CN104155310B - 360 degree of detection devices of roller open defect and method - Google Patents
360 degree of detection devices of roller open defect and method Download PDFInfo
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- CN104155310B CN104155310B CN201410407835.9A CN201410407835A CN104155310B CN 104155310 B CN104155310 B CN 104155310B CN 201410407835 A CN201410407835 A CN 201410407835A CN 104155310 B CN104155310 B CN 104155310B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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Abstract
The invention discloses a kind of 360 degree of detection devices of roller open defect, include the device for transporting objects and imaging unit of Industrial Computer Control；The device for transporting objects is supporting roller conveying device；The imaging unit includes outer circle imaging unit and both ends imaging unit；Outer circle imaging unit is arranged in the top of the supporting roller conveying device, and corresponding both ends imaging unit is respectively set in the both sides of the supporting roller conveying device.
Description
Technical field
The present invention relates to a kind of 360 degree of detection devices of roller open defect and a kind of detection methods, more specifically, being related to
One kind to cylindrical or conical roller for carrying out 360 degree of optical imageries automatically, the method for carrying out full angle appearance detection.
Background technology
Roller in roller bearing is important rolling member, and the quality of roller directly affects quality and the longevity of bearing
Life.The detection of roller at present mainly uses following several detection methods：Artificial range estimation, eddy current inspection, ultrasonic examination and magnetic powder
Flaw detection.
In production practices, usually the above several method is combined, final inspection carries out full open defect with manually estimating
Inspection or sampling observation.Since above detection method all has certain suitability and limitations, artificial range estimation needs to spend a large amount of inspections
Survey personnel, while testing staff can have the inconsistent and tired of subjective judgement, there is a situation where missing inspections always to occur.So
In order to substitute certain steps when artificial detection, being detected to workpiece by the method for optical imagery becomes present roller
The important development direction of workpiece sensing.What the current existing method using optical imagery was detected the open defect of roller
Method or apparatus mainly has following several：
As patent " the bearing roller detector (application number 201210372221.2) based on high-resolution CCD technologies " carries
A kind of device gone out, using Camera Test method upper and lower, on the six direction of front, rear, left and right, although this method
It is able to detect that more face, but since its camera is to fix, the time of six cameras shooting is only bearing element
In an instant by six cameras, and at this moment, since there are six the major defects of camera establishing shot so that its
The value of detection can not be very accurate, and workpiece is held since any time has been required to supporting plate, so when detection, it must
It is fixed to be fully recorded there are one face.And its detection process is excessively complicated, needs screens, then transport corresponding detection
Process etc. of taking pictures, the serious working efficiency for affecting detection, especially current this by extensive economy are carried out in babinet
During changing to Intensive economy, the production equipment of this poor efficiency will greatly fetter input of labor so that production
The production cost of product is excessively high, the resources of production of serious waste society.
What patent " a kind of taper roller surface defects detection system (application number 201310147390.0) " proposed for another example is another
A kind of outer detection method does not accomplish accurately and reliably 360 degree of coverings in outer circle imaging side face, is easy to happen missing inspection, and same
It is cumbersome to there is detection process, leads to the lower defect of its detection efficiency.
Invention content
The technical problem to be solved in the present invention is to provide a kind of 360 degree of detection devices of roller open defect and methods.
In order to solve the above technical problem, the present invention provides a kind of 360 degree of detection devices of roller open defect, including industry
The device for transporting objects and imaging unit of computer control；The device for transporting objects is supporting roller conveying device；The imaging is single
Member includes outer circle imaging unit and both ends imaging unit；Outer circle imaging unit is arranged in the top of the supporting roller conveying device, described
Corresponding both ends imaging unit is respectively set in the both sides of supporting roller conveying device.
As the improvement to 360 degree of detection devices of roller open defect of the present invention：The supporting roller conveying device packet
It includes and places the carrying roller of roller workpiece, drive the carrying roller carrier chain of carrying roller operation and drive the driving wheel of carrying roller carrier chain operation.
It is further improved as to 360 degree of detection devices of roller open defect of the present invention：The outer circle imaging
Unit includes the counting device counted to the angle of rotation of carrying roller and carries out the outer circle of shooting control by the counting device
Phase unit；The both ends imaging unit includes the positioning device positioned to roller workpiece and is carried out by the positioning device
The end face A cameras and end face B cameras of control, the end face A cameras and end face B cameras are separately positioned on the two of supporting roller conveying device
Side.
It is further improved as to 360 degree of detection devices of roller open defect of the present invention：The counting device
Including displacement encoder and pulse counter；The displacement encoder sends out corresponding arteries and veins after being counted to the angle of rotation of carrying roller
Signal is rushed, the pulse counter calculates the respective angles of roller workpiece by the pulse signal of displacement encoder, and carries out outer
The shooting control of circle phase unit；The positioning device is photoelectric sensor.
It is further improved as to 360 degree of detection devices of roller open defect of the present invention：The outer circle camera
Outer circle camera quantity in group is at least one.
It is further improved as to 360 degree of detection devices of roller open defect of the present invention：The outer circle camera
Outer circle camera, end face A cameras and end face B cameras in group are all made of high speed, high resolution CCD industrial cameras.
360 degree of detection methods of roller open defect；Roller workpiece is positioned over above the carrying roller of supporting roller conveying device, is passed through
Carrying roller conveys roller workpiece；Two end faces of roller workpiece are shot by end face A cameras and end face B cameras, complete rolling
The open defect of two end faces of sub- workpiece detects；The side that roller workpiece is carried out by outer circle phase unit is shot, and rolling is completed
The open defect of sub- side surface of workpiece detects.
As the improvement to 360 degree of detection methods of roller open defect of the present invention：The work of the outer circle phase unit
Steps are as follows for work：After carrying roller rotates certain angle, displacement encoder generates corresponding pulse signal；Pulse counter is compiled to moving
The corresponding pulses signal that code device generates is counted, and when reaching the angle for needing to shoot, pulse counter controls outer circle
All outer circle cameras of phase unit are shot.
As one stepping of improvement to 360 degree of detection methods of roller open defect of the present invention：The roller workpiece
When carrying roller rotates, when calculating carrying roller rotation respective angles by the diameter ratio between roller workpiece and carrying roller, rolling
The respective corners angle value of sub- workpiece rotation.
As one stepping of improvement to 360 degree of detection methods of roller open defect of the present invention：The end face A cameras
It is as follows with the work step of end face B cameras：Photoelectric sensor controls end face A cameras and end when detecting that roller workpiece passes through
Face B cameras are carried out at the same time shooting.
Advantages of the present invention is as follows：
One, the present invention conveys chain structure using unique carrying roller, while realizing that high speed conveys, is compiled by using displacement
Code device and pulse counter realize the continuous angle camera function of 360 degree of outer circle and (by the improvement of the mode of movement of workpiece, increase
Working efficiency, and realize complete 360 degree of continuous angle camera functions).
Two, the present invention realizes the detection of taking pictures at roller both ends simultaneously, and dead angle is not stayed in roller appearance context of detection.
Three, a kind of mechanism of the invention supports the conveying and detection of cylindrical or conical roller simultaneously.
Four, the present invention uses high speed, high resolution CCD industrial cameras, and detection speed is high, high resolution, and detection speed is reachable
Per hour to 2~40,000, resolution ratio can reach 0.04mm.
Description of the drawings
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the main structure chart of the present invention；
Fig. 2 is the Local map that the outer circle of the present invention is taken pictures；
Fig. 3 is the definition graph that the both ends of the present invention are taken pictures；
Fig. 4 is the critical piece circuit connection diagram of the present invention.
Specific implementation mode
Embodiment 1, Fig. 1~Fig. 4 give a kind of 360 degree of detection devices of roller open defect and method.
360 degree of detection devices of above-described roller open defect include supporting roller conveying device 1, outer circle imaging unit 2, two
Hold imaging unit 3 and industrial computer 402.
Supporting roller conveying device 1 includes driving wheel 102 and carrying roller carrier chain 101；Carrying roller carrier chain 101 includes carrying roller 201, support
Axis, in carrying roller fixed plate 202, two relative to carrying roller 201 is arranged in the both sides of roller fixed plate 202 and supporting plate 203, carrying roller 201
Corresponding circular hole is arranged in the axis of side, after corresponding axis is inserted into corresponding circular hole by carrying roller 201, relative to 202 shape of carrying roller fixed plate
At rotation；And after several carrying rollers 201 are set in carrying roller fixed plate 202, in the lower section of carrying roller 201, corresponding supporting plate is set
203 (fixed) so that when carrying roller fixed plate 202 moves, supporting plate 203 can drive 201 base of carrying roller by frictional force
Corresponding counter motion is made in carrying roller fixed plate 202.Carrying roller fixed plate 202 is set on driving wheel 102, passes through driving wheel 102
Rotation band carrying roller fixed plate 202 rotated clockwise or rotated counterclockwise accordingly, correspondingly rotate band further according to this
Dynamic carrying roller 201 is rotated counterclockwise or is rotated clockwise；And when in use, roller workpiece 100 is on carrying roller 201,
By the rotation of carrying roller 201, (i.e. carrying roller 201 is moved with the rotation of carrying roller fixed plate 202, but carrying roller 201 is relative to support
The relative position of roller fixed plate 202 does not change), drive roller workpiece 100 to move.
Outer circle imaging unit 2 include displacement encoder 103, pulse counter 401, outer circle phase unit (can by one or
The multiple outer circle cameras 104 of person are constituted) and customization light source 204；Displacement encoder 103 is fixedly connected on driving wheel 102, for adopting
Collect carrying roller rotation displacement information；Pulse counter 401 is electrically connected with displacement encoder 103, outer circle camera 104, passes through displacement
Encoder 103 counts the rotational angle of driving wheel 102, which is exported by way of pulse, and the pulse exported
Signal by pulse counter 401 carry out angle calculating (i.e. driving wheel 102 rotates corresponding angle, and displacement encoder 103 is just
A pulse signal is sent out, and pulse counter 401 can determine the specific rotational angle of driving wheel 102 by pulse signal,
And outer circle camera 104 is controlled according to the angle of the rotation and shoots corresponding photo)；Customization light source 204 assists outer circle phase herein
Machine 104 carries out photograph taking；Outer circle camera 104 is located at the top of supporting roller conveying device 1.And both ends imaging unit 3 includes photoelectricity
Sensor 301, end face A cameras 302 and end face B cameras 303, photoelectric sensor 301 and end face A cameras 302 and end face B cameras
303 are electrically connected；End face A cameras 302 and end face B cameras 303 be located at supporting roller conveying device 1 left and right two sides (by
It is specifically positioned by photoelectric sensor 301 in roller workpiece 100, so in setting end face A cameras 302 and end face B phases
When machine 303, you can be correspondingly arranged two workpiece, or when using secondary light source, do not cause to do
It disturbs, be arranged every position, such as a kind of end face A cameras 302 and 303 asymmetric set-up mode of end face B cameras of Fig. 3)；Photoelectric transfer
Sensor 301 can position the specific location of roller workpiece 100 on carrying roller 201, and be located at suitable position in roller workpiece 100
When, it controls end face A cameras 302 and end face B cameras 303 shoots the corresponding photograph of 100 left and right two sides of roller workpiece respectively
Piece.
Industrial computer 402 and outer circle phase unit (several outer circle cameras 104), end face A cameras 302, end face B cameras 303
Be electrically connected, in real time read outer circle phase unit (several outer circle cameras 104), end face A cameras 302, end face B cameras 303 it is corresponding
Photographic intelligence.
When the present invention works, mainly carried out by following step：
1, start driving wheel 102, after 102 clockwise movement of driving wheel, carrying roller fixed plate 202 is driven to do fortune clockwise
It is dynamic, after several carrying rollers 201 in carrying roller fixed plate 202 rub with fixed supporting plate 203, does and turn counterclockwise accordingly
It is dynamic；
2, roller workpiece 100 is placed on carrying roller 201, under the drive of carrying roller 201, does clockwise movement (with transmission
Wheel 102 keeps synchronizing), and keep displacement movement identical with carrying roller fixed plate 202；
3, according to transmission rule, there are fixed ratios with the velocity of rotation of roller workpiece 100 for the velocity of rotation of driving wheel 102
Example relationship, you can with the velocity of rotation by driving wheel 102 calculate roller workpiece 100 velocity of rotation (according to the prior art,
Technical staff in the industry can easily extrapolate this result)；I.e. displacement encoder 103 is by recording driving wheel 102
Corresponding velocity of rotation, so that it may with determine roller workpiece 100 rotate corresponding data, such as often rotate one in roller workpiece 100
When minute angle, displacement encoder 103 sends out a pulse, and pulse counter 401 adds up to the pulse, according to default item
Part, after certain angle is turned in roller workpiece 100, pulse counter 401 sends out trigger signal, controls in outer circle phase unit
All outer circle cameras 104 carry out outer circle (side of roller workpiece 100) take pictures.It is different according to 100 diameter of roller workpiece in this way
With related preset condition, it can accurately control after roller workpiece 100 often rotates specified angle and shoot a photo, until 360 degree
After the completion of rotation, realize that the full angle of 100 outer circle of roller workpiece is taken pictures.
4, when roller workpiece 100 enters end face picture-taking position every time, the light that photoelectric sensor 301 is sent out, photoelectricity are blocked
Sensor 301 sends out trigger pulse, controls end face A cameras 302 and end face B cameras 303 are taken pictures.
5, the photo that outer circle phase unit (outer circle camera 104), end face A cameras 302 and end face B cameras 303 photographed is transferred to
Industrial computer 402 is positioned, image by the Image Acquisition and image analysis processing software that are run on industrial computer 402
Pretreatment and defect recognition, to realize 360 degree of detections detected with both ends defect of outer circle of roller workpiece 100.
According to optical path analysis and experimental verification, to realize 360 degree of full angles imagings, need to a roller workpiece 100 into
9~12 continuous angles of row are taken pictures, although existing technology can also realize continuous shooting, due to being unable to control shooting
Time point, can then cause roller workpiece 100 the same side occur repeatedly shooting, and some sides then completely not by
The situation taken, such testing result are entirely inaccurate.And 360 degree of detection dresses of the roller open defect in the present invention
100 instant angle value of roller workpiece can be calculated indirectly by the displacement encoder 103 on driving wheel 102 by setting, and pass through this
A value, so that it may to carry out corresponding angle shot by controlling outer circle camera 104, and by this method, may be implemented rolling
The arbitrary face of sub- workpiece 100 shoot without overlapping, i.e., the time that outer circle camera 104 is shot by being obtained after accurately calculating,
It realizes that each side image of 104 shooting of outer circle camera is unique side image, can't occur to carry out by side
Repeatedly shooting and the phenomenon that generate multiple data at the same position, influence final testing result.
Comparative example 1, in the prior art, such as patent " taper roller surface defects detection system (application number
2013101472715) a kind of technical solution " proposed, the program is using a kind of fixture, stepper motor, photographic device
360 degree are formed after being coordinated to shoot without dead angle；It in this scheme, needs to be coordinated by stepper motor and fixture, walk
One circle of stepper motor rotation is merely capable of one taper roller of detection, and can not continuously be detected, the efficiency for causing it to detect
It is very low；Another aspect places roller using fixture on the turntable of stepper motor, when roller dimension and shape one by one
It when shape changes, needs that fixture and associated mechanisms are replaced and adjusted, replaces the adjusting workload of roller model in this way
Greatly, the complexity of equipment increases.
The roller workpiece 100 that apparatus and method through the invention carry out detects, in one second in, by roller workpiece
100 quantity are 12, and (by being coordinated between supporting roller conveying device 1 and outer circle imaging unit 2, roller workpiece 100 is in carrying roller
Constantly rolled in conveying device 1, cooperation roll angle angle value, allow for outer circle imaging unit 2 can to roller workpiece 100 into
Row is recorded without dead angle, without individually being detected after being gripped to single roller workpiece 100), that is, in 0.08 second time
Interior, the device of the invention can detect a roller workpiece 100, and when the equipment in comparative example 1 is to the detection of single workpiece
Between be 0.5 to 3 seconds；Apparatus and method of the present invention by the way of carrying roller to roller workpiece 100 carry out continuous rolling conveying and
It takes pictures, when replacing roller model, mechanism need not be adjusted, mechanism need not be adjusted by replacing roller model, if
It is standby simple in structure, it is maintainable high.
Comparative example 2, in the prior art, such as " a kind of detection device of detection taper roller surface defect, (application number
201320430398.3) in ", a kind of device of idler wheel detection of proposition, but the two of the device idler wheels are carrying out workpiece fortune
In defeated process, if to obtain best transport effect, need that corresponding screw thread (helical form is arranged on an idler wheel
Slot), to realize the longitudinal movement of workpiece, but during this, workpiece surface often has to be scratched by the screw thread on idler wheel
Risk causes the unexpected disqualification rate of workpiece；In addition, there is also defects below for the device：First, outer circle image acquisition units
3 is not associated with the corner of guide wheel 1,2 when taking pictures, and usually shoots several angles (6~9) according to each workpiece of rotating speed,
Such image pickup method is susceptible to phenomena such as leakage is clapped.Secondly, longitudinally running propulsion due to its stroke it is longer, so it is pushed away
Into speed it is very slow, a general seconds can only promote one or so, and the efficiency of work is slightly lower.And two workpiece are longitudinally running
When, since front/rear end may contact with each other, and since front/rear end running orbit at this time can keep one completely
Cause, so the phenomenon that two workpiece are likely to stick together, cause detection unstable result (when due to detection,
Minimum interval is needed, if it is less than this minimum interval, can cause to judge by accident, causes the result of detection that cannot keep accurate).
And the device of the invention can overcome above-described defect completely, i.e., by the angle calculation of driving wheel 102 after,
The angle of rotation that current roller workpiece 100 can be obtained, the calculating further according to this angle of rotation can obtain current roller workpiece 100
Side-information, carry out the interception of shooting time point according to this so that the shooting of outer circle camera 104 covers roller workpiece
The side of 100 360 degs, and the phenomenon that leakage is clapped can not possibly occur, then coordinate the shooting of two end faces, realize 360
Degree is shot without dead angle.And it is further, the present invention due to using driving wheel 102 and carrying roller carrier chain 101 cooperation
Assembly line means of transportation so that the speed of transmission is very fast, and roller workpiece 100 has only to be placed on supply line, so that it may with
According to the at the uniform velocity advance of the stabilization of speed of driving wheel in supply line 102, the travelling speed realized is at least in the prior art 3
~5 times.Finally, the device of the invention is simple in structure, and modular mode may be used between all parts and assembled, and such as
After the wherein arbitrary workpiece damage of fruit or aging, only whole equipment can be completed by way of being replaced to the component
It safeguards, it is very convenient.
Finally, it should also be noted that it is listed above be only the present invention a specific embodiment.Obviously, of the invention
It is not limited to above example, acceptable there are many deformations.Those skilled in the art can be straight from present disclosure
All deformations for connecing export or associating, are considered as protection scope of the present invention.
Claims (4)
1. 360 degree of detection devices of roller open defect, include the device for transporting objects and imaging unit of Industrial Computer Control；Its
It is characterized in：The device for transporting objects is supporting roller conveying device；
The imaging unit includes outer circle imaging unit and both ends imaging unit；
Outer circle imaging unit is arranged in the top of the supporting roller conveying device, and the both sides of the supporting roller conveying device are respectively set accordingly
Both ends imaging unit；
The outer circle imaging unit include the counting device that the angle of rotation of carrying roller is counted and by the counting device into
The outer circle phase unit of row shooting control；
The both ends imaging unit includes the positioning device positioned to roller workpiece and is controlled by the positioning device
The end face A cameras and end face B cameras of system, the end face A cameras and end face B cameras are separately positioned on the two of supporting roller conveying device
Side；
The counting device includes displacement encoder and pulse counter；
The displacement encoder sends out corresponding pulse signal after being counted to the angle of rotation of carrying roller, the pulse counter is logical
The pulse signal for crossing displacement encoder calculates the respective angles of roller workpiece, and carries out the shooting control of outer circle phase unit；
The positioning device is photoelectric sensor；
Work step is as follows：
1) start driving wheel (102), after driving wheel (102) clockwise movement, carrying roller fixed plate (202) is driven to do clockwise
It moves, several carrying rollers (201) in carrying roller fixed plate (202) are done corresponding inverse with after fixed supporting plate (203) friction
Hour hands rotate；
2) roller workpiece (100) is placed on carrying roller (201), under the drive of carrying roller (201), does clockwise movement, with biography
Driving wheel (102) keeps synchronizing, and keeps and the identical displacement movement of carrying roller fixed plate (202)；
3) according to transmission rule, there are fixed ratios with the velocity of rotation of roller workpiece (100) for the velocity of rotation of driving wheel (102)
Example relationship, you can the velocity of rotation of roller workpiece (100) is calculated with the velocity of rotation by driving wheel (102)；I.e. displacement is compiled
The corresponding velocity of rotation that code device (103) passes through record driving wheel (102), so that it may to determine the corresponding of roller workpiece (100) rotation
Data, when roller workpiece (100) often rotates a minute angle, displacement encoder (103) sends out a pulse, step-by-step counting
Device (401) adds up to the pulse, according to preset condition, after roller workpiece (100) turns to certain angle, pulsimeter
Number device (401) sends out trigger signal, controls the progress outer circle of all outer circle cameras (104) in outer circle phase unit and takes pictures；Such root
According to roller workpiece (100) diameter difference and related preset condition, roller workpiece (100) can be accurately controlled and often rotate specified angle
A photo is shot afterwards, after the completion of 360 degree of rotations, realizes that the full angle of roller workpiece (100) outer circle is taken pictures；
4) when roller workpiece (100) enters end face picture-taking position every time, the light that photoelectric sensor (301) is sent out, photoelectricity are blocked
Sensor (301) sends out trigger pulse, and control end face A cameras (302) and end face B cameras (303) are taken pictures；
5) photo that outer circle phase unit, end face A cameras (302) and end face B cameras (303) photographed is transferred to industrial computer
(402), it is positioned by the Image Acquisition and image analysis processing software that are run on industrial computer (402), image preprocessing
And defect recognition, to realize 360 degree of detections detected with both ends defect of outer circle of roller workpiece (100).
2. 360 degree of detection devices of roller open defect according to claim 1, it is characterized in that：The supporting roller conveying device
Including placing the carrying roller of roller workpiece, driving the carrying roller carrier chain of carrying roller operation and driving the transmission of carrying roller carrier chain operation
Wheel.
3. 360 degree of detection devices of roller open defect according to claim 2, it is characterized in that：In the outer circle phase unit
Outer circle camera quantity be at least one.
4. 360 degree of detection devices of roller open defect according to claim 3, it is characterized in that：In the outer circle phase unit
Outer circle camera, end face A cameras and end face B cameras be all made of high speed, high resolution CCD industrial cameras.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410407835.9A CN104155310B (en) | 2014-08-19 | 2014-08-19 | 360 degree of detection devices of roller open defect and method |
| PCT/CN2015/083708 WO2016026358A1 (en) | 2014-08-19 | 2015-07-10 | 360-degree detection device and method for visual defects of roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410407835.9A CN104155310B (en) | 2014-08-19 | 2014-08-19 | 360 degree of detection devices of roller open defect and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104155310A CN104155310A (en) | 2014-11-19 |
| CN104155310B true CN104155310B (en) | 2018-08-14 |
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ID=51880869
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410407835.9A Active CN104155310B (en) | 2014-08-19 | 2014-08-19 | 360 degree of detection devices of roller open defect and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104155310B (en) |
| WO (1) | WO2016026358A1 (en) |
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| CN104897690A (en) * | 2015-05-22 | 2015-09-09 | 芜湖林一电子科技有限公司 | All-dimensional visual detection device for bearing roller appearance |
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