This paper presents the high-speed ultrasonic testing methods for steel pipes currently, and points the existing difficulties, such as the instability in signal transmission, the problem of water coupling, and so on. Then the inspection method based on linear reciprocating probes is proposed to achieve the purpose of fewer probes and higher detecting speed. The mathematics model which adopts the slider-crank mechanism to realize the probes swinging fast in line is established as there is blind spot between the adjacent probes in high-speed inspection. With the help of simulation of Matlab, the relation curve between the rotation speed of crank and the rotation angle of crank is acquired, as well as the line speed of the steel pipe and the rotation angle of crank. The experiment platform is set up according to the simulation data, and the results verify the feasibility of the method.