For the complexity of weld, the automatic inspecting for the tubular joints which are in working is difficult. Therefore the scanner which has three degrees of freedom for inspecting of large-diameter tubular joints was studied and manufactured based on the scanning principle of ultrasonic phased array. The following of probe to weld is realized by the simultaneous motion of two degrees of freedom and the pose between probe and weld is adjusted by the other degree of freedom. The control strategy of the scanner was provided. Experiments were made with scanner on reference blocks, the results indicate that the automatic ultrasonic phased array inspection is more excellent than the conventional ultrasonic inspection in reliability and repetition.