WO2018128225A1 - Sonde à réseau de courants de foucault ayant une unité d'émission-réception isolée et procédé d'examen par courants de foucault l'utilisant - Google Patents
Sonde à réseau de courants de foucault ayant une unité d'émission-réception isolée et procédé d'examen par courants de foucault l'utilisant Download PDFInfo
- Publication number
- WO2018128225A1 WO2018128225A1 PCT/KR2017/005275 KR2017005275W WO2018128225A1 WO 2018128225 A1 WO2018128225 A1 WO 2018128225A1 KR 2017005275 W KR2017005275 W KR 2017005275W WO 2018128225 A1 WO2018128225 A1 WO 2018128225A1
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- WIPO (PCT)
- Prior art keywords
- eddy current
- magnetic field
- magnetic
- field detection
- excitation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
- G01N27/9013—Arrangements for scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Definitions
- Embodiments of the present invention relate to an arrayed eddy current probe insulated from a transceiver for detecting circumferential cracks and residual material present on the outer surface of a heat exchanger conductive tube and an eddy current inspection method using the same.
- Tubes of heat exchangers used in nuclear power plants are made of fine tubes with good heat transfer rate, corrosion resistance and thinness to improve heat exchange performance. These customs maintain pressure boundaries and are exposed to harsh environments, causing various types of defects such as cracks caused by high and high pressures, abrasion between pipes and pipe supports, and dents. Therefore, it is necessary to periodically perform nondestructive testing for the soundness diagnosis of the heat exchanger tube. Since most heat exchanger tubes are made of nonmagnetic materials, eddy current flaw detection is mainly used for nondestructive testing of such thin nonmagnetic tubes.
- Eddy current inspection on the heat exchanger tube flows a high frequency (tens of tens to hundreds of ohms) of current into the coil of the eddy current probe inserted inside the tube to form an eddy current in the tube, and the eddy current due to the change in the geometry of the tube, the conductivity of the material, the defect, etc. This is done by measuring the presence and size of defects by detecting changes in the system.
- a bobbin probe and a rotating pancake coil (RPC) probe are generally used as an eddy current probe for performing such a test.
- the bobbin transducer is a device in which two coils having the same coil axis as the tube axis are wound annularly in one body, and have a constant gap between the coils. Inspection with bobbin probes has the advantage of fast inspection speed, but has the disadvantage of being sensitive to axial cracking but insensitive to circumferential crack detection.
- the rotary probe is inspected by rotating the fuselage drive having a pancake-shaped coil whose coil axis is perpendicular to the tube plane. Inspection using a rotary probe has excellent defect detection performance in the axial and circumferential directions, but has a disadvantage in that the inspection speed is very slow.
- An array eddy current transducer is one that maintains the advantages of both of these transducers and compensates for them.
- Array The eddy current transducer has a coil arranged in a cylindrical body two-dimensionally in the circumferential direction according to the inspection object. Therefore, by electronically controlling each coil to transmit and receive signals in various directions, an eddy current test can be performed by electronic scanning on the region where the coils are arranged without mechanical rotation.
- the inspection using the eddy current transducer has the advantages of rapid inspection of the bobbin transducer, and the advantage of the rotary probe that can detect circumferential defects and obtain 2D / 3D stereoscopic images of the corresponding site. At the same time, the inspection time is shortened, and the inspection reliability is improved.
- FIG. 1 is a view showing a conventional array eddy current transducer.
- a plurality of coils 100 are densely arranged in a plurality of rows in the circumferential direction of the array eddy current transducer.
- a transmission / reception mode is used in which one coil excites the eddy current and the other coil detects magnetism by the eddy current.
- At least one of the plurality of rows is used to detect circumferential cracks, and two or three rows are used to detect circumferential and axial cracks.
- a multiplexer which is a switching device that selects a transmit / receive coil for electronic scanning.
- FIG. 2 is a diagram illustrating the operation of a conventional array eddy current probe.
- one row for circumferential defect detection is developed in a plane, and each time slot for flaw detection of the inner surface of the heat exchanger tube is performed.
- the coil 210 of the array eddy current transducer is connected to the multiplexer 221 for magnetic excitation (transmission) and the multiplexer 222 for magnetic field detection (reception) of the signal switching device 220, respectively.
- the signal switching device 220 includes a magnetic excitation multiplexer 221, a magnetic field detection multiplexer 222, and a multiplexer controller 223, and is connected to the main body 230 through a lead wire. Therefore, in performing the electronic scan, the coil used as the magnetic field detecting element is used as the magnetic excitation element again.
- each coil 210 should have the same electrical characteristics, it is difficult to use a magnetic element such as a Hall sensor, a large magnetoresistive sensor, or a coil in the form of a printed circuit board (PCB) as a magnetic field detection element. have.
- a magnetic element such as a Hall sensor, a large magnetoresistive sensor, or a coil in the form of a printed circuit board (PCB)
- the technical problem of the present invention is to provide an arrayed eddy current probe and an eddy current flaw detection method using the same in which the transceiver is isolated to improve the signal quality by reducing the signal interference by the self-excitation signal to simplify the existing wiring more .
- Another technical problem of the present invention is to provide an array eddy current probe insulated from a transceiver which can be used in combination of heterogeneous elements, and an eddy current flaw detection method using the same.
- the array eddy current transducer is a body, a plurality of self-excited elements arranged in a row along the circumference of the body and a position spaced apart from the coil for the self-excited coil by a predetermined interval on the one row It may include a plurality of magnetic field detection elements disposed in.
- the self-exciting element may be a coil of any one form of circular, elliptical, and square shape.
- the magnetic field detection element is a coil in the form of any one of a circle, oval and square, such as the magnetic excitation element, or a coil, a hall sensor and a large magnetoresistive element in the form of a PCB (Printed Circuit Board) It can be either.
- the magnetic excitation element and the magnetic field detection element may be alternately arranged two at equal intervals on the one column.
- the array eddy current transducer is a magnetic excitation multiplexer connected to the magnetic excitation element, the magnetic field multiplexer connected to the magnetic field detection element and the magnetic excitation according to the selection signal received from the eddy current inspection device
- the apparatus may further include a controller for selecting at least one of the device and the magnetic field detection device.
- the magnetic excitation element and the magnetic field detection element may be separately connected to the magnetic excitation multiplexer and the magnetic field multiplexer, respectively.
- the method may further include a signal amplifier connected to the magnetic field multiplexer for amplifying the magnetic field signal detected by the magnetic field detection element.
- the magnetic field signal may be detected by the magnetic field detection element at a position separated by one element on the one column from the magnetic excitation element that generated the eddy current among the plurality of magnetic field detection elements.
- the self-excited element may generate an eddy current using the alternating current received from the eddy current inspection device.
- an eddy current flaw detection method using an array eddy current probe generates an eddy current by applying an alternating current to at least one of a plurality of self-excited elements arranged in a row along the circumference of the array eddy current probe. Step, spaced apart from the self-excited element that generated the eddy current on the one column of the plurality of magnetic field detection elements disposed in a position spaced apart from the self-excited coil by a predetermined interval on the one column by a predetermined interval
- the method may include selecting a magnetic field detecting element disposed at a predetermined position and detecting a magnetic signal using the selected magnetic field detecting element.
- the existing wiring can be simplified and the signal interference due to the magnetic excitation signal can be reduced to improve the signal quality.
- the magnetic excitation element group and the magnetic field detection element group are clearly distinguished, heterogeneous elements can be used in combination, so that the size of the transducer can be reduced and the coil can be more densely constructed.
- a smaller number of timeslots can be used to detect one round of the inner surface of the heat exchanger tube, allowing the use of multiplexers with fewer channels, and a faster inspection speed in one cycle, thus increasing the feeder speed.
- FIG. 1 is a view showing a conventional array eddy current transducer.
- FIG. 2 is a planar view of a coil arrangement circumferential defect detection shown in FIG. 1 for explaining the operation of a conventional array eddy current transducer in a plane to transmit / receive each time slot for flaw detection of the inner surface of a heat exchanger tube.
- FIG. 3 is a view showing an array eddy current transducer according to an embodiment of the present invention.
- FIG. 4 is a diagram illustrating a transmission / reception pattern and a configuration of time slots of an array eddy current probe according to an embodiment of the present invention.
- FIG. 5 is an exploded view of an array eddy current transducer device having a heterogeneous combination type according to another embodiment of the present invention.
- FIG. 6 is a diagram illustrating a transmission / reception pattern and a configuration of time slots of an array eddy current probe according to another embodiment of the present invention.
- FIG. 3 is a view showing an array eddy current transducer according to an embodiment of the present invention.
- the array eddy current transducer 300 includes a plurality of magnetic excitation elements 310 arranged in a row along a circumference of the cylindrical body, that is, in a circumferential direction, and a magnet on the one row.
- the excitation coil 310 may include a plurality of magnetic field detecting elements 320 disposed at positions spaced apart by a predetermined interval.
- the magnetic excitation element 310 may generate an eddy current in the body, and the magnetic field detection element 320 may detect magnetism.
- the self-exciting element 310 may be a coil of any one of a circle, an ellipse, and a rectangle.
- the magnetic field detecting element 320 may be a coil of any one of circular, elliptical, and square shapes, such as the magnetic excitation element 310, or a coil, a hall sensor, and a large magnetoresistance (GMR) in the form of a printed circuit board (GMR).
- Giant Magneto Resistance can be any one of the elements. That is, in FIG. 3, a circular coil is used as both the magnetic excitation element and the magnetic field detection element.
- the magnetic excitation element group and the magnetic field detection element group are clearly insulated and distinguished as magnetic field detection elements.
- PCB type coils, Hall sensors, large magnetoresistive elements and the like can be used.
- a total of 16 magnetic excitation elements 310 and the magnetic field detection elements 320 are alternately arranged at equal intervals on one column in an array eddy current transducer, but the number of transmission and reception elements is required. It can be increased or decreased accordingly.
- FIG. 3 illustrates an interpolated probe inserted into a heat exchanger tube provided in a nuclear power plant as an example
- the coil structure of FIG. 3 may be applied to a through type eddy current transducer.
- FIG. 4 is a diagram illustrating a transmission / reception pattern and a configuration of time slots of an array eddy current probe according to an embodiment of the present invention.
- the magnetic excitation elements a, b, e, f, I, j, m and n of the plurality of elements 410 and the magnetic field detection elements c, d, g, h, k, l, o. p) may be separately connected to the magnetic excitation multiplexer 421 and the magnetic field detection multiplexer 422 included in the eddy current signal switching device 420, respectively.
- the eddy current signal switching device 420 may be embedded in the main body 430 of the eddy current inspection device, or may be configured as a separate device or interpolated inside the array eddy current transducer.
- the self-excited multiplexer 421 is connected to the elements of the self-excited elements (a, b, e, f, I, j, m, n) for the magnetic excitation corresponding to the alternating current supplied from the main body 430 through the lead wire It can be applied to the device.
- the self-excited elements (a, b, e, f, I, j, m, n) may generate an eddy current using the alternating current received through the self-excited multiplexer 421.
- the magnetic field detecting multiplexer 422 is connected to the magnetic field detecting elements c, d, g, h, k, l, o.p and the amplifier 424 so that the magnetic field detecting elements c, d, g, h, The magnetic field signal detected by k, l, o. p) may be provided to the signal amplifier 424.
- the magnetic field signal is a magnetic field detection element at a position spaced apart by one element from the magnetic excitation element that generated the eddy current among the plurality of magnetic field detection elements (c, d, g, h, k, l, o. P). Can be detected by.
- the controller 423 controls the magnetic excitation multiplexer 421 to generate an eddy current in the magnetic excitation element e
- the magnetic field is detected so that the magnetic signal is detected by the magnetic field detection elements c and g.
- the detection multiplexer 422 can be controlled.
- the controller 423 may select at least one of the magnetic excitation element and the magnetic field detection element according to the selection signal received from the main body 43 of the eddy current inspection apparatus.
- the signal amplifier 424 may be connected to the magnetic field multiplexer 422 to amplify the magnetic field signal detected by the magnetic field detection elements c, d, g, h, k, l, and p.
- the controller 423 allows an alternating current to be applied to at least one of the plurality of self-excited elements arranged in one row along the circumference of the array eddy current transducers, thereby causing an eddy current to be generated in the self-excited element.
- the magnetic field detecting element may be selected to detect a magnetic signal through the magnetic field detecting element.
- each of the multiplexers 421 and 422 receives a selection signal for selecting any one of the magnetic excitation element and the magnetic field detection element from the main body 430, and sequentially 1s each time slot through the controller 423. You can switch from channel 1 to channel n, where n is a natural number.
- the selection signal may be a signal of m (where m is a natural number) or a continuous signal of a square pulse.
- Each multiplexer 421, 422 may select a coil to enable inspection in the order shown in FIG. 4 through switching. In FIG. 4, "T” represents a transmitting element and "R" represents a receiving element.
- a lead wire is connected to the self-excited multiplexer 421, and an alternating current may be applied to excite the magnetic field from the main body 430.
- the magnetic excitation element (a) disposed at the first of the plurality of elements 410 is connected, and an eddy current is generated by the element (a). do.
- the magnetic field due to the changed eddy current is sensed through the magnetic field detecting elements c, g, k and o at positions where one element is spaced to the left and right of the magnetic excitation elements a and i.
- each magnetic field detection element (c, g, k, o) is connected to the magnetic field multiplexer 422.
- the magnetic field signal detected by the magnetic field detecting elements c, g, k, and o is amplified by a signal amplifier 424 connected to the magnetic field multiplexer 422, and the amplified signal is a main body 430 through a lead wire. Is delivered.
- the controller 423 switches to the second channel and is connected to the second self-excited elements b and j to generate eddy currents in the corresponding element. Then, as in the first time slot, the magnetic field due to the eddy current changed through the magnetic field detecting elements d, h, l, and p at positions where one element is spaced apart from the left and right sides of the corresponding magnetic excitation elements b and j. Is detected.
- the output signal for each time slot is sequentially transmitted to the main body 430 through one lead through switching of the magnetic field multiplexer 422 for one period.
- the array eddy current probe can detect one wheel of the inner surface of the heat exchanger tube with four time slots for one cycle of flaw detection based on 16 elements.
- multiplexers 421 and 422 having a reduced number of channels can be used, and since the one-cycle inspection speed is high, the feeding speed of the transducer can be increased.
- the magnetic excitation portion composed of the magnetic excitation element and the corresponding multiplexer 421 and the magnetic field detection portion composed of the magnetic detection element and the multiplexer 422 are clearly separated from each other, it is possible to simplify and simplify the existing wiring. It is possible to obtain an effect of improving signal quality by reducing signal interference due to an excitation signal.
- FIG. 5 is an exploded view of an array eddy current transducer device having a heterogeneous combination type according to another embodiment of the present invention.
- FIG. 5 illustrates an example in which a heterogeneous element different from the magnetic excitation element 510 is used as the magnetic field detection element 520 in the array eddy current probe. In this case, the size of the array eddy current transducer can be reduced or more compactly constructed.
- FIG. 6 is a diagram illustrating a transmission / reception pattern and a configuration of time slots of an array eddy current probe according to another embodiment of the present invention.
- the transmission and reception is divided into two zones as an example.
- the time slot may be increased without dividing the zones as shown in FIG. 6.
- the eddy current signal switching device 620 can be miniaturized. In this way, the wiring between the magnetic field detecting element and the multiplexer and the number of channels of the multiplexer can be changed as long as the transmission / reception pattern is the same as necessary.
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Abstract
La présente invention concerne une sonde à réseau de courants de Foucault dotée d'une unité d'émission-réception isolée et un procédé d'examen par courants de Foucault l'utilisant. La sonde à réseau de courants de Foucault peut comprendre : un corps ; une pluralité d'éléments d'excitation magnétique disposés en une rangée le long de la périphérie du corps ; et une pluralité d'éléments de détection de champ magnétique agencés dans la rangée à des positions espacées d'un intervalle prédéfini de la bobine d'excitation magnétique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201780082184.2A CN110140049A (zh) | 2017-01-03 | 2017-05-22 | 具有绝缘收发器单元的涡流阵列探针和使用其的涡流检查方法 |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020170000815A KR101941354B1 (ko) | 2017-01-03 | 2017-01-03 | 송수신부가 절연된 배열 와전류 탐촉자 및 이를 이용한 와전류 탐상 검사 방법 |
| KR10-2017-0000815 | 2017-01-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018128225A1 true WO2018128225A1 (fr) | 2018-07-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/KR2017/005275 Ceased WO2018128225A1 (fr) | 2017-01-03 | 2017-05-22 | Sonde à réseau de courants de foucault ayant une unité d'émission-réception isolée et procédé d'examen par courants de foucault l'utilisant |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR101941354B1 (fr) |
| CN (1) | CN110140049A (fr) |
| WO (1) | WO2018128225A1 (fr) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229903A (zh) * | 2020-04-29 | 2021-01-15 | 核动力运行研究所 | 一种传热管用涡流阵列探头 |
| CN113567544A (zh) * | 2020-04-29 | 2021-10-29 | 核动力运行研究所 | 一种适用于角形件检查的涡流阵列探头 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823998A (zh) * | 2019-11-18 | 2020-02-21 | 中广核检测技术有限公司 | 一种核电站蒸发器传热管柔性旋转涡流检测传感器 |
| CN112014458A (zh) * | 2020-09-04 | 2020-12-01 | 中广核检测技术有限公司 | 一种用于小径管缺陷检测的涡流探头组及方法 |
| CN116223613A (zh) * | 2022-12-29 | 2023-06-06 | 深圳市华芯半导体装备技术有限公司 | 一种利用涡流探伤的阵列探头 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1090231A (ja) * | 1996-09-12 | 1998-04-10 | Mitsubishi Heavy Ind Ltd | 渦電流探傷プローブ |
| JP2000235019A (ja) * | 1999-02-12 | 2000-08-29 | Genshiryoku Engineering:Kk | 渦流探傷プローブ |
| JP2007263946A (ja) * | 2006-03-03 | 2007-10-11 | Hitachi Ltd | 渦電流探傷センサ及び渦電流探傷方法 |
| US20100102808A1 (en) * | 2007-01-27 | 2010-04-29 | Innospection Group Limited | Method and apparatus for non-destructive testing |
| US7948233B2 (en) * | 2008-10-07 | 2011-05-24 | General Electric Company | Omnidirectional eddy current array probes and methods of use |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4327745B2 (ja) * | 2005-02-18 | 2009-09-09 | 株式会社日立製作所 | 渦電流探傷プローブ及び渦電流探傷装置 |
| JP5175513B2 (ja) * | 2007-09-20 | 2013-04-03 | 株式会社原子力エンジニアリング | 渦流探傷方法、渦流探傷装置及び渦流探傷プローブ |
| CA2842888C (fr) * | 2012-06-21 | 2014-12-30 | Eddyfi Ndt Inc. | Sonde a groupement a courant de foucault a haute resolution |
| CN102841136B (zh) * | 2012-09-01 | 2015-07-29 | 爱德森(厦门)电子有限公司 | 一种基于阵元线圈的变阵列涡流仪器设计方法 |
| CN105806929A (zh) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | 一种铁磁性薄壁管周向交流磁化漏磁检测的阵列探头 |
-
2017
- 2017-01-03 KR KR1020170000815A patent/KR101941354B1/ko active Active
- 2017-05-22 WO PCT/KR2017/005275 patent/WO2018128225A1/fr not_active Ceased
- 2017-05-22 CN CN201780082184.2A patent/CN110140049A/zh active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1090231A (ja) * | 1996-09-12 | 1998-04-10 | Mitsubishi Heavy Ind Ltd | 渦電流探傷プローブ |
| JP2000235019A (ja) * | 1999-02-12 | 2000-08-29 | Genshiryoku Engineering:Kk | 渦流探傷プローブ |
| JP2007263946A (ja) * | 2006-03-03 | 2007-10-11 | Hitachi Ltd | 渦電流探傷センサ及び渦電流探傷方法 |
| US20100102808A1 (en) * | 2007-01-27 | 2010-04-29 | Innospection Group Limited | Method and apparatus for non-destructive testing |
| US7948233B2 (en) * | 2008-10-07 | 2011-05-24 | General Electric Company | Omnidirectional eddy current array probes and methods of use |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229903A (zh) * | 2020-04-29 | 2021-01-15 | 核动力运行研究所 | 一种传热管用涡流阵列探头 |
| CN113567544A (zh) * | 2020-04-29 | 2021-10-29 | 核动力运行研究所 | 一种适用于角形件检查的涡流阵列探头 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110140049A (zh) | 2019-08-16 |
| KR20180079989A (ko) | 2018-07-11 |
| KR101941354B1 (ko) | 2019-01-22 |
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