CN112305084A - Fillet weld detection process based on ultrasonic technology and test block - Google Patents

Fillet weld detection process based on ultrasonic technology and test block Download PDF

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Publication number
CN112305084A
CN112305084A CN202011348700.1A CN202011348700A CN112305084A CN 112305084 A CN112305084 A CN 112305084A CN 202011348700 A CN202011348700 A CN 202011348700A CN 112305084 A CN112305084 A CN 112305084A
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test
fillet weld
detection
test block
instrument
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陶振国
李望
彭若谷
赵炜炜
葛振国
严小华
张琴玲
黄一君
吴长青
汪博
黄启川
卢志飞
丁非
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Fengtai Power Supply Branch Of Huaizhe Coal Power Co ltd
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Fengtai Power Supply Branch Of Huaizhe Coal Power Co ltd
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Priority to CN202011348700.1A priority Critical patent/CN112305084A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating 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
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/30Arrangements for calibrating or comparing, e.g. with standard objects
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating 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
    • G01N29/04Analysing solids
    • G01N29/06Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654Imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating 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
    • G01N29/04Analysing solids
    • G01N29/06Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654Imaging
    • G01N29/069Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/26Scanned objects
    • G01N2291/267Welds

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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 fillet weld detection process and a test block based on an ultrasonic technology, belongs to the field of fillet weld detection, relates to the fillet weld detection process technology of the ultrasonic technology, and is used for solving the problems that the prior art is only suitable for the performance test of a flat butt-joint weld instrument and cannot completely reflect the performance of the instrument in the process of directly facing the fillet weld detection; the method is suitable for conventional ultrasound and phased array ultrasound, and is not suitable for the problem of full-focus ultrasound; the method is simultaneously suitable for a phased array ultrasonic detection technology and a full-focus ultrasonic detection technology; the invention is suitable for fillet welds with branch pipes of small diameter (the outer diameter is less than 100 mm); the method is suitable for the condition that drilling holes and steps exist in the existing field angle welding seam structure; the method is suitable for verification of a detection process, and the test block is particularly concerned about detection of surface defects, harmfulness defects of important parts of welding seams, defects of special parts such as steps and drill holes and the like; the test block can test the performance of the instrument aiming at the structure of the fillet weld, and verify whether the performance of the instrument meets the requirement of fillet weld detection.

Description

Fillet weld detection process based on ultrasonic technology and test block
Technical Field
The invention belongs to the field of fillet weld detection, relates to a fillet weld detection process technology of an ultrasonic technology, and particularly relates to a fillet weld detection process and a test block based on the ultrasonic technology.
Background
At present, ray or conventional ultrasonic detection methods are mainly used for detecting fillet welds, and in recent years, with the development of computer technology, phased array ultrasonic detection technology is increasingly applied to pipeline welding joint detection. The existing simulation test block is mainly formed by processing and setting a certain amount of common type defects according to the specification and size welding process of a pipe fitting, and the defect simulation test block generally only considers the insertion type or placement type fillet weld with regular specification and does not consider the condition that a drilling hole or a step exists inside the fillet weld. For the performance test of the detection instrument, the A-type test block and the B-type test block in GB/T29302 Performance and inspection of phased array ultrasonic detection system of nondestructive detection instrument are generally used, and no special detection test block for fillet weld is provided. Because the fillet weld has a special structure, primary waves, secondary waves and tertiary waves of ultrasonic signals are involved in the process of signal identification, the detection process verification of the phased array instrument pipeline fillet weld cannot be suitable for the fillet weld with an irregular structure, and the method is mainly used for the fillet weld with a large branch pipe specification and generally does not involve the condition that the branch pipe is a small-diameter pipe (the diameter is less than 100 mm); the device is only suitable for the performance test of a flat plate butt welding line instrument, and cannot completely reflect the performance of the instrument when the instrument is over against the fillet welding line; is suitable for conventional ultrasound and phased array ultrasound, and is not suitable for full-focus ultrasound.
Disclosure of Invention
The invention aims to provide a fillet weld detection process and a test block based on an ultrasonic technology, which are used for solving the problems that the prior art is only suitable for the performance test of a flat butt weld instrument and cannot completely reflect the performance of the instrument when the instrument is over against the fillet weld for detection; is suitable for conventional ultrasound and phased array ultrasound, and is not suitable for the problem of full-focus ultrasound.
The purpose of the invention can be realized by the following technical scheme:
a fillet weld detection process based on an ultrasonic technology comprises the following steps:
the method comprises the following steps: placing a probe at a position, close to a weld, of a branch pipe of the fillet weld test block, and ensuring that the curvature diameter of a wedge block matched with the probe is matched with the diameter of the branch pipe of the fillet weld test block;
step two: when the performance of the instrument is verified, different probes are selected, and different settings are used in the instrument to test the combination performance of the instrument and the probes;
after the selection and the related setting of the instrument and the probe are finished, the probe is placed at the corresponding position of the test block, and the test result is observed;
step four: and judging the test result.
Further, in the step one, the placement position of the probe is identical to the placement position of the probe in the process needing verification and detection.
Further, the following parameters are considered when selecting the probe in the second step: frequency, number of wafers, wafer spacing; when verifying phased array ultrasound imaging performance, consider the following parameters: the method comprises the steps of measuring the number of channels of an instrument, the number of excitation wafers during phased array ultrasonic imaging, the angle range of fan scanning imaging, the angle stepping value during fan scanning imaging, the setting of a focusing mode, the selection of a full focusing imaging mode and the stepping value of full focusing imaging.
Further, the judgment in the fourth step is specifically as follows:
a1, observing whether the curved hole to be tested on the test block can be displayed on the ultrasonic instrument, and judging the test result which cannot be displayed according to failure;
a2, observing whether the bent holes can be clearly and independently displayed, and judging the test result as failure when the display signals of the bent holes are connected together.
A fillet weld test block based on an ultrasonic technology comprises a main test block, a first rotating fixed table, a second rotating fixed table, a test plate and an inner insertion plate;
the main test block is rectangular, two corners of the main test block are provided with circular arc-shaped inverted circles, the first rotating and fixing table penetrates through the upper half part of the main test block, the second rotating and fixing table penetrates through the lower half part of the main test block, and fixing grooves are formed in the first rotating and fixing table and the second rotating and fixing table;
the test board is semicircular, first detection holes are formed in the test board, and the first detection holes are arranged in a semicircular shape;
one end of the test board is provided with a fixing hole, and the shape of the cross section of the fixing hole is the same as that of the cross section of the first rotating and fixing table and that of the cross section of the second rotating and fixing table;
a fixed block is welded in the fixed hole and is matched with the fixed groove;
the other end of the test board is provided with a limit groove, the limit groove is an arc-shaped groove, and the limit groove can be matched with the first rotating fixing table and the second rotating fixing table for use.
Furthermore, one side of the test board is provided with an embedded groove, an inner inserting board is embedded in the embedded groove, the inner inserting board is provided with a second detection hole, the second detection hole is arranged corresponding to the first detection hole, and the diameter of the second detection hole is smaller than that of the first detection hole.
Furthermore, one end of the inner inserting plate is rotatably connected with a fixed button, and a drawing plate is rotatably connected between the fixed button and the inner inserting plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the method is simultaneously suitable for a phased array ultrasonic detection technology and a full-focus ultrasonic detection technology;
2. the fillet weld joint is suitable for fillet welds with branch pipes of small diameter (the outer diameter is less than 100 mm);
3. the method is suitable for the condition that drilling holes and steps exist in the existing field angle welding seam structure;
4. the method is suitable for verification of a detection process, and the test block is particularly concerned about detection of surface defects, harmfulness defects of important parts of welding seams, defects of special parts such as steps and drill holes and the like;
5. the test block can test the performance of the instrument aiming at the structure of the fillet weld, and verify whether the performance of the instrument meets the requirement of fillet weld detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a test block structure according to the present invention;
FIG. 2 is a functional block diagram of the present invention;
FIG. 3 is a schematic structural view of the region 1 of the present invention;
FIG. 4 is a schematic structural diagram of region 2 of the present invention;
FIG. 5 is a schematic structural view of region 3 of the present invention;
FIG. 6 is a schematic structural view of region 4 of the present invention;
fig. 7 is a schematic structural diagram of the region 5 of the present invention.
In the figure: 1. a main test block; 2. a first rotating and fixing table; 3. a second rotating and fixing table; 4. a test board; 5. an interposer; 6. fixing grooves; 7. a first detection hole; 8. a fixing hole; 9. a fixed block; 10. a limiting groove; 11. embedding a groove; 13. a second detection hole; 14. a fixing button; 15. and a drawing plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the detailed description of the embodiments of the present invention provided in the following drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention.
As shown in fig. 1 to 7, a fillet weld inspection process based on an ultrasonic technique includes the following steps:
the method comprises the following steps: placing a probe at a position, close to a weld, of a branch pipe of the fillet weld test block, and ensuring that the curvature diameter of a wedge block matched with the probe is matched with the diameter of the branch pipe of the fillet weld test block;
step two: when the performance of the instrument is verified, different probes are selected, and different settings are used in the instrument to test the combination performance of the instrument and the probes;
after the selection and the related setting of the instrument and the probe are finished, the probe is placed at the corresponding position of the test block, and the test result is observed;
step four: and judging the test result.
In the first step, the placing position of the probe is completely the same as the placing position of the probe in the detection process needing verification.
And in the second step, the following parameters are considered when selecting the probe: frequency, number of wafers, wafer spacing; when verifying phased array ultrasound imaging performance, consider the following parameters: the method comprises the steps of measuring the number of channels of an instrument, the number of excitation wafers during phased array ultrasonic imaging, the angle range of fan scanning imaging, the angle stepping value during fan scanning imaging, the setting of a focusing mode (depth, sound path and projection), the selection of a full-focus imaging mode (pulse reflection and tandem) and the stepping value of full-focus imaging.
The judgment in the fourth step is as follows:
a1, observing whether the curved hole to be tested on the test block can be displayed on the ultrasonic instrument, and judging the test result which cannot be displayed according to failure;
a2, observing whether the bent holes can be clearly and independently displayed, and judging the test result according to failure when the display signals of the bent holes are connected together;
a fillet weld test block based on ultrasonic technology comprises a main test block 1, a first rotary fixed table 2, a second rotary fixed table 3, a test plate 4 and an inner insertion plate 5;
the main test block 1 is rectangular, the two corners of the main test block are provided with circular arc-shaped inverted circles, the first rotating and fixing table 2 penetrates through the upper half part of the main test block 1, the second rotating and fixing table 3 penetrates through the lower half part of the main test block 1, and the first rotating and fixing table 2 and the second rotating and fixing table 3 are both provided with fixing grooves 6;
the test board 4 is semicircular, first detection holes 7 are formed in the test board 4, and the first detection holes 7 are arranged in a semicircular shape;
one end of the test board 4 is provided with a fixing hole 8, and the shape of the cross section of the fixing hole 8 is the same as that of the cross section of the first rotary fixing table 2 and that of the cross section of the second rotary fixing table 3;
a fixed block 9 is welded in the fixed hole 8, and the fixed block 9 is matched with the fixed groove 6 for use;
the other end of the test board 4 is provided with a limit groove 10, the limit groove 10 is an arc-shaped groove, and the limit groove 10 can be matched with the first rotating fixing table 2 and the second rotating fixing table 3 for use.
An embedded groove 11 is formed in one side of the test board 4, an inner inserting board 5 is embedded into the embedded groove 11, a second detection hole 13 is formed in the inner inserting board 5, the second detection hole 13 corresponds to the first detection hole 7, and the diameter of the second detection hole 13 is smaller than that of the first detection hole 7.
One end of the inner inserting plate 5 is rotatably connected with a fixed button 14, and a drawing plate 15 is rotatably connected between the fixed button 14 and the inner inserting plate 5.
The specific embodiment of the invention is as follows:
the first embodiment is as follows:
according to the specific specification of the fillet weld pipe fitting to be detected, a series of simulation test blocks with the same specification and a certain number of bent holes are designed for testing the performance of an instrument and verifying the defect detection effect of a difficult area. The bent holes are generally in the specification of phi 1mm, and can be changed into other specifications according to the requirements of instrument performance test or detection process verification.
The application method of the fillet weld detection process verification and instrument performance test block is characterized in that a probe is placed at a position, close to a weld, of a branch pipe of the fillet weld test block, and the curvature diameter of a wedge matched with the probe is guaranteed to be matched with the diameter of the branch pipe of the fillet weld verification test block. The placement position of the probe is identical to the placement position of the probe in the process needing verification and detection. When the performance of the instrument is verified, the performance of the combination of the instrument and the probe is tested by selecting different probes and using different settings in the instrument. The following parameters were considered when selecting the probe: frequency, number of wafers, wafer spacing. When verifying phased array ultrasound imaging performance, consider the following parameters: the method comprises the steps of measuring the number of channels of an instrument, the number of excitation wafers during phased array ultrasonic imaging, the angle range of fan scanning imaging, the angle stepping value during fan scanning imaging, the setting of a focusing mode (depth, sound path and projection), the selection of a full-focus imaging mode (pulse reflection and tandem) and the stepping value of full-focus imaging. After the selection and the related setting of the instrument and the probe are finished, the probe is placed at the corresponding position of the test block, the test result is observed, and whether the test is judged by referring to the following criteria is tested: 1. whether the curved hole to be tested on the test block can be displayed on the ultrasonic instrument or not is observed, and the test result which cannot be displayed is judged according to failure; 2. and observing whether the bent holes can be clearly and independently displayed, and judging the test result according to failure when the display signals of the bent holes are connected together.
The test block is mainly used for verifying the detection process of a plurality of regions of the fillet weld and testing the performance of the instrument, as shown in fig. 3, a region 1 is a near-surface region and is used for testing the near-surface defect detection capability of the fillet weld detection process and the resolution of the ultrasonic instrument in the near-surface region. As shown in FIG. 4, region 2 includes the weld region and also includes the parent material region of the fillet weld for testing the focusing capabilities of the instrument and probe combination in detecting the fillet weld. As shown in fig. 5, the region 3 is a region near the borehole, and is mainly used for testing the detection capability of the fillet weld detection process for the region, and also for testing the longitudinal resolution of the instrument and probe combination in the region, so as to ensure that the fillet weld detection scheme can effectively find defects near the borehole region. As shown in fig. 6, region 4 is the area of the manifold adjacent the weld and is used primarily to test the defect detection capability of this region when the probe is used to test directly over the weld, and the lateral resolution of the instrument and probe combination in this region. As shown in fig. 7, the region 5 is mainly in the weld area, and is mainly used for testing the coverage of the fan scanning sound beam of the detection scheme, the angle resolution of the instrument and probe combination and the measurement error of the fan scanning angle range.
Example two:
according to the specific specification of the fillet weld pipe fitting to be detected, a series of simulation test blocks with the same specification and a certain number of bent holes are designed for testing the performance of an instrument and verifying the defect detection effect of a difficult area. The bent holes are generally in the specification of phi 1mm, and can be changed into other specifications according to the requirements of instrument performance test or detection process verification.
When other specifications are changed into, the inner inserting plate 5 installed on the test plate 4 is only required to be replaced by the required specification, and then the probe is placed at the position, close to the weld, of the branch pipe of the fillet weld test block, so that the curvature diameter of the wedge matched with the probe is matched with the diameter of the fillet weld verification test block branch pipe. The placement position of the probe is identical to the placement position of the probe in the process needing verification and detection. When the performance of the instrument is verified, the performance of the combination of the instrument and the probe is tested by selecting different probes and using different settings in the instrument. The following parameters were considered when selecting the probe: frequency, number of wafers, wafer spacing. When verifying phased array ultrasound imaging performance, consider the following parameters: the method comprises the steps of measuring the number of channels of an instrument, the number of excitation wafers during phased array ultrasonic imaging, the angle range of fan scanning imaging, the angle stepping value during fan scanning imaging, the setting of a focusing mode (depth, sound path and projection), the selection of a full-focus imaging mode (pulse reflection and tandem) and the stepping value of full-focus imaging. After the selection and the related setting of the instrument and the probe are finished, the probe is placed at the corresponding position of the test block, the test result is observed, and whether the test is judged by referring to the following criteria is tested: 1. whether the curved hole to be tested on the test block can be displayed on the ultrasonic instrument or not is observed, and the test result which cannot be displayed is judged according to failure; 2. and observing whether the bent holes can be clearly and independently displayed, and judging the test result according to failure when the display signals of the bent holes are connected together.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art; the preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (7)

1. A fillet weld detection process based on an ultrasonic technology is characterized by comprising the following steps:
the method comprises the following steps: placing a probe at a position, close to a weld, of a branch pipe of the fillet weld test block, and ensuring that the curvature diameter of a wedge block matched with the probe is matched with the diameter of the branch pipe of the fillet weld test block;
step two: when the performance of the instrument is verified, different probes are selected, and different settings are used in the instrument to test the combination performance of the instrument and the probes;
after the selection and the setting of the instrument and the probe are finished, placing the probe at the corresponding position of the test block, and observing the test result;
step four: and judging the test result.
2. The fillet weld inspection process based on the ultrasonic technology as claimed in claim 1, wherein in the first step, the placement position of the probe is identical to the placement position of the probe in the inspection process needing to be verified.
3. The ultrasonic technology-based fillet weld detection process as claimed in claim 1, wherein the following parameters are considered when selecting the probe in the second step: frequency, number of wafers, wafer spacing; when verifying phased array ultrasound imaging performance, consider the following parameters: the method comprises the steps of measuring the number of channels of an instrument, the number of excitation wafers during phased array ultrasonic imaging, the angle range of fan scanning imaging, the angle stepping value during fan scanning imaging, the setting of a focusing mode, the selection of a full focusing imaging mode and the stepping value of full focusing imaging.
4. The fillet weld detection process based on the ultrasonic technology as claimed in claim 1, wherein the judgment in the fourth step is as follows:
a1, observing whether the curved hole to be tested on the test block can be displayed on the ultrasonic instrument, and judging the test result which cannot be displayed according to failure;
a2, observing whether the bent holes can be clearly and independently displayed, and judging the test result as failure when the display signals of the bent holes are connected together.
5. A fillet weld test block based on an ultrasonic technology is characterized by comprising a main test block (1), a first rotary fixed table (2), a second rotary fixed table (3), a test board (4) and an inner insertion board (5);
the main test block (1) is rectangular, two corners of the main test block are provided with circular arc-shaped inverted circles, the first rotating and fixing table (2) penetrates through the upper half part of the main test block (1), the second rotating and fixing table (3) penetrates through the lower half part of the main test block (1), and fixing grooves (6) are formed in the first rotating and fixing table (2) and the second rotating and fixing table (3);
the test board (4) is semicircular, first detection holes (7) are formed in the test board (4), and the first detection holes (7) are distributed in a semicircular shape;
one end of the test board (4) is provided with a fixing hole (8), and the shape of the cross section of the fixing hole (8) is the same as that of the cross section of the first rotating and fixing table (2) and that of the cross section of the second rotating and fixing table (3);
a fixing block (9) is welded in the fixing hole (8), and the fixing block (9) is matched with the fixing groove (6) for use;
the other end of the test board (4) is provided with a limiting groove (10), the limiting groove (10) is an arc-shaped groove, and the limiting groove (10) is matched with the first rotating fixed table (2) and the second rotating fixed table (3) for use.
6. The fillet weld test block based on the ultrasonic technology as claimed in claim 5, wherein one side of the test board (4) is provided with an embedded groove (11), the embedded groove (11) is embedded with an inner inserting board (5), the inner inserting board (5) is provided with a second detection hole (13), the second detection hole (13) is arranged corresponding to the first detection hole (7), and the diameter of the second detection hole (13) is smaller than that of the first detection hole (7).
7. The fillet test block based on the ultrasonic technology as recited in claim 5, wherein a fixing button (14) is rotatably connected to one end of the inner insert (5), and a drawing plate (15) is rotatably connected between the fixing button (14) and the inner insert (5).
CN202011348700.1A 2020-11-26 2020-11-26 Fillet weld detection process based on ultrasonic technology and test block Pending CN112305084A (en)

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN117420207A (en) * 2023-10-18 2024-01-19 浙江大学 Pipe socket fillet weld ultrasonic plane wave full-focusing detection method, system and device for pipe connection end

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