CN109556774B - Nondestructive monitoring system and monitoring method for residual stress in ferromagnetic steel - Google Patents
Nondestructive monitoring system and monitoring method for residual stress in ferromagnetic steel Download PDFInfo
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- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
The invention discloses a nondestructive monitoring system for residual stress in ferromagnetic steel, which comprises a mechanical arm, a monitoring probe, a signal receiving and data processing module, a computer A and a computer B for controlling the movement of the mechanical arm. The remote end of the mechanical arm is provided with a pneumatic clamping piece for clamping the monitoring probe, the signal receiving and data processing module is electrically connected with the monitoring probe and the computer A respectively through a circuit, and the signal receiving and data processing module receives and converts monitoring information of the monitoring probe and transmits the monitoring information to the computer A for display. The monitoring system disclosed by the invention can complete the monitoring of the residual stress distribution on the surface and inside of the ferromagnetic steel without damaging the steel to be detected and influencing the operation of a production line, and can complete the restoration and control of the stress level of the steel by matching with other processes, the monitoring system is high in speed and precision, and the field-leaving speed of qualified products can be greatly improved.
Description
Technical Field
The application relates to the field of nondestructive testing of residual stress, in particular to a nondestructive monitoring system and a monitoring method for monitoring residual stress tensor distribution on the surface and inside of ferromagnetic steel.
Background
The existence of the residual stress can seriously affect the strength and related performance of the workpiece, and the research on the monitoring of the residual stress has important influence on some fields, such as the field of heat treatment processing, surface process strengthening and manufacturing industry, and has important theoretical significance and engineering application value.
The residual stress detection technology is widely applied to the field of product monitoring. The current methods applied to the detection of residual stress are divided into laboratory techniques and industrial techniques. Among them, the laboratory techniques include an X-ray diffraction method (detecting a local stress composition (i.e., surface stress) of a projection region by X-ray diffraction), and a neutron diffraction method (obtaining strain from a crystal interplanar distance change inside a material and calculating a residual stress from an elastic mechanical equation). These two laboratory techniques require a lot of infrastructure and time, and can only complete the measurement of a single point of regional parameters, thus being time consuming and costly. The industrial technologies include a strain gauge sensor technology (acquiring strain values of a single point or a plurality of points through data acquisition of a conductive film, and then calculating to obtain residual stress), a hole drilling method (attaching a strain gauge to a measured part of steel to be measured, and obtaining related data through releasing the residual stress caused by punching a small blind hole with phi of about 2mm in the center of the strain gauge) and a barkhausen noise detection method (monitoring a two-dimensional tensor of surface tension of the surface of the steel to be measured based on barkhausen jump in the magnetization process of ferromagnetic steel, and monitoring the spatial distribution of the stress through a motion sensor). The industrial technology has the defects of destroying a sample to be measured, large error, only point measurement and the like.
It can be seen that both laboratory and industrial techniques are slow to detect, especially when detecting internal stress distributions. With the continuous deepening and expansion of industrial production, the pursuit of performance detection is continuously improved, the pursuit of time effectiveness of industrial detection means is increasingly pursued, and the existing detection means cannot meet the requirements.
Disclosure of Invention
In order to at least partially solve the defects of the prior art, the invention provides a system and a method for monitoring the residual stress in ferromagnetic steel in a nondestructive mode.
According to one aspect of the invention, a nondestructive monitoring system for residual stress in ferromagnetic steel is provided, which is characterized by comprising a mechanical arm, a monitoring probe, a signal receiving and data processing module, a computer A and a computer B for controlling the movement of the mechanical arm,
wherein, the far end of the mechanical arm is provided with a pneumatic clamping piece for clamping the monitoring probe, the signal receiving and data processing module is respectively and electrically connected with the monitoring probe and the computer A through a circuit, the signal receiving and data processing module receives and converts the monitoring information of the monitoring probe and transmits the monitoring information to the computer A for display,
the monitoring probe comprises a magnetic field generator and a pressure sensor, the magnetic field generator comprises a permanent magnet and a soft magnetic rod, the bottom edge of the permanent magnet is close to the iron magnetic steel to be detected, and the pressure sensor is arranged in the middle of the permanent magnet and the soft magnetic rod.
In some embodiments, the non-destructive monitoring system may comprise one of the monitoring probes.
In some embodiments, the non-destructive monitoring system may further include an ultrasonic sensor, a temperature sensor, and a displacement sensor spaced apart at a foot of the monitoring probe.
In some embodiments, the non-destructive monitoring system may comprise a plurality of the monitoring probes, the plurality of the monitoring probes being arranged in an array.
In some embodiments, the non-destructive monitoring system may comprise a plurality of the monitoring probes arranged in parallel.
In some embodiments, the nondestructive monitoring system may further include an ultrasonic sensor, a temperature sensor, and a displacement sensor arranged at intervals at a bottom-intermediate position of the plurality of monitoring probes.
In some embodiments, the pressure sensor may include an insulating layer, an upper metal conductor layer, a polymer powder composite layer of a semiconductor, a lower metal conductor layer, and a passivation layer, which are sequentially stacked from top to bottom, wherein the insulating layer is located at a top end of the pressure sensor and is in direct contact with the soft magnetic rod.
In some embodiments, the magnetic field generator may comprise a NdFeB permanent magnet and a soft magnetic rod oriented in the S-N direction. In some embodiments, the cross-section of the soft magnetic rod may be cylindrical or rectangular.
According to another aspect of the present invention, there is provided a method for non-destructive monitoring of residual stresses in ferromagnetic steel using the above system, comprising the steps of:
s01: processing a ferromagnetic steel test piece to be tested on a production line, and carrying out corresponding heat treatment process;
s02: monitoring the residual stress level of the test piece by using the system;
s03: judging the monitoring result in the step S02, and if the residual stress level reaches the standard, directly leaving the test piece from the factory through inspection; if the residual stress level is too high, the test piece is sent to a stress repair work area, and heat treatment and stress repair are carried out again aiming at the monitored residual stress too high area;
s04: steps S02 and S03 are repeated until the monitored residual stress level of the test piece is met.
In some embodiments, step S02 is specifically:
clamping the monitoring probe, so that the monitoring probe can perform position calibration and move along the ferromagnetic steel to be detected, and completing the movement monitoring of the ferromagnetic steel by the monitoring probe to obtain monitoring data;
transmitting the obtained monitoring data to a signal receiving and data processing module through an integrated circuit, wherein the signal receiving and data processing module processes, amplifies and converts the data of the pressure sensor separately and transmits the data together with the data collected by the ultrasonic sensor, the displacement sensor and the temperature sensor to a computer A through the integrated circuit;
after the computer A collects all data in real time, the data are displayed by a display, the data monitored by the pressure sensor are displayed on the display of the computer A through Lebview real-time software to be a fluctuation curve which changes along with the displacement of the monitoring probe, and the distribution condition of the residual stress of the ferromagnetic steel to be detected is judged by analyzing the fluctuation condition of the curve.
The invention has the beneficial effects that:
the monitoring system disclosed by the invention can complete the monitoring of the residual stress distribution on the surface and inside of the ferromagnetic steel without damaging the steel to be detected and influencing the operation of a production line, and can complete the restoration and control of the stress level of the steel by matching with other processes, the monitoring system is high in speed and precision, and the field-leaving speed of qualified products can be greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic perspective view of a nondestructive monitoring system for residual stress in ferromagnetic steel according to the present invention.
Fig. 2 is a schematic plan view of a nondestructive monitoring system including a monitoring probe according to an embodiment of the present invention, in which the robot, the signal receiving and data processing module, the computer a, and the computer B are not shown.
FIG. 3 is a schematic plan view of a non-destructive monitoring system including a plurality of monitoring probes according to another embodiment of the present invention, wherein the robot arm, signal receiving and data processing module, computer A and computer B are not shown.
Fig. 4 is a schematic plan view of a nondestructive monitoring system including a plurality of monitoring probes according to another embodiment of the present invention, in which the robot arm, the signal receiving and data processing module, the computer a, and the computer B are not shown.
FIG. 5 is an output of the displacement distance of the monitoring probe of the present invention versus stress level.
FIG. 6 is a flow chart of a method for eliminating or adjusting a desired stress level in a production line.
Detailed Description
The present application will now be described more fully hereinafter with reference to specific examples, but it should be understood that the embodiments described are by way of illustration only and are not intended to limit the scope of the present application.
As is known, a micro-crack is generated in an engineering component due to fatigue and deformation, and a stress concentration phenomenon occurs, in which a magnetic permeability of a metal member having magnetic permeability is reduced at a stress concentration portion, and a leakage magnetic field on a surface of a workpiece is increased. According to the inverse magnetostriction effect of the ferromagnetic material, namely the phenomenon that the change of the magnetization state of the ferromagnetic material is accompanied with the change of the dimension of the material, on the contrary, if the internal area of the material is deformed by the tissue due to the stress effect, the magnetic permeability of the material is correspondingly changed. Therefore, the residual stress distribution of the component can be indirectly monitored by detecting the magnetic field distribution condition of the surface of the component.
The nondestructive monitoring system of the present invention is a system for monitoring the residual stress distribution of an object to be measured by using the characteristic that the magnetic force changes the residual stress. Specifically, the residual stress of the object to be measured changes the magnetic permeability of the object to be measured, so that the change of the attraction force of the permanent magnet on the object to be measured is influenced, and the pressure of the permanent magnet on the pressure sensor is changed correspondingly. The above conversion process from residual stress to current value curve is: f → Δ σ → Δ μ → Δ R → Δ I. The material can introduce force in the processing or welding process, external force F acts on the material to cause stress level accumulation of a local area in the material, stress change delta sigma causes magnetic conductivity change delta mu in the same area due to inverse magnetostriction, the magnetic conductivity change acts on the permanent magnet, the pressure change of the permanent magnet on the pressure sensor changes, the self resistance R of the film deformation in the pressure sensor changes, and then the output current I changes and is recorded by acquisition software. Wherein the detection depth delta is related to the conductivity, intrinsic permeability and probe displacement speed of the material. The monitoring depth δ is related to the conductivity and intrinsic permeability of the material of the object to be measured, the displacement speed of the monitoring probe, and the like. The invention can scan the material by moving the monitoring probe at a specific speed and track to obtain a detection curve, and can obtain the stress level distribution condition of the material quantitatively by detecting the occurrence of the stress level distribution condition. For example, the present invention can be applied to a case where the quality of a product to be manufactured is checked in a production line of a factory, but is not limited thereto. It should be understood that the object to be measured of the nondestructive monitoring system of the present invention may be ferromagnetic steel as described below, and may be other ferromagnetic materials.
Fig. 1 is a schematic perspective view of a nondestructive monitoring system for residual stress in ferromagnetic steel according to the present invention, and as shown in fig. 1, the nondestructive monitoring system includes: a mechanical arm 1, a monitoring probe 2, a signal receiving and data processing module (not shown), a computer A (not shown) and a computer B (not shown).
And the computer B is connected with the mechanical arm 1 through a circuit, and controls the motion program of the mechanical arm 1 to enable the mechanical arm to move along the surface of the ferromagnetic steel to be detected at a fixed speed and in a fixed direction. The remote end of robotic arm 1 is provided with pneumatic holder, can be used for centre gripping monitoring probe 2, makes monitoring probe 2 carry out the position calibration and along the removal operation of the indisputable magnet steel that awaits measuring, and then accomplishes monitoring probe 2 and to the removal monitoring of indisputable magnet steel. The signal receiving and data processing module is respectively and electrically connected with the monitoring probe 2 and the computer A through a circuit, receives and converts monitoring information of the monitoring probe 2, and transmits the monitoring information to the computer A for display.
In the embodiment shown in fig. 2, the non-destructive monitoring system comprises one monitoring probe 2, wherein the monitoring probe 2 comprises a magnetic field generator 21, a pressure sensor 22. The magnetic field generator 21 is a main body part of the monitoring probe 2, and includes a permanent magnet 211 and a soft magnetic rod 212, wherein the bottom edge of the permanent magnet 211 is close to the ferromagnetic steel to be detected, and is mainly used for generating a magnetic induction line, and the soft magnetic rod 212 is magnetized by the permanent magnet and conducts downwards. The pressure sensor 22 is disposed between the permanent magnet 211 and the soft magnetic rod 212. In the actual monitoring, the permanent magnet 211 is influenced by the ferromagnetic steel to be measured to change the force of the soft magnetic rod 212, and the force change is received by the middle pressure sensor 22. The sizes of the permanent magnet 211 and the soft magnetic rod 212 are corresponding, and the sizes of the permanent magnet 211 and the soft magnetic rod 212 can be synchronously adjusted and changed according to actual monitoring requirements so as to adapt to the size of the ferromagnetic steel to be detected.
The magnetic field generator 21 is composed of an NdFeB permanent magnet 211 and a soft magnetic rod 212 oriented in the S-N direction, wherein the soft magnetic rod 212 may have a cylindrical or rectangular cross section. As shown in fig. 2, the bottom surface of the permanent magnet 211 is close to the ferromagnetic steel to be measured, and the pressure sensor 22 is placed at the bottom end of the soft magnetic rod 212.
The pressure sensor 22 includes an insulating layer 221, an upper metal conductor layer (Cu) 222, a polymer powder composite layer 223 of a semiconductor, a lower metal conductor layer 224, and a passivation layer 225, which are sequentially stacked from top to bottom, wherein the insulating layer 221 is located at a top end of the pressure sensor 22 and directly contacts the soft magnetic rod 212, the polymer powder composite layer 223 is a sensing element of the pressure sensor 22, impedance change is caused by pressure change, so that a pressure signal is converted into an electrical signal by a pressure-sensitive material of the polymer powder composite layer 223 and is output in a form of a changed current value through the metal conductor layers 222 and 224, the lower metal conductor layer (Cu)224 completes a closed circuit, and the passivation layer 225 is used for protecting the pressure sensor 22.
In particular, the non-destructive monitoring system of the present invention may further comprise an ultrasonic sensor 3, a temperature sensor 4 and a displacement sensor 5. The ultrasonic sensor 3 and the temperature sensor 4 are arranged at the foot part of the monitoring probe 2 to monitor the distance between the lower surface of the ultrasonic sensor and the surface of the ferromagnetic steel to be measured and the ambient temperature, the problem of symmetrical or asymmetrical positions of the sensor on the steel surface can be eliminated by monitoring the distance between the sensor and the surface of the ferromagnetic steel to be measured, and the uncertainty of the sensor caused by temperature change can be eliminated by monitoring the ambient temperature. In particular, by installing the displacement sensor 5 beside the ultrasonic sensor 3, the displacement of the pressure sensor 22 along the surface of the ferromagnetic steel to be measured can be monitored. In some embodiments, information about the relative speed of the ferromagnetic steel under test can be provided by line speed monitoring (e.g., an encoder). It should be understood that the monitoring method of the monitoring speed of the ferromagnetic steel to be measured is not limited to the above two methods. The data transmission of all the sensors is controlled by an integrated circuit, and the integrated circuit comprises an input end for supplying power to the pressure sensor and an output end for outputting data.
Fig. 3 is a schematic plan view of a nondestructive monitoring system including a plurality of monitoring probes 2 according to an embodiment of the present invention, which enables planar scanning inspection of a monitored area, wherein (a) is a front view and (b) is a top view. In the example shown in fig. 3, the nondestructive monitoring system comprises a plurality of monitoring probes 2 arranged in parallel, including a plurality of NdFeB permanent magnets having the same magnetic pole direction and a vertical magnetic field, and the same number of soft magnetic rods. An ultrasonic sensor, a temperature sensor and a displacement sensor are arranged at the middle position of the bottom of the monitoring probe 2, and an integrated circuit is arranged into an input end (for supplying power to the pressure sensor) and an output end (for outputting data). The arrangement of the sensing elements in the probe can realize one-time flat scanning to obtain multi-channel monitoring data, and the detection time is reduced.
Fig. 4 is a schematic plan view of a nondestructive monitoring system including a plurality of monitoring probes of another embodiment of the present invention, in which fig. (a) is a front view and fig (b) is a top view. In this example, the monitoring probe is a two-dimensional stress sensing array, which can realize a surface-scanning test of the stress level in the plane of the sample to be tested, i.e., all stress-related data in the plane of the whole monitoring area can be obtained through one-time operation without moving equipment and the sample to be tested. In this example, the monitoring system comprises a plurality of monitoring probes evenly arranged in an n x n array, with the NdFeB permanent magnets in each monitoring probe having the same pole direction and a vertical magnetic field. An ultrasonic sensor 3, a temperature sensor 4 and a displacement sensor 5 are arranged in the middle of the bottom of the whole array, and after all circuits are integrated, the top end inside the probe extends to the outside and is connected with a computer. In this example, all the circuitry is integrated and extends from the internal tip of the monitoring probe to the outside for connection to computer a. Through computer and software calculation simulation, stress levels in the whole plane can be visually displayed through three-dimensional images, and residual stress levels of the designated area can be directly obtained corresponding to the monitoring area. In particular, monitoring operations of varying resolution and accuracy can be achieved by adjusting the size of the sensing elements and the array density within the probe.
FIG. 5 is an output of the displacement distance of the monitoring probe of the present invention versus stress level. By determining the relationship, the monitoring signal of the system can be converted and restored into a residual stress signal through an electric signal, so that the display of the monitoring readings really corresponds to the residual stress level in the sample to be detected. At the same time, a quantification of the residual stress level can be achieved according to this typical dependency.
The invention also provides a processing method of residual stress based on the nondestructive monitoring system, a flow chart is shown in fig. 6, and the method comprises the following specific steps:
1. a ferromagnetic steel test piece was selected.
2. And processing the ferromagnetic steel test piece on a production line, and finishing the required heat treatment process.
3. The nondestructive monitoring system is used for monitoring the residual stress level of the test piece, and the method specifically comprises the following steps:
clamping the monitoring probe, so that the monitoring probe can perform position calibration and move along the ferromagnetic steel to be detected, and completing the movement monitoring of the ferromagnetic steel by the monitoring probe to obtain monitoring data;
transmitting the obtained monitoring data to a signal receiving and data processing module through an integrated circuit, wherein the signal receiving and data processing module processes, amplifies and converts the data of the pressure sensor separately and transmits the data together with the data collected by the ultrasonic sensor, the displacement sensor and the temperature sensor to a computer A through the integrated circuit;
after the computer A collects all data in real time, the data are displayed by a display, the data monitored by the pressure sensor are displayed on the display of the computer A through Lebview real-time software to be a fluctuation curve which changes along with the displacement of the monitoring probe, and the distribution condition of the residual stress of the ferromagnetic steel to be detected is judged by analyzing the fluctuation condition of the curve.
4. Judging the monitoring result in the step 3, and if the residual stress level reaches the standard, directly leaving the test piece out of the factory through inspection; and if the residual stress level is too high, sending the test piece to a stress repair work area, and carrying out heat treatment and stress repair again aiming at the monitored residual stress too high area.
5. Repeating steps 3 and 4 until the monitored residual stress level of the test piece reaches the standard.
The test data collected by all the sensors are transmitted to the signal receiving and data processing module through the integrated circuit, and the module processes, amplifies and converts the data of the pressure sensor 22 separately and transmits the amplified and converted data to the computer a through the integrated circuit together with the data collected by the ultrasonic sensor 3, the displacement sensor 4 and the temperature sensor 5. In some embodiments, the signal receiving and data processing module 13 has a measurement range of ± 5V and a resolution of 24 bits. It should be understood that practical applications are not limited to this performance range.
The computer A can collect all data in real time and display the data through a display, the data monitored by the pressure sensor 22 is displayed as a fluctuation curve changing along with the displacement of the monitoring probe 2 or 2' on the display of the computer A through Lebview real-time software or similar real-time display image software, and the distribution condition of the residual stress of the object to be detected can be judged by analyzing the fluctuation condition of the curve. Fig. 5 shows the residual stress curve obtained by a single monitoring.
The monitoring system disclosed by the invention has the advantages that the monitoring probe is clamped by the mechanical arm, the surface of the object to be measured moves along the direction to be measured, a real-time monitoring curve can be obtained, the distribution condition of residual stress on the surface and in the ferromagnetic steel in the measuring area is obtained, the testing speed is high, the resolution ratio is high, the monitoring probe can be arranged in various arrays according to actual requirements, and the monitoring speed is further increased.
The above applications are only some embodiments of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept herein, and it is intended to cover all such modifications and variations as fall within the scope of the invention.
Claims (9)
1. A nondestructive monitoring system for residual stress in ferromagnetic steel is characterized by comprising a mechanical arm, a monitoring probe, a signal receiving and data processing module, a computer A and a computer B for controlling the movement of the mechanical arm,
wherein, the far end of the mechanical arm is provided with a pneumatic clamping piece for clamping the monitoring probe, the signal receiving and data processing module is respectively and electrically connected with the monitoring probe and the computer A through a circuit, the signal receiving and data processing module receives and converts the monitoring information of the monitoring probe and transmits the monitoring information to the computer A for display,
the monitoring probe comprises a magnetic field generator and a pressure sensor, the magnetic field generator comprises a permanent magnet and a soft magnetic rod, the bottom edge of the permanent magnet is close to the magnetic steel of the iron to be detected, the pressure sensor is arranged between the permanent magnet and the soft magnetic rod,
the pressure sensor comprises an insulating layer, an upper metal conductor layer, a polymer powder composite layer of a semiconductor, a lower metal conductor layer and a passivation layer which are sequentially stacked from top to bottom, wherein the insulating layer is positioned at the top end of the pressure sensor and is in direct contact with the soft magnetic rod.
2. The system of claim 1, wherein said non-destructive monitoring system comprises one of said monitoring probes.
3. The system of claim 2, further comprising an ultrasonic sensor, a temperature sensor and a displacement sensor spaced apart at the foot of the monitoring probe.
4. The system of claim 1, wherein the non-destructive monitoring system comprises a plurality of the monitoring probes arranged in an array.
5. The system of claim 1, wherein the non-destructive monitoring system comprises a plurality of the monitoring probes arranged in parallel.
6. The system of claim 4 or 5, further comprising an ultrasonic sensor, a temperature sensor and a displacement sensor arranged at intervals at a bottom intermediate position of the plurality of monitoring probes.
7. The system according to claim 4 or 5, wherein the magnetic field generator comprises an NdFeB permanent magnet and a soft magnetic rod oriented in the S-N direction, the soft magnetic rod having a cylindrical or rectangular cross section.
8. A method for non-destructive monitoring of residual stresses in ferromagnetic steel, using a system according to any one of claims 1 to 7, characterized in that it comprises the following steps:
s01: processing a ferromagnetic steel test piece to be tested on a production line, and carrying out corresponding heat treatment process;
s02: monitoring the residual stress level of the test piece using the system of any one of claims 1-7;
s03: judging the monitoring result in the step S02, and if the residual stress level reaches the standard, directly leaving the test piece from the factory through inspection; if the residual stress level is too high, the test piece is sent to a stress repair work area, and heat treatment and stress repair are carried out again aiming at the monitored residual stress too high area;
s04: steps S02 and S03 are repeated until the monitored residual stress level of the test piece is met.
9. The method according to claim 8, wherein step S02 is specifically:
clamping the monitoring probe, so that the monitoring probe can perform position calibration and move along the ferromagnetic steel to be detected, and completing the movement monitoring of the ferromagnetic steel by the monitoring probe to obtain monitoring data;
transmitting the obtained monitoring data to a signal receiving and data processing module through an integrated circuit, wherein the signal receiving and data processing module processes, amplifies and converts the data of the pressure sensor separately and transmits the data together with the data collected by the ultrasonic sensor, the displacement sensor and the temperature sensor to a computer A through the integrated circuit;
after the computer A collects all data in real time, the data are displayed by a display, the data monitored by the pressure sensor are displayed on the display of the computer A through Lebview real-time software to be a fluctuation curve which changes along with the displacement of the monitoring probe, and the distribution condition of the residual stress of the ferromagnetic steel to be detected is judged by analyzing the fluctuation condition of the curve.
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| CN110824390B (en) * | 2019-10-25 | 2021-04-27 | 成都航大新材料有限公司 | Ferromagnetic material local stress distribution nondestructive testing device based on MDL |
| CN111060227B (en) * | 2019-11-27 | 2021-01-29 | 成都航大新材料有限公司 | In-situ stress detection and repair integrated system |
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| CN100370238C (en) * | 2005-07-18 | 2008-02-20 | 吉林大学 | Apparatus for measuring internal stress of ferromagnetic material |
| CN101178385B (en) * | 2007-12-05 | 2010-09-29 | 南京航空航天大学 | Electric eddy nondestructive detection system based on foil gage |
| CN101774079B (en) * | 2010-03-09 | 2012-03-28 | 南京航空航天大学 | Method and device for controlling residual stress on stir friction welding surface |
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| CN103834794A (en) * | 2014-03-18 | 2014-06-04 | 北京理工大学 | Feedback residual stress quantitatively regulating and controlling device based on sound magnetism coupling excitation |
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