CN112114042A - Scanning device for ultrasonic detection of ring forging - Google Patents
Scanning device for ultrasonic detection of ring forging Download PDFInfo
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- CN112114042A CN112114042A CN202010992182.0A CN202010992182A CN112114042A CN 112114042 A CN112114042 A CN 112114042A CN 202010992182 A CN202010992182 A CN 202010992182A CN 112114042 A CN112114042 A CN 112114042A
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- 238000005242 forging Methods 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 239000000523 sample Substances 0.000 claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 5
- 238000010408 sweeping Methods 0.000 description 23
- 230000007547 defect Effects 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 9
- 238000007689 inspection Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 150000001247 metal acetylides Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a scanning device for ultrasonic detection of a ring forging, which comprises a support, a ring scanning workbench, a radial positioning device, a fixed scanning device and a probe. The invention realizes automatic scanning, avoids the operation error of manual scanning, and improves the scanning efficiency and precision.
Description
Technical Field
The invention relates to the technical field of ultrasonic detection, in particular to a scanning device for ultrasonic detection of a ring forging.
Background
The ring forging is widely used for inner rings and outer rings of bearings, the production process of the ring forging is generally casting, forging and pressing-ring rolling, and the defect forms of the ring forging mainly comprise holes, inclusions, cracks and the like. During rolling, partial defects in the original cast blank are inherited into the ring forging, for example, coarse primary carbides are gathered into a strip distribution due to rolling, and pores and inclusions of the cast blank become a flat strip structure in the ring forging.
Ultrasonic inspection is an important nondestructive inspection means, and is commonly used for detecting defects of mechanical parts. The bearing is an important bearing part, the inner ring part and the outer ring part of the bearing are detected by ultrasonic, so that defects on parts can be found in time, the quality of products is guaranteed, and the safety performance of equipment is improved. The conventional ultrasonic detection adopts a handheld probe to detect, cannot accurately position the defect position, and cannot provide repeated positioning of the defect position.
At present, the ultrasonic detection of the ring forging is mainly carried out by using a conventional ultrasonic instrument or a phased array detector, adopting a conventional straight probe or a phased array probe and moving a handheld probe on the end face of the ring forging to carry out the ultrasonic detection. The manual scanning mode mainly has the following defects:
1. human factors have a great influence. Under the influence of an operation mode and skill level, the combination degree of the probe and the section is constantly changed, and the movement speed is inconsistent, so that the detection result is influenced, and the detection error ratio is larger;
2. the manual mode can not accurately detect along a specific direction (the defects of the ring forging have certain directionality and are mostly distributed along the circumferential direction);
3. when the phased array detection technology is used, the handheld phased array probe cannot ensure that the motion track is circular (the circle center of the motion track of the probe is consistent with the circle center of the end face of the ring forging to be detected), and the deviation exists between the actual detection and the preset focusing rule, so that the detection precision is reduced;
4. the defect position detected by a manual mode is vanished in the short term, and the coordinate cannot be accurately recorded;
5. the manual approach does not allow for repeated localization of the detected defect locations.
Disclosure of Invention
The invention aims to solve the technical problem that in order to overcome the defects in the prior art, the invention provides the scanning device for the ultrasonic detection of the ring forging, which realizes automatic scanning, avoids the operation error of manual scanning and improves the scanning efficiency and precision.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a ring rolling spare ultrasonic testing's scanning device, includes that the support, the ring sweep workstation, radial positioning device, surely sweep device and probe, the ring sweeps the workstation and sets up on the support, and radial positioning device sets up and sweeps on the workstation in the ring, surely sweeps the device and sets up on radial positioning device, and the probe sets up and sweeps on the device surely.
According to the technical scheme, the radial positioning device comprises a stepping motor, a linear guide rail and a guide rail sliding block, wherein the linear guide rail is arranged at the rotating center of the annular scanning workbench, the guide rail sliding block is arranged on the linear guide rail, the stepping motor is connected with the guide rail sliding block through a screw rod, and the fixed scanning device is arranged on the guide rail sliding block; the stepping motor drives the screw rod to rotate and drives the guide rail sliding block to move back and forth along the linear guide rail.
According to the technical scheme, the linear guide rail is provided with the displacement sensor.
According to the technical scheme, the fixed sweeping device comprises a fixed sweeping motor, a coupler, a clamping rod and a chuck, the fixed sweeping motor is arranged on the radial positioning device, an output shaft of the fixed sweeping motor is connected with one end of the clamping rod through the coupler, the chuck is arranged at the other end of the clamping rod, and the probe is arranged on the chuck.
According to the technical scheme, the output shaft of the fixed-sweep motor is connected with the first rotary encoder.
According to the technical scheme, an elastic element is connected between the chuck and the clamping rod or between the chuck and the probe.
According to the technical scheme, the support is a triangular support.
According to the technical scheme, the annular sweeping workbench comprises a rotating platform and a rotary driving motor, the rotary driving motor is connected with the rotating platform, the radial positioning device is arranged on the rotating platform, and the rotary driving motor drives the radial positioning device to rotate through the rotating platform.
According to the technical scheme, the output shaft of the rotary driving motor is connected with the second rotary encoder.
According to the technical scheme, the scanning device for the ultrasonic detection of the ring forging further comprises a controller, and the controller respectively controls the driving of the ring scanning workbench, the radial positioning device and the fixed scanning device together with the ring scanning workbench, the radial positioning device and the fixed scanning device.
The invention has the following beneficial effects:
1. according to the invention, the position of the probe is controlled through the fixed scanning workbench, the radial positioning device and the fixed scanning device, so that automatic scanning is realized, the operation error of manual scanning is avoided, and the scanning efficiency and precision are improved.
2. According to the ultrasonic flaw detection device, the displacement sensor and the rotary encoder are adopted, the high-precision motor controller is adopted, the flaw position positioning precision reaches 1um, the ultrasonic flaw detection precision is improved, and the recording of flaw position coordinates is realized; the probe can be positioned to the position of the defect for scanning for many times, and the repeated positioning precision is high.
Drawings
FIG. 1 is a front view of a scanning device for ultrasonic inspection of ring forgings in an embodiment of the invention;
FIG. 2 is a working elevation view of a scanning device for ultrasonic inspection of ring forgings in an embodiment of the invention;
FIG. 3 is an elevation view of a scanning apparatus for ultrasonic inspection of swages in an embodiment of the present invention;
FIG. 4 is a schematic view of a scanning stage and a support according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a fixed-scanning device according to an embodiment of the present invention;
FIG. 6 is a front view of a scanning device for ultrasonic inspection of swages in an embodiment of the present invention;
FIG. 7 is a left side view of FIG. 6;
FIG. 8 is a top view of FIG. 6;
in the figure, 1-stepping motor, 2-linear guide rail, 3-guide rail slide block, 4-fixed sweeping motor, 5-coupler, 6-clamping rod, 7-chuck, 8-annular sweeping workbench, 9-bracket and 10-annular forging.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 8, a scanning device for ultrasonic testing of a ring forging in one embodiment of the present invention includes a support 9, a ring scanning table 8, a radial positioning device, a fixed scanning device, and a probe, where the ring scanning table 8 is disposed on the support 9, the radial positioning device is disposed on the ring scanning table 8, the fixed scanning device is disposed on the radial positioning device, and the probe is disposed on the fixed scanning device; the annular sweeping workbench 8 drives the radial positioning device to rotate, and the radial positioning device drives the fixed sweeping device to move back and forth along the radial direction.
Further, the radial positioning device comprises a stepping motor 1, a linear guide rail 2 and a guide rail sliding block 3, the linear guide rail 2 is arranged at the rotating center of the annular scanning workbench 8, the guide rail sliding block 3 is arranged on the linear guide rail 2, the stepping motor 1 is connected with the guide rail sliding block 3 through a screw rod, and the fixed scanning device is arranged on the guide rail sliding block 3; the stepping motor 1 drives the screw rod to rotate, and drives the guide rail slide block 3 to move back and forth along the linear guide rail 2.
Further, a displacement sensor is arranged on the linear guide rail 2; the displacement sensor is used for monitoring the radial position of the ultrasonic detection probe on the ring forging 10, and the precision is 1 um.
Further, the fixed-sweeping device comprises a fixed-sweeping motor 4, a coupler 5, a clamping rod 6 and a chuck 7, wherein the fixed-sweeping motor 4 is arranged on a guide rail slide block 3 of the radial positioning device, an output shaft of the fixed-sweeping motor 4 is connected with one end of the clamping rod 6 through the coupler 5, the chuck 7 is arranged at the other end of the clamping rod 6, and the probe is arranged on the chuck 7; the probe can be scanned at a detection point by 360 degrees under the control of the fixed scanning motor 4, the probe is in contact with the upper surface of the ring forging 10 under the support of the chuck 7, the pretightening force is set through a coupling device and an elastic element of the chuck 7, and the probe is attached to the surface of the ring forging 10 without a gap; the probe determines its radial position on the ring 10 under the control of the linear guide 2 and its circumferential position on the ring 10 under the control of the sweeping table 8, the position of the probe on the upper surface of the ring 10 being able to be accurately located.
Further, an output shaft of the fixed-sweep motor 4 is connected with a first rotary encoder, and the first rotary encoder is a 17-bit rotary encoder; scanning the 360-degree 2D region perceived by the phase control ultrasonic equipment at a fixed point to finish the 3D observation of the shape and position of the target object at a fixed scanning direction.
Further, an elastic member is connected between the collet 7 and the clamping bar 6 or between the collet 7 and the probe.
Further, the support 9 is a triangular support; the triangular support comprises three support legs, the three support legs are consistent in length, the angle of each support leg is adjustable, and the ring forging 10 with different sizes can be met.
Furthermore, the bottoms of the three support legs and the bottom surface of the workpiece are located on the same plane, and the three support legs are in contact with the inner side surface of the workpiece, so that the rotating center of the annular scanning workbench 8 is enabled to coincide with the center of the annular forging 10.
Further, the annular sweeping workbench 8 comprises a rotating platform and a rotary driving motor, the rotary driving motor is connected with the rotating platform, the radial positioning device is arranged on the rotating platform, and the rotary driving motor drives the radial positioning device to rotate through the rotating platform.
Further, the output shaft of the rotary driving motor is connected with a second rotary encoder which is a 23-bit rotary encoder.
Furthermore, the scanning device for the ultrasonic detection of the ring forging further comprises a controller, wherein the controller respectively controls the driving of the ring-sweeping worktable 8, the radial positioning device and the fixed-sweeping device with the rotating driving motor of the ring-sweeping worktable 8, the stepping motor 1 of the radial positioning device and the fixed-sweeping motor 4 of the fixed-sweeping device; the position coordinates of the defect position detected by the probe can be recorded, and the probe can return to the position of the defect positioning point under the control of the controller, so that repeated positioning is realized.
The controller is respectively connected with the first rotary encoder, the second rotary encoder and the position sensor.
The working principle of the invention is as follows: as shown in fig. 1, the device comprises 7 parts: a holder 9 for supporting the ring scan table 8; the annular scanning workbench 8 is used for supporting the linear guide rail 2 and realizing the circumferential motion of the scanning probe; the linear guide rail 2 is used for clamping the rotating motor and realizing radial motion; a fixed scanning motor 4 for realizing 360-degree scanning movement; a coupling device for clamping the clamping rod 6; a clamping rod 6 for clamping the chuck 7; the device comprises a motor, a controller, a displacement sensor and a rotary encoder.
The annular scanning workbench 8 drives an ultrasonic detection probe on the scanning device to circumferentially scan the upper area of the annular forging 10 pieces to complete the initial inspection of the target object, and a 23-bit precision rotary encoder monitors the position of the annular scanning workbench 8; the linear guide rail 2 drives an ultrasonic detection probe on the scanning device to move in the radial direction of the ring forging 10, so that the adjustment, the fine tracking and the verification of the radial scanning position of a sensing area of the phased ultrasonic equipment are completed, and an +/-1 um precision inductive sensor monitors the radial position of the ultrasonic detection probe; the fixed scanning motor 4 can scan 360-degree 2D regions sensed by the phase-control ultrasonic equipment at fixed points on the basis of 2D target objects which are initially checked, tracked and verified, 3D observation of the shape and position of the target object is completed, and scanning directions are monitored by a 17-position precision rotary encoder.
The support 9 and the ring forging 10 are placed on the same plane, the three support legs are adjusted to be in contact with the inner side face of the ring forging 10, the ring sweeping workbench 8 and the ring forging 10 are guaranteed to be in concentric positions in the horizontal plane, and the relative positions of the ring sweeping workbench 8 and the ring forging 10 are determined uniquely.
The annular scanning workbench 8 is arranged on the inner side of the annular forging 10 under the support of the support 9, and the servo motor receives the instruction of the controller to drive the rotary workbench to rotate and drive the scanning device to scan along the circumferential direction of the upper surface of the annular forging 10.
A 23 bit rotary encoder records the circumferential position where the defect is located.
The linear guide rail 2 is fixed on the annular scanning workbench 8, and the screw rod drives the clamping rods 6 and the like to do linear motion under the driving of the motor, so that the scanning device can perform radial scanning along the upper surface of the annular forging 10.
The displacement sensor records the radial coordinate of the position of the defect.
The fixed scanning motor 4 is fixed on the linear guide rail 2, and is subjected to rotary motion under the instruction of the controller to drive the probe to perform 360-degree scanning near the defect position.
The upper end of the clamping rod 6 is connected with the fixed-sweeping motor 4 through the coupler 5, the lower end of the clamping rod is connected with the chuck 7, the elastic element is arranged in the middle of the clamping rod, and the pretightening force of the elastic element is arranged on the chuck 7, so that the probe is tightly attached to the surface of the annular forging 10.
The chuck 7 is fixed on the clamping rod 6, the ultrasonic probe is installed on the chuck 7, the elastic element ensures that the probe is always tightly attached to the detection surface in the detection process, and the scanning movement is carried out under the driving of the motor.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. The utility model provides a ring forging ultrasonic testing's scanning device, its characterized in that sweeps workstation, radial positioning device, surely sweeps device and probe including the support, ring, sweeps the workstation and sets up on the support, and radial positioning device sets up and sweeps on the workstation in the ring, surely sweeps the device and sets up on radial positioning device, and the probe sets up and sweeps on the device surely.
2. The scanning device for the ultrasonic detection of the ring forging according to claim 1, wherein the radial positioning device comprises a stepping motor, a linear guide rail and a guide rail sliding block, the linear guide rail is arranged at the rotating center of the ring-shaped scanning workbench, the guide rail sliding block is arranged on the linear guide rail, the stepping motor is connected with the guide rail sliding block through a screw rod, and the fixed scanning device is arranged on the guide rail sliding block; the stepping motor drives the screw rod to rotate and drives the guide rail sliding block to move back and forth along the linear guide rail.
3. The scanning device for the ultrasonic detection of the ring forging according to claim 2, wherein a displacement sensor is arranged on the linear guide rail.
4. The scanning device for the ultrasonic detection of the ring forging according to claim 1, wherein the fixed scanning device comprises a fixed scanning motor, a coupler, a clamping rod and a chuck, the fixed scanning motor is arranged on the radial positioning device, an output shaft of the fixed scanning motor is connected with one end of the clamping rod through the coupler, the chuck is arranged at the other end of the clamping rod, and the probe is arranged on the chuck.
5. The scanning device for the ultrasonic detection of the ring forging according to claim 4, wherein a first rotary encoder is connected to an output shaft of the fixed scanning motor.
6. The scanning device for the ultrasonic detection of the ring forging according to claim 4, wherein an elastic element is connected between the clamping head and the clamping rod or between the clamping head and the probe.
7. The scanning device for ultrasonic testing of ring forgings according to the claim 1, wherein the support is a triangular support.
8. The scanning device for the ultrasonic detection of the ring forging according to claim 1, wherein the ring scanning worktable comprises a rotating platform and a rotating driving motor, the rotating driving motor is connected with the rotating platform, the radial positioning device is arranged on the rotating platform, and the rotating driving motor drives the radial positioning device to rotate through the rotating platform.
9. The scanning device for ultrasonic testing of ring forgings according to the claim 8, wherein a second rotary encoder is connected to the output shaft of the rotary drive motor.
10. The scanning device for the ultrasonic detection of the ring forging according to claim 1, wherein the scanning device for the ultrasonic detection of the ring forging further comprises a controller, and the controller respectively controls the driving of the ring-scanning worktable, the radial positioning device and the fixed scanning device, and the radial positioning device and the fixed scanning device respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992182.0A CN112114042B (en) | 2020-09-21 | 2020-09-21 | Scanning device for ultrasonic detection of ring-rolled pieces |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992182.0A CN112114042B (en) | 2020-09-21 | 2020-09-21 | Scanning device for ultrasonic detection of ring-rolled pieces |
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| Publication Number | Publication Date |
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| CN112114042A true CN112114042A (en) | 2020-12-22 |
| CN112114042B CN112114042B (en) | 2024-06-25 |
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| CN202010992182.0A Active CN112114042B (en) | 2020-09-21 | 2020-09-21 | Scanning device for ultrasonic detection of ring-rolled pieces |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112359201A (en) * | 2020-10-26 | 2021-02-12 | 武汉理工大学 | Noninvasive repair method for microstructure defects of metal bearing |
| CN112730620A (en) * | 2021-02-02 | 2021-04-30 | 武汉理工大学 | Ring forging ultrasonic detection method based on 5G signal transmission |
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| JP2002340866A (en) * | 2001-05-21 | 2002-11-27 | Ishikawajima Harima Heavy Ind Co Ltd | Nozzle flaw detector |
| CN104076089A (en) * | 2014-06-27 | 2014-10-01 | 南京晨光集团有限责任公司 | Automatic ultrasonic C scanning detection system for annular forging |
| CN107179352A (en) * | 2017-06-21 | 2017-09-19 | 张家港中环海陆特锻股份有限公司 | Annular forging piece automatic flaw detection device |
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| CN209117632U (en) * | 2018-09-05 | 2019-07-16 | 中国电建集团山东电力建设第一工程有限公司 | A kind of bolt ultrasound examination scanning equipment |
| CN110579536A (en) * | 2019-09-28 | 2019-12-17 | 西安交通大学 | Multi-probe ultrasonic flaw detection device suitable for large ring piece |
| CN110988124A (en) * | 2019-12-13 | 2020-04-10 | 中国航空综合技术研究所 | Phased array ultrasonic automatic detection system and method thereof |
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2020
- 2020-09-21 CN CN202010992182.0A patent/CN112114042B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002340866A (en) * | 2001-05-21 | 2002-11-27 | Ishikawajima Harima Heavy Ind Co Ltd | Nozzle flaw detector |
| CN104076089A (en) * | 2014-06-27 | 2014-10-01 | 南京晨光集团有限责任公司 | Automatic ultrasonic C scanning detection system for annular forging |
| CN107179352A (en) * | 2017-06-21 | 2017-09-19 | 张家港中环海陆特锻股份有限公司 | Annular forging piece automatic flaw detection device |
| CN109115873A (en) * | 2018-07-27 | 2019-01-01 | 中国工程物理研究院化工材料研究所 | A kind of annular multiaxis scanning equipment for complex configuration revolving body ultrasound detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112359201A (en) * | 2020-10-26 | 2021-02-12 | 武汉理工大学 | Noninvasive repair method for microstructure defects of metal bearing |
| CN112359201B (en) * | 2020-10-26 | 2022-05-06 | 武汉理工大学 | Noninvasive repair method for microstructure defects of metal bearing |
| CN112730620A (en) * | 2021-02-02 | 2021-04-30 | 武汉理工大学 | Ring forging ultrasonic detection method based on 5G signal transmission |
| CN112730620B (en) * | 2021-02-02 | 2023-09-26 | 武汉理工大学 | Ring forging ultrasonic detection method based on 5G signal transmission |
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| CN112114042B (en) | 2024-06-25 |
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