Bolts are important fasteners indispensable in the manufacturing field for their advantages, which include convenient assembly and disassembly, easy maintenance, refastenability to prevent looseness, and the avoidance of a phase change in the connected material composition. The precise control of the tightening force in bolts is closely related to the safety and reliability of the connected equipment or structure. Although there are many methods for estimating the tightening force applied to a bolt during assembly, poor accuracy in controlling the preload during the tightening process and a lack of monitoring to determine the residual axial force in service remain issues in evaluating the safety of bolted assemblies. As a nondestructive testing technology, ultrasonic measurement can be applied to successfully address these issues. In order to help researchers understand the theoretical basis and technological development in this field and to equip them to conduct further in-depth research, in this review, the basic knowledge describing the state of stress and deformation of bolts, as well as conventional testing methods are summarized and analyzed. Then, through a review of recent research of the ultrasonic measurement of the axial stress in bolts, the influence of the effective stressed length and temperature are analyzed and proposed methods of calibration and compensation are reviewed. In order to avoid coupling errors caused by traditional piezoelectric transducers, two newly proposed ultrasonic coupling technologies, the electromagnetic acoustic transducer (EMAT) and the permanent mounted transducer system (PMTS), are reviewed. Finally, the new direction of research of the detection of residual axial stress in in-service bolts that have been assembled to yield is discussed.

Based on the acoustoelasticity theory, a certain relationship exists between ultrasonic velocity and stress. By combining shear and longitudinal waves, this paper provides a nondestructive method of evaluating axial stress in a tightened bolt. For measuring the bolt axial stress in different situations, such as under low or high loads, this paper provides guidelines for calculating the stress for a given load factor. Experimental and calculated results were compared for three bolt test samples: an austenitic stainless steel bolt (A2-70) and low-carbon steel 4.8 and 8.8 bolts. On average, the experimental results were in good agreement with those obtained through calculations, thus providing a nondestructive method for bolt stress measurements.

The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method. The shortest distance rule is adopted to optimize the inverse kinematics solutions. The best joint-angle solution is identified. Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot. Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface. The developed robot ultrasonic testing system is validated. The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing. The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method. The shortest distance rule is adopted to optimize the inverse kinematics solutions. The best joint-angle solution is identified. Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot. Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface. The developed robot ultrasonic testing system is validated. The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing.

Based on the changes of microhardness, tensile strength, and impact resistance caused by the difference of macroscopic morphology and microstructure of welded joints, this paper studied the effect of different ultrasonic power on the properties of welded joints during the welding of homogeneous armor steel. It is experimentally found that the macroscopic morphology of those joints is very different. Compared with conventional welding, ultrasonic welding can increase the weld depth and the width of the heat-affected zone (HAZ) on either side of the weld. However, only the ultrasonic wave at an appropriate power level can increase the weld width. In addition, appropriate ultrasonic power can significantly improve the grain state of the weld. With the increase of ultrasonic power, the grain size in HAZ will decrease. The microhardness of the weld will first increase and then decrease, while the microhardness of the HAZ will increase. This is basically consistent with the changing trend of impact resistance. An ultrasonic wave can also increase the tensile strength of a welded joint up to 802 MPa, 12.4% higher than that in conventional welding. However, a high-power ultrasonic wave will bring down the tensile strength. This study provides guidance for the selection of ultrasonic-assisted regulation power to achieve the different properties of homogeneous armor steel joints.

Aluminum alloy components typically have structural characteristics such as large size and complex shape, making the in situ non-destructive detection of internal residual stress in these structures a challenge that the manufacturing sector has tried to solve. Ultrasonic longitudinal critically refracted (L_CR) waves have shown good sensitivity to normal stress in the horizontal direction and could be used to detect the distribution of internal residual stress in components, offering an advantage not shared by other detection methods. In this study, we investigated the propagation mode of L_CR waves in a 2A14 aluminum alloy component and established the characterization model of the average normal stress of L_CR waves in different depth ranges. The blocking effect of L_CR waves by a groove with a depth equal to twice the wavelength was analyzed and experimentally verified using a machined aluminum alloy test specimen. Then, the propagation depths of L_CR waves in the aluminum alloy at different frequencies were determined. A load test on a cantilever beam based on the stress depth distribution model was designed, and the stress characterization model and L_CR waves’ propagation depth were further verified by the self-developed L_CR wave stress detection system. The test results showed that the L_CR wave could accurately detect the depth distribution of stress and could serve as a useful tool for evaluating the depth distribution of normal stress inside aluminum alloy components.