Ultrasonic flaw detector

Technical Field

The invention belongs to the technical field of ultrasonic flaw detection, and particularly relates to an ultrasonic flaw detection device.

Background

Before the excavator structural member is coated and assembled, the quality of a welding seam of the structural member needs to be detected, and ultrasonic detection is a widely applied welding seam quality detection technology. For automatic flaw detection of welding seams of the structural members of the excavator, because the structural members of the excavator are complex in shape, multiple types of probes are needed to be used for adaptation, for example, in the prior art, a plurality of robots are used for driving different probes to detect different positions of the structural members of the excavator in some production lines, although the flaw detection efficiency can be accelerated, the equipment cost can be increased, meanwhile, the robots can easily cause joint arms or wire harness interference when in use, and the difficulty of online control of the robots is increased; in addition, for example, in the prior art, some production lines divide flaw detection areas according to the shape of the surface of a structural member before flaw detection, after one type of probe is used for detecting all flaws on a certain type of welding seam, the probe is disassembled and replaced by another type of probe to meet other flaw detection environments, and the flaw detection mode can solve the problem of robot interference, but has lower detection efficiency.

Disclosure of Invention

Aiming at the defects or shortcomings, the invention provides an ultrasonic flaw detection device, and aims to solve the technical problem that the existing single ultrasonic flaw detection device cannot realize all-position flaw detection of an excavator structural member.

In order to achieve the above object, the present invention provides an ultrasonic flaw detection device, wherein the ultrasonic flaw detection device includes a base, a first mounting seat, a probe assembly and a first driving member, the first mounting seat is rotatably disposed on the base and is formed with a first pivot axis, the first mounting seat is provided with a plurality of probe mounting positions in a circumferential direction around the first pivot axis, the number of the probe assemblies is multiple groups and is correspondingly mounted on the probe mounting positions one by one, and the first driving member is used for driving the first mounting seat to rotate and driving the probe assembly to rotate to the flaw detection position.

In the embodiment of the invention, the probe mounting position is provided with a first chute, the first chute extends radially relative to the first pivot axis, the probe assembly is slidably clamped in the first chute, the detection end of the probe assembly extends out of the radial tail end of the first mounting seat, the detection direction of the detection end is radially outwards, and the ultrasonic flaw detection device further comprises a second driving piece, and the second driving piece is used for driving the probe assembly to move in the first chute so as to adjust the radial extension distance of the detection end.

In an embodiment of the invention, a buffer spring is further arranged between the first mounting seat and the probe assembly, and the buffer spring is used for applying a force in the opposite direction to the probe assembly when the second driving piece pushes the probe assembly to move radially outwards.

In the embodiment of the invention, the probe assembly comprises a sliding mounting seat, a probe clamping seat and an ultrasonic detection probe, wherein the sliding mounting seat is used for being in sliding clamping connection with the first sliding groove, the probe clamping seat is rotatably mounted on the sliding mounting seat, the pivoting central axis of the probe clamping seat is vertical to the radial direction, the ultrasonic detection probe is rotatably mounted on the probe clamping seat, and the pivoting central axis of the ultrasonic detection probe is respectively vertical to the pivoting central axis of the probe clamping seat and the radial direction.

In the embodiment of the invention, the sliding mounting seat and/or the probe clamping seat are/is provided with a first limiting piece, the first limiting piece is used for limiting the rotation angle of the probe clamping seat within a first preset range, the probe clamping seat and/or the ultrasonic detection probe is/are provided with a second limiting piece, and the second limiting piece is used for limiting the rotation angle of the ultrasonic detection probe within a second preset range.

In the embodiment of the invention, the probe clamping seat is of a U-shaped structure and comprises a bottom plate and two side plates, a first pin shaft used for being rotationally connected with the sliding installation seat is arranged on the bottom plate, aligned pin-joint grooves are respectively arranged on the two side plates, the groove length of each pin-joint groove extends along the radial direction, the probe assembly further comprises a second pin shaft, one end of each second pin shaft is clamped in each pin-joint groove and is fastened through a locking piece, and the other end of each second pin shaft is used for being rotationally installed by the ultrasonic detection probe.

In the embodiment of the invention, the first mounting seat is of a plate surface structure and comprises a first side wall and a second side wall in the thickness direction, the first side wall is used for being in rotary connection with the base, the second side wall is provided with a probe mounting position, a pipeline leading-out hole is formed in the position, close to the first pivot axis, of the first side wall, the pipeline leading-out hole penetrates to the second side wall, the ultrasonic flaw detection device further comprises a spraying assembly, the spraying assembly comprises a spraying box and a spraying pipeline, the spraying box is arranged on the base, one end of the spraying pipeline is connected with the spraying box, and the other end of the spraying pipeline penetrates into the pipeline leading-out hole from one side of the first side wall and is connected with a nozzle connecting port on the probe assembly at one side of the second side.

In an embodiment of the invention, a solenoid valve is also provided on the spray line.

In an embodiment of the invention, the ultrasonic flaw detection device further comprises a laser sensor disposed toward the flaw detection position.

In an embodiment of the invention, the ultrasonic flaw detection device further comprises a multi-axis mechanical arm, and the base is arranged on an end arm of the multi-axis mechanical arm.

Through the technical scheme, the ultrasonic flaw detection device provided by the embodiment of the invention has the following beneficial effects:

the number of the probe assemblies is multiple, the types of probes in each probe assembly are different, and the first mounting seat is driven to rotate around the first pivot axis through the first driving piece, so that the probe assemblies of different types can be sequentially rotated to flaw detection positions, and the quick switching of the probes is realized. Through switching the probe subassembly of different grade type, only need a set of ultrasonic flaw detection device alright accomplish the ultrasonic flaw detection of all welding positions of structure, improved the accessibility that detects a flaw automatically, guaranteed the detection comprehensiveness of detecting a flaw of structure, only need use a set of multiaxis arm in the process of detecting a flaw simultaneously, can avoid the problem that the easy interference that the cooperation of many robots brought, moreover, whole process of detecting a flaw need not to dismantle the probe subassembly and changes, greatly increased the efficiency of detecting a flaw.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide an understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:

FIG. 1 is a schematic view of an ultrasonic flaw detection apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of an ultrasonic inspection apparatus according to an embodiment of the present invention with a multi-axis mechanical arm removed;

FIG. 3 is a schematic structural view of a first perspective of a probe assembly in accordance with an embodiment of the invention;

FIG. 4 is a schematic structural view of a second perspective of a probe assembly in accordance with an embodiment of the invention;

fig. 5 is a schematic view of a structure in which a spray pipe is disposed on a first mount according to an embodiment of the present invention.

Description of the reference numerals

1. First mounting seat of base 2

21. First pivot axis 22 probe mounting location

23. First side wall of first chute 24

25. Second side wall 26 pipe leading-out hole

3. Probe assembly 31 sliding mounting seat

32. Bottom plate of probe clamping seat 321

322. Side plate 323 pin joint groove

33. Buffer spring of ultrasonic detection probe 41

42. First pin 43 second pin

5. Spraying box of spraying assembly 51

52. Spray pipeline 53 electromagnetic valve

54. Nozzle connection port 6 laser sensor

7. Multi-axis mechanical arm

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.

The ultrasonic flaw detection apparatus of the present invention is described below with reference to the drawings.

The present invention provides an ultrasonic flaw detection apparatus, as shown in fig. 1 and 2, comprising:

a base 1;

a first mount 2 rotatably provided on the base 1 and formed with a first pivot axis 21, the first mount 2 being provided with a plurality of probe mounting positions 22 in a circumferential direction around the first pivot axis 21;

the probe assemblies 3 are arranged on the probe mounting positions 22 in a one-to-one correspondence manner; and

the first driving piece is used for driving the first mounting seat 2 to rotate and driving the probe assembly 3 to rotate to the flaw detection position.

The number of the probe assemblies 3 is multiple, the types of probes in each group of probe assemblies 3 are different, the first mounting seat 2 is driven to rotate around the first pivot axis 21 through the first driving piece, and the probe assemblies 3 of different types can be sequentially rotated to flaw detection positions, so that the probes can be rapidly switched. Through switching different types of probe assemblies 3, only one ultrasonic flaw detection device is needed to finish ultrasonic flaw detection of all welding positions of a structural member, the accessibility of automatic flaw detection is improved, the detection comprehensiveness of the structural member is guaranteed, meanwhile, only one group of multi-axis mechanical arms 7 are needed in the flaw detection process, the problem of easy interference caused by cooperative operation of multiple robots can be avoided, and furthermore, the whole flaw detection process does not need to detach and replace the probe assemblies 3, so that the flaw detection efficiency is greatly improved.

It should be noted that the ultrasonic flaw detection device of the present invention needs to be used together with the multi-axis mechanical arm 7 so that the probe assembly 3 located at the flaw detection position can reach various positions on the surface of the structural member. The number of the probe mounting positions 22 may be two, three or more, taking the number of the probe mounting positions 22 as two as an example, as shown in fig. 1 and 2, the two probe mounting positions 22 are arranged at two opposite sides of the radial direction of the first mounting seat 2, the two probe mounting positions 22 are respectively provided with a straight probe type probe assembly 3 and an inclined probe type probe assembly 3, according to different shapes of the surface of a structural member, the first mounting seat 2 can be controlled to rotate to drive one of the straight probe type probe assembly 3 or the inclined probe type probe assembly 3 to rotate to the flaw detection position, and after the probe assembly 3 rotates to the position, the probe assembly 3 of the flaw detection position is driven to move to the surface of the structural member by the multi-axis mechanical arm 7, so that the preparation before the detection can be completed.

As shown in fig. 1 and 2, in the embodiment of the present invention, the probe mounting position 22 is provided with a first chute 23, the first chute 23 extends radially relative to the first pivot axis 21, the probe assembly 3 is slidably clamped in the first chute 23, the detection end of the probe assembly 3 extends out of the radial end of the first mounting seat 2, the detection direction of the detection end is radially outwards, and the ultrasonic flaw detection device further comprises a second driving member, and the second driving member is used for driving the probe assembly 3 to move in the first chute 23 so as to adjust the radial extension distance of the detection end. The probe assembly 3 is required to be attached to the surface of a structural member before flaw detection, the multi-axis mechanical arm 7 is limited by cost, the probe assembly 3 can only be moved to the vicinity of the surface of a region to be detected of the structural member when the probe assembly 3 is driven to move, accurate adjustment is difficult to achieve only by the multi-axis mechanical arm 7 for the attaching degree between the probe assembly 3 and the structural member, and in order to achieve the attaching degree adjustment between the probe assembly 3 and the structural member, the ultrasonic flaw detection device is provided with a first chute 23 which extends radially on a probe mounting position 22, and the probe assembly 3 can be moved towards the direction close to or far from the surface of the structural member by driving the probe assembly 3 to move radially along the first chute 23, so that the attaching degree adjustment of the probe assembly 3 and the structural member is achieved, and the problem that the ultrasonic detection probe 33 is seriously worn in the moving detection due to attaching transition of the probe assembly 3 is avoided, or the detection result is inaccurate due to the fact that the attaching degree of the probe assembly 3 is too low is solved.

As shown in fig. 2, in the embodiment of the present invention, a buffer spring 41 is further provided between the first mount 2 and the probe assembly 3, and the buffer spring 41 is used to apply a force in an opposite direction to the probe assembly 3 when the second driving member pushes the probe assembly 3 to move radially outwards. Through buffer spring 41, can reduce the impact force of probe subassembly 3 when the second driving piece promotes probe subassembly 3 and structure surface contact to avoid probe subassembly 3 direct impact structure's surface to lead to ultrasonic detection probe 33 to damage, buffer spring 41 can also reduce the contact stress of ultrasonic detection probe 33 and work piece surface simultaneously, reduces the wearing and tearing of ultrasonic detection probe 33 in the testing process.

As shown in fig. 2, 3 and 4, in the embodiment of the present invention, the probe assembly 3 includes a slide mount 31, a probe holder 32 and an ultrasonic detection probe 33, the slide mount 31 is for sliding engagement with the first chute 23, the probe holder 32 is rotatably mounted on the slide mount 31 with a pivot center axis of the probe holder 32 being perpendicular to the radial direction, the ultrasonic detection probe 33 is rotatably mounted on the probe holder 32 with a pivot center axis of the ultrasonic detection probe 33 being perpendicular to both the pivot center axis of the probe holder 32 and the radial direction, respectively. It has been mentioned that the multi-axis mechanical arm 7 can only drive the probe assembly 3 to move to the surface of the structural member, but because the structural member has different shapes, it is difficult to ensure that the ultrasonic detection probe 33 can face the surface of the structural member at an optimal angle each time only by the multi-axis mechanical arm 7, so the probe clamping seat 32 and the ultrasonic detection probe 33 can rotate along two mutually perpendicular directions, and after the second driving member pushes the probe assembly 3 to abut against the surface of the structural member, the probe clamping seat 32 and the ultrasonic detection probe 33 can rotate adaptively to enable the ultrasonic detection probe 33 to be better attached to the surface of the structural member.

In the embodiment of the present invention, the sliding mounting seat 31 and/or the probe holder 32 are provided with a first limiting member, the first limiting member is used for limiting the rotation angle of the probe holder 32 within a first preset range, and the probe holder 32 and/or the ultrasonic detection probe 33 are provided with a second limiting member, the second limiting member is used for limiting the rotation angle of the ultrasonic detection probe 33 within a second preset range. Through first locating part and second locating part, can restrict the rotation range of probe grip slipper 32 and ultrasonic detection probe 33 to avoid appearing the condition that the detection end of ultrasonic detection probe 33 is dorsad structure.

In the embodiment of the present invention, the first limiting member preferably limits the left and right rotation angle of the probe holder 32 to within ±30°, the second limiting member preferably limits the pitch rotation angle of the ultrasonic probe 33 to within ±30°, and there are many limiting manners of the first limiting member and the second limiting member, for example, the first limiting member and the second limiting member may be a baffle plate, and the baffle plate may resist and limit the probe holder 32 and the ultrasonic probe 33 when the probe holder 32 or the ultrasonic probe 33 rotates to a limited position, or the first limiting member and the second limiting member may be limiting keys respectively disposed on the first pin shaft 42 and the second pin shaft 43, and at this time, limiting grooves for matching with the limiting keys need to be disposed on pin shaft holes of the sliding mount 31 and the probe holder 32, and of course, the first limiting member and the second limiting member may also be torsion springs disposed on the first pin shaft 42 and the second pin shaft 43.

As shown in fig. 3 and 4, in the embodiment of the present invention, the probe holder 32 has a U-shaped structure and includes a bottom plate 321 and two side plates 322, a first pin shaft 42 for rotationally connecting with the sliding mount 31 is disposed on the bottom plate 321, aligned pivot slots 323 are disposed on the two side plates 322, the slot lengths of the pivot slots 323 extend in the radial direction, the probe assembly 3 further includes a second pin shaft 43, one end of the second pin shaft 43 is clamped in the pivot slots 323 and fastened by a locking member, and the other end is used for rotationally mounting the ultrasonic detection probe 33. The invention can realize that the second pin shaft 43 and the ultrasonic detection probe 33 move radially relative to the probe clamping seat 32 by arranging the pin joint groove 323 to extend radially after the flaw detection is finished, so that the ultrasonic detection probe 33 can be adjusted to a position with the bottom higher than the probe clamping seat 32 to avoid when the spraying component 5 needs to spray ink, the ink is prevented from being stained on the ultrasonic detection probe 33, and meanwhile, the ultrasonic detection probe 33 can also reduce the abrasion of the ultrasonic detection probe 33.

In the embodiment of the present invention, the locking member may be a nut, and the second pin 43 may be fixed at any position in the pivot groove 323 by clamping the second pin 43 with the nut, and of course, the locking member may also be an electric cylinder, an air cylinder, or the like, and the movement and the position locking of the second pin 43 in the pivot groove 323 may be achieved by controlling the extension and retraction length of the electric cylinder and the air cylinder.

As shown in fig. 2 and 5, in the embodiment of the present invention, the first mount 2 is a plate structure and includes a first side wall 24 and a second side wall 25 in a thickness direction, the first side wall 24 is for being rotatably connected with the base 1, the second side wall 25 is provided with a probe mounting position 22, the first side wall 24 is provided with a pipe-out hole 26 near the first pivot axis 21, the pipe-out hole 26 penetrates to the second side wall 25, the ultrasonic inspection apparatus further includes a spray assembly 5, the spray assembly 5 includes a spray box 51 and a spray pipe 52, the spray box 51 is provided on the base 1, one end of the spray pipe 52 is connected with the spray box 51, and the other end penetrates the pipe-out hole 26 from one side of the first side wall 24 and is connected with a nozzle connection port on the probe assembly 3 on one side of the second side wall 25.

Specifically, the spraying box 51 includes a couplant box and an ink cartridge, the spraying pipe 52 includes a couplant pipe and an ink jet pipe, one ends of the couplant pipe and the ink jet pipe are respectively connected with the couplant box and the ink cartridge, the number of the pipe leading-out holes 26 is multiple groups and the positions corresponding to the probe mounting positions 22 are arranged near the first pivot axis 21, when the pipe is arranged, the couplant pipe and the ink jet pipe need to be led into the pipe leading-out holes 26 from the first side wall 24 of the first mounting seat 2, then led out from the second side wall 25 and connected with the probe assembly 3 with the corresponding positions, and by leading out the spraying pipe 52 from the position close to the first pivot axis 21, the risk that the pipe is wound or pulled off due to the rotation of the first mounting seat 2 can be reduced.

It should be noted that, the ultrasonic testing probe 33 needs to spray a couplant on the surface of the structural member before testing to improve the testing accuracy, and marks the unqualified area after testing, so the device needs to be provided with the spraying assembly 5.

In an embodiment of the invention, a wire harness aperture may also be provided on the second side wall 25 or the probe assembly 3 for restraining the spray conduit 52.

In the embodiment of the present invention, a solenoid valve 53 is further provided on the spraying pipe 52. The on-off of the couplant pipeline and the ink-jet pipeline can be controlled by the electromagnetic valve 53.

As shown in fig. 3, in the embodiment of the present invention, the probe assembly 3 is further provided with a plurality of nozzle connection ports 54, and the number of nozzle connection ports 54 is plural and used for respectively interfacing with the couplant pipe and the inkjet pipe. The nozzle connection port 54 may be provided on the ultrasonic probe 33 or on the probe holder 32.

In an embodiment of the present invention, the ultrasonic flaw detection device further includes a laser sensor 6, and the laser sensor 6 is disposed toward the flaw detection position. The weld-seam weld region can be detected by the laser sensor 6.

In the embodiment of the present invention, the ultrasonic flaw detection apparatus further includes a multi-axis mechanical arm 7, and the base 1 is provided on an end arm of the multi-axis mechanical arm 7. By the multiaxial motion of the multiaxial robotic arm 7, the probe assembly 3 can be moved to near the surface of the structure and the ultrasonic detection probe 33 can be pushed to move along the weld.

In the embodiment of the invention, the ultrasonic flaw detection device further comprises a control mechanism, wherein the control mechanism can automatically generate a flaw detection track according to the appearance outline of the structural member, and the multi-axis mechanical arm 7 can correspondingly control according to the flaw detection track.

In the embodiment of the invention, the first mounting seat can be various plates, such as a straight plate, a circular plate, a star plate and the like.

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although embodiments of the present invention have been described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present invention, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present invention.

Claims

1. An ultrasonic flaw detection apparatus, characterized in that the ultrasonic flaw detection apparatus comprises:

a base (1);

a first mount (2) rotatably provided on the base (1) and formed with a first pivot axis (21), the first mount (2) being provided with a plurality of probe mounting positions (22) in a circumferential direction around the first pivot axis (21);

the probe assemblies (3) are arranged on the probe mounting positions (22) in a one-to-one correspondence manner; and

the first driving piece is used for driving the first mounting seat (2) to rotate and driving the probe assembly (3) to rotate to a flaw detection position.

2. The ultrasonic flaw detection device according to claim 1, characterized in that the probe mounting location (22) is provided with a first chute (23), the first chute (23) extends radially relative to the first pivot axis (21), the probe assembly (3) is slidably clamped in the first chute (23) and the detection end of the probe assembly (3) extends out of the radial end of the first mounting seat (2), the detection direction of the detection end is arranged radially outwards, and the ultrasonic flaw detection device further comprises a second driving member for driving the probe assembly (3) to move in the first chute (23) so as to adjust the radial extension distance of the detection end.

3. An ultrasonic inspection device according to claim 2, characterized in that a buffer spring (41) is further provided between the first mount (2) and the probe assembly (3), the buffer spring (41) being adapted to apply a force in the opposite direction to the probe assembly (3) when the second drive member pushes the probe assembly (3) radially outwards.

4. The ultrasonic flaw detection device according to claim 2, characterized in that the probe assembly (3) comprises a sliding mounting seat (31), a probe clamping seat (32) and an ultrasonic detection probe (33), the sliding mounting seat (31) is used for being in sliding clamping connection with the first sliding groove (23), the probe clamping seat (32) is rotatably mounted on the sliding mounting seat (31) and the pivoting central axis of the probe clamping seat (32) is perpendicular to the radial direction, the ultrasonic detection probe (33) is rotatably mounted on the probe clamping seat (32) and the pivoting central axis of the ultrasonic detection probe (33) is perpendicular to the pivoting central axis of the probe clamping seat (32) and the radial direction respectively.

5. The ultrasonic flaw detection device according to claim 4, wherein a first limiting member is provided on the sliding mounting seat (31) and/or the probe clamping seat (32), the first limiting member is used for limiting the rotation angle of the probe clamping seat (32) within a first preset range, and a second limiting member is provided on the probe clamping seat (32) and/or the ultrasonic detection probe (33), and the second limiting member is used for limiting the rotation angle of the ultrasonic detection probe (33) within a second preset range.

6. The ultrasonic flaw detection device according to claim 4, wherein the probe holder (32) is of a U-shaped structure and comprises a bottom plate (321) and two side plates (322), a first pin shaft (42) used for being rotationally connected with the sliding mounting seat (31) is arranged on the bottom plate (321), aligned pin-joint grooves (323) are respectively arranged on the two side plates (322), the groove length of the pin-joint grooves (323) extends along the radial direction, the probe assembly (3) further comprises a second pin shaft (43), one end of the second pin shaft (43) is clamped in the pin-joint grooves (323) and is fastened through a locking piece, and the other end of the second pin shaft is used for being rotationally mounted by the ultrasonic detection probe (33).

7. The ultrasonic testing device according to any one of claims 1 to 6, wherein the first mounting base (2) is of a plate structure and comprises a first side wall (24) and a second side wall (25) in a thickness direction, the first side wall (24) is used for being rotatably connected with the base (1), the second side wall (25) is provided with the probe mounting position (22), a pipe leading-out hole (26) is formed in a position, close to the first pivot axis (21), of the first side wall (24), the pipe leading-out hole (26) penetrates into the second side wall (25), the ultrasonic testing device further comprises a spraying assembly (5), the spraying assembly (5) comprises a spraying box (51) and a spraying pipe (52), the spraying box (51) is arranged on the base (1), one end of the spraying pipe (52) is connected with the spraying box (51), and the other end penetrates into the pipe leading-out hole (26) from one side of the first side wall (24) and is connected with a nozzle connecting port (54) on the second side wall (25) of the nozzle assembly (3).

8. The ultrasonic flaw detection device according to claim 7, characterized in that the spraying pipeline (52) is further provided with a solenoid valve (53).

9. The ultrasonic flaw detection device according to any one of claims 1 to 6, characterized in that it further comprises a laser sensor (6), the laser sensor (6) being disposed toward the flaw detection position.

10. The ultrasonic inspection device according to any one of claims 1 to 6, further comprising a multi-axis mechanical arm (7), the base (1) being disposed on an end arm of the multi-axis mechanical arm (7).