The utility model relates to a center hole supersonic scanning manipulator for a rotary mechanical shaft. A center rod is provided with two sets of pneumatic bridge supports and one or two probe of air pressure application force. One end of the center rod is provided with a universal joint which is connected with N rigidity connecting rods which are provided with transmission strips and can be inserted, and the rigidity connecting rods can move in 360 DEG along a shaft length direction following a driving head which is arranged on a unit rod lifting table. The utility model can be used for supersonic scanning imaging, and has the advantages that a single end can enter a center hole of a measured shaft, and the operation is convenient; the aperture adaptation range is large; the centering of a probe is good; the state of coupling is stable; the use of coupling oil circulation has little consumption and is clean; the operation can save labor, and the roughness of scanning is high.