CN109192344B - Opening mechanism for detecting probe in long and narrow space - Google Patents

Opening mechanism for detecting probe in long and narrow space Download PDF

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CN109192344B
CN109192344B CN201811014680.7A CN201811014680A CN109192344B CN 109192344 B CN109192344 B CN 109192344B CN 201811014680 A CN201811014680 A CN 201811014680A CN 109192344 B CN109192344 B CN 109192344B
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opening mechanism
cylinder
connecting rods
camera
hinged
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CN109192344A (en
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束家龙
张鹏飞
曾晨明
吴健荣
马超
汪双印
杨乾飞
马官兵
洪茂成
徐达梁
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China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
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China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
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    • GPHYSICS
    • G21NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21CNUCLEAR REACTORS
    • G21C17/00Monitoring; Testing ; Maintaining
    • G21C17/10Structural combination of fuel element, control rod, reactor core, or moderator structure with sensitive instruments, e.g. for measuring radioactivity, strain
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

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  • General Engineering & Computer Science (AREA)
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Abstract

本发明公开了一种狭长空间内检测探头打开机构,它包括侧壁设有开口的支撑部、安装于所述支撑部内的打开机构以及连接于所述打开机构上且可从所述开口伸出和收回的摄像头模块。打开机构包括气缸以及与支撑部铰接的多连杆机构,摄像头组件固定于多连杆机构上。本发明可以防止摄像头因气缸等失效而无法收回的问题,提高检测过程的安全性;提高核电站控制棒导向筒导向卡检测的检测可靠性、安全性;采用多个支撑连杆支撑摄像头,减少摄像头打开时的晃动;采用双作用气缸传动,连接与控制稳定方便。

Figure 201811014680

The invention discloses an opening mechanism for a detection probe in a long and narrow space, which comprises a support part with an opening on the side wall, an opening mechanism installed in the support part, and an opening mechanism connected to the opening mechanism and capable of protruding from the opening. and retracted camera module. The opening mechanism includes a cylinder and a multi-link mechanism hinged to the support part, and the camera assembly is fixed on the multi-link mechanism. The invention can prevent the problem that the camera cannot be retracted due to the failure of the cylinder, etc., and improves the safety of the detection process; improves the detection reliability and safety of the guide card detection of the control rod guide cylinder of the nuclear power plant; adopts multiple support links to support the camera, and reduces the number of cameras. Shaking when opening; double-acting cylinder transmission, stable and convenient connection and control.

Figure 201811014680

Description

狭长空间内检测探头打开机构Detection probe opening mechanism in narrow and long space

技术领域technical field

本发明涉及一种狭长空间内检测探头打开机构。The invention relates to an opening mechanism for a detection probe in a long and narrow space.

背景技术Background technique

控制棒导向筒包括上部导向筒和下部导向筒,其中为控制棒提供导向的是导向筒内部的各级导向卡以及连续导向组件,这些部件在长时间运行后,由于滑动摩擦和振动影响,导向卡及连续导向组件的内孔和联系带易出现磨损,会导致控制棒失去导向而出现落棒时间超差,甚至是卡棒事件。在国外运行超过20年的核电机组中,已有多台机组发生堆内构件失效事件。法国核电机组在运行接近30年的压水堆核电站中发现了控制棒导向筒存在较多的磨损,并开始大规模更换,从2010年至今,法国电力集团(EDF)已经更换了约430组控制棒导向筒组件。美国把对控制棒导向筒的检查列为核电机组延寿的必检项目。The control rod guide cylinder includes an upper guide cylinder and a lower guide cylinder. The guide cards and continuous guide components at all levels inside the guide cylinder provide guidance for the control rods. After a long time of operation, due to sliding friction and vibration, the guide The inner hole and contact belt of the card and continuous guide components are prone to wear and tear, which will cause the control rod to lose its guidance and cause the rod drop time to be out of tolerance, or even a rod jam event. Among the nuclear power units that have been in operation for more than 20 years in foreign countries, failures of reactor internal components have occurred in many units. In the pressurized water reactor nuclear power plant that has been in operation for nearly 30 years, the French nuclear power unit found that there was a lot of wear and tear on the control rod guide cylinder, and began to replace it on a large scale. Since 2010, the French Electricity Group (EDF) has replaced about 430 sets of control rods. Rod guide cylinder assembly. The United States lists the inspection of control rod guide cylinders as a mandatory inspection item for nuclear power unit life extension.

专利号为US005078955的美国发明专利公布了一种控制棒导向筒检测系统,主要为一种摄像头传动装置,包括电机、丝杆等,通过丝杆上的两段反向螺纹实现摄像头的伸出与收回,然而存在拆卸不便的问题,给设备的安装调试和维修带来不便,会使工作人员暴露在放射性环境下的时间增长;采用螺旋传动,需要较长的螺杆,使其结构更加复杂,不便于安装。因此,设计出一种结构简单、便于安装与拆卸的摄像头打开结构很有必要。The U.S. invention patent with the patent number US005078955 discloses a control rod guide cylinder detection system, which is mainly a camera transmission device, including a motor, a screw rod, etc., and the extension and contact of the camera are realized through two reverse threads on the screw rod. However, there is the problem of inconvenient disassembly, which will bring inconvenience to the installation, commissioning and maintenance of the equipment, and will increase the time for the workers to be exposed to the radioactive environment; the use of screw transmission requires a longer screw rod, which makes the structure more complicated. Easy to install. Therefore, it is necessary to design a camera opening structure that is simple in structure and convenient for installation and disassembly.

发明内容Contents of the invention

本发明的目的是提供一种结构简单、便于安装与拆卸的狭长空间内检测探头打开机构。The object of the present invention is to provide a detection probe opening mechanism in a narrow and long space with simple structure and easy installation and disassembly.

为解决上述技术问题,本发明采用如下技术方案:一种狭长空间内检测探头打开机构,它包括侧壁设有开口的支撑部、安装于所述支撑部内的打开机构以及连接于所述打开机构上且可从所述开口伸出和收回的摄像头模块,所述支撑部包括位于上方的支撑筒以及位于下方的导向头,所述打开机构包括至少一组上端部铰接于所述支撑筒内部且下端部与所述摄像头模块相铰链的第一连杆,同一组所述第一连杆上下位设置,所述打开机构还包括上端部与分别与所述第一连杆的中部相铰接的第二连杆、用于推动所述第二两杆动作并带所述第一连杆伸出或收回的连接板以及用于带动所述连接板上下运动的气缸,所述第二连杆的下端部与所述连接板相铰接。In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: a detection probe opening mechanism in a long and narrow space, which includes a support part with an opening on the side wall, an opening mechanism installed in the support part, and an opening mechanism connected to the opening mechanism. The camera module on the top and can be stretched out and retracted from the opening, the support part includes a support tube at the top and a guide head at the bottom, the opening mechanism includes at least one set of upper ends hinged inside the support tube and The first connecting rod whose lower end is hinged with the camera module, the same group of the first connecting rods are arranged up and down, and the opening mechanism also includes the upper end and the first connecting rod respectively hinged with the middle part of the first connecting rod. Two connecting rods, a connecting plate for pushing the second two rods to move and bring the first connecting rod to extend or retract, and a cylinder for driving the connecting plate to move up and down, the lower end of the second connecting rod The part is hinged with the connecting plate.

优化的,所述第一连杆有两组且分别与所述摄像头模块的两侧相铰接。Optimally, the first connecting rod has two groups and is respectively hinged to the two sides of the camera module.

优化的,所述连接板成L型,其下方的横向板与所述气缸的活塞杆相固定连接,其上方的纵向板上下滑动地连接于所述支撑部内。Optimally, the connecting plate is L-shaped, the horizontal plate below it is fixedly connected to the piston rod of the cylinder, and the longitudinal plate above it is slidably connected in the support portion.

进一步的,所述气缸的缸体位于所述导向头内,所述气缸的活塞杆位于所述支撑筒内,所述横向板与所述导向头之间设有复位拉簧。Further, the cylinder body of the air cylinder is located in the guide head, the piston rod of the air cylinder is located in the support cylinder, and a return tension spring is arranged between the transverse plate and the guide head.

优化的,所述支撑筒的侧壁上设有防异物挡板。Optimally, the side wall of the support cylinder is provided with an anti-foreign matter baffle.

优化的,所述打开机构还包括设于所述第一连杆和所述摄像头模块之间的摄像头安装板。Optimally, the opening mechanism further includes a camera mounting plate arranged between the first connecting rod and the camera module.

本发明的有益效果在于:本发明可以避免落物的产生,防止异物进入控制棒导向筒内的情形,安全裕度提高;可以防止摄像头因气缸等失效而无法收回的问题,提高检测过程的安全性;提高核电站控制棒导向筒导向卡检测的检测可靠性、安全性;采用多个支撑连杆支撑摄像头,减少摄像头打开时的晃动;采用双作用气缸传动,连接与控制稳定方便;减少核电站在役检查时设备安装时间,提高了在役检查效率,从而减少了人员受到的辐射剂量;气缸失效时可摄像头模块可依靠重力自动收回,不会卡在控制棒导向卡上;可直接安装在控制棒导向卡无损检测装置上,拆卸方便。The beneficial effects of the present invention are: the present invention can avoid the occurrence of falling objects, prevent foreign matter from entering the control rod guide tube, and improve the safety margin; it can prevent the camera from being unable to be retracted due to the failure of the cylinder, etc., and improve the safety of the detection process Improve the reliability and safety of nuclear power plant control rod guide tube guide card detection detection; use multiple support links to support the camera, reduce the shaking of the camera when it is opened; use double-acting cylinder transmission, stable and convenient connection and control; The installation time of equipment during in-service inspection improves the efficiency of in-service inspection, thereby reducing the radiation dose received by personnel; when the cylinder fails, the camera module can be automatically retracted by gravity, and will not be stuck on the control rod guide card; it can be directly installed on the control rod The rod guide card is attached to the non-destructive testing device, which is easy to disassemble.

附图说明Description of drawings

图1为反应堆控制棒导向卡无损检测装置摄像头打开机构收缩状态Figure 1 shows the retracted state of the camera opening mechanism of the reactor control rod guide card non-destructive testing device

图2为反应堆控制棒导向卡无损检测装置摄像头打开机构打开状态Figure 2 is the opening state of the camera opening mechanism of the reactor control rod guide card non-destructive testing device

图3为反应堆控制棒导向卡无损检测装置摄像头打开机构纵截面示意图Figure 3 is a schematic diagram of the longitudinal section of the camera opening mechanism of the reactor control rod guide card non-destructive testing device

图中:1 支撑部,1-1 支撑筒,1-2 防异物挡板,1-3 导向头;2 打开机构,2-1 悬臂销轴,2-2第一连杆,2-3 第二连杆,2-4 销轴,2-5 摄像头安装板,2-6 连接板,2-7 双作用气缸;3 摄像头模块。In the figure: 1 support part, 1-1 support cylinder, 1-2 anti-foreign matter baffle, 1-3 guide head; 2 opening mechanism, 2-1 cantilever pin, 2-2 first connecting rod, 2-3 second Two connecting rods, 2-4 pin shafts, 2-5 camera mounting plates, 2-6 connecting plates, 2-7 double-acting cylinders; 3 camera modules.

具体实施方式Detailed ways

下面结合附图所示的实施例对本发明作以下详细描述:Below in conjunction with the embodiment shown in the accompanying drawings, the present invention is described in detail as follows:

如图1/2/3所示,狭长空间内检测探头打开机构2包括侧壁设有开口的支撑部1、安装于所述支撑部1内的打开机构2以及连接于所述打开机构2上且可从所述开口伸出和收回的摄像头模块3,As shown in Figure 1/2/3, the detection probe opening mechanism 2 in the narrow and long space includes a support part 1 with an opening on the side wall, an opening mechanism 2 installed in the support part 1, and an opening mechanism 2 connected to the opening mechanism 2. and a camera module 3 that can be stretched out and retracted from the opening,

所述支撑部1包括位于上方的支撑筒1-1以及位于下方的导向头1-3,所述打开机构2包括至少一组上端部铰接于所述支撑筒1-1内部且下端部与所述摄像头模块3相铰链的第一连杆2-2、上端部与分别与所述第一连杆2-2的中部相铰接的第二连杆2-3、用于推动所述第二两杆动作并带所述第一连杆2-2伸出或收回的连接板2-6、用于带动所述连接板2-6上下运动的气缸以及设于所述第一连杆2-2和所述摄像头模块3之间的摄像头安装板2-5。同一组所述第一连杆2-2上下位设置,所述第一连杆2-2有两组且分别与所述摄像头模块3的两侧相铰接,所述第二连杆2-3的下端部与所述连接板2-6相铰接。所述连接板2-6成L型,其下方的横向板与所述气缸的活塞杆相固定连接,其上方的纵向板上下滑动地连接于所述支撑部1内。所述气缸的缸体位于所述导向头1-3内,所述气缸的活塞杆位于所述支撑筒1-1内,所述横向板与所述导向头1-3之间设有复位拉簧。所述支撑筒1-1的侧壁上设有防异物挡板1-2。The support part 1 includes a support cylinder 1-1 located above and a guide head 1-3 located below, and the opening mechanism 2 includes at least one set of upper ends hinged inside the support cylinder 1-1 and a lower end connected to the support cylinder 1-1. The first connecting rod 2-2 hinged with the camera module 3, the upper end and the second connecting rod 2-3 respectively hinged with the middle part of the first connecting rod 2-2, are used to push the second two The connecting plate 2-6 with the first connecting rod 2-2 stretched out or withdrawn by the rod action, the cylinder for driving the connecting plate 2-6 to move up and down and the first connecting rod 2-2 and the camera mounting plate 2-5 between the camera module 3. The first connecting rod 2-2 of the same group is set up and down, the first connecting rod 2-2 has two groups and is respectively hinged with the two sides of the camera module 3, and the second connecting rod 2-3 The lower end is hinged with the connecting plate 2-6. The connecting plate 2-6 is L-shaped, the horizontal plate below it is fixedly connected with the piston rod of the cylinder, and the longitudinal plate above it is slidably connected in the support part 1 up and down. The cylinder body of the air cylinder is located in the guide head 1-3, the piston rod of the air cylinder is located in the support cylinder 1-1, and a reset puller is provided between the transverse plate and the guide head 1-3. reed. The side wall of the support cylinder 1-1 is provided with an anti-foreign matter baffle 1-2.

支撑部1用于支撑打开机构2,由支撑筒1-1、防异物挡板1-2、导向头1-3组成,连接在控制棒导向卡无损检测装置上,用于安装打开机构2。防异物挡板1-2焊接在支撑筒1-1臂开口处,防止异物掉下进入控制棒导向筒内;导向头1-3通过螺纹连接在支撑筒1-1的底部,为摄像头打开机构2导向,并保护打开机构2前端的双作用气缸2-7。The support part 1 is used to support the opening mechanism 2, and is composed of a support cylinder 1-1, an anti-foreign body baffle 1-2, and a guide head 1-3, and is connected to the control rod guide card non-destructive testing device for installing the opening mechanism 2. The anti-foreign matter baffle 1-2 is welded at the arm opening of the support tube 1-1 to prevent foreign matter from falling into the guide tube of the control rod; the guide head 1-3 is screwed to the bottom of the support tube 1-1 to open the mechanism for the camera 2 guide, and protect the double-acting cylinder 2-7 at the front end of the opening mechanism 2.

打开机构2用于伸出摄像头模块3,由悬臂销轴2-42-1、第一连杆2-2、第二连杆2-3、销轴2-4、摄像头安装板2-5、连接板2-6、双作用气缸2-7组成。悬臂销轴2-42-1固定在支撑筒1-1壁上;第一连杆2-2一端通过连接在悬臂销轴2-42-1上,另一端通过销轴2-4连接在摄像头安装板2-5上;第二连杆2-3一端通过销轴2-4连接在第一连杆2-2中部,另一端通过销轴2-4连接在连接板2-6上;连接板2-6为L型,其中一端面与双作用气缸2-7推杆固定连接;双作用气缸2-7固定在支撑筒1-1底部截面上,用于提供摄像头模块3打开的动力。The opening mechanism 2 is used to stretch out the camera module 3, which consists of a cantilever pin shaft 2-42-1, a first connecting rod 2-2, a second connecting rod 2-3, a pin shaft 2-4, a camera mounting plate 2-5, Connecting plate 2-6, double-acting cylinder 2-7 form. The cantilever pin shaft 2-42-1 is fixed on the wall of the support cylinder 1-1; one end of the first connecting rod 2-2 is connected to the cantilever pin shaft 2-42-1, and the other end is connected to the camera through the pin shaft 2-4 On the mounting plate 2-5; one end of the second connecting rod 2-3 is connected to the middle part of the first connecting rod 2-2 through the pin shaft 2-4, and the other end is connected to the connecting plate 2-6 through the pin shaft 2-4; The plate 2-6 is L-shaped, one end of which is fixedly connected to the push rod of the double-acting cylinder 2-7; the double-acting cylinder 2-7 is fixed on the bottom section of the support tube 1-1, and is used to provide power for opening the camera module 3 .

摄像头模块3用于控制棒导向卡视频检查,由保护壳、端盖、摄像头、摄像头端盖、LED灯、透光玻璃、卡簧组成。保护壳固定在摄像头模块3安装板上;摄像头固定在保护壳内,并用摄像头端盖封装;LED灯固定在摄像头前端,为控制棒导向卡视频检查提供照明;透光玻璃通过卡簧卡在摄像头前端。The camera module 3 is used for video inspection of the control rod guide card, and is composed of a protective case, an end cover, a camera, a camera end cover, an LED light, a light-transmitting glass, and a retaining spring. The protective shell is fixed on the mounting plate of the camera module 3; the camera is fixed in the protective shell and sealed with the camera end cover; the LED light is fixed on the front of the camera to provide lighting for the video inspection of the control rod guide card; front end.

检测时,将反应堆控制棒导向卡无损检测装置摄像头打开机构2安装在控制棒导向卡无损检测装置上,驱动无损检测装置使打开机构2放置于被检测导向卡上方并使摄像头模块3打开方向对着被检孔,驱动打开机构2双作用气缸2-7,使摄像头对准被检孔开始检测。检完一个被检孔后,无损检测装置旋转90°,检测另一个被检孔直至4个被检孔检完。双作用气缸2-7收回,使打开机构2收缩至初始状态,无损检测装置下伸至下一个导向卡继续检测。During detection, install the camera opening mechanism 2 of the non-destructive testing device for the reactor control rod guide card on the non-destructive testing device for the control rod guide card, drive the non-destructive testing device so that the opening mechanism 2 is placed above the tested guide card and make the camera module 3 open in the opposite direction. Go to the hole to be inspected, drive the double-acting cylinder 2-7 of the opening mechanism 2, and make the camera aim at the hole to be inspected to start detection. After inspecting one inspected hole, the non-destructive testing device rotates 90° to inspect another inspected hole until all four inspected holes are inspected. The double-acting cylinder 2-7 retracts, so that the opening mechanism 2 shrinks to the initial state, and the non-destructive testing device extends down to the next guide card to continue testing.

上述实施例只为说明本发明的技术构思及特点,其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施,并不能以此限制本发明的保护范围。凡根据本发明精神所作的等效变化或修饰,都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.

Claims (4)

1. An opening mechanism for a detection probe in a long and narrow space is characterized in that: the opening mechanism comprises at least one group of first connecting rods, wherein the upper end parts of the first connecting rods are hinged in the supporting cylinder, the lower end parts of the first connecting rods are hinged with the upper part and the lower part of the first connecting rods, the same group of first connecting rods are arranged in the upper part and the lower part, the opening mechanism also comprises second connecting rods, connecting plates and cylinders, the upper end parts of the second connecting rods are hinged with the middle parts of the first connecting rods, the connecting plates are used for pushing the second connecting rods to move and driving the first connecting rods to extend or retract, the cylinders are used for driving the connecting plates to move up and down, the lower end parts of the second connecting rods are hinged with the connecting plates, and cantilever pin shafts are fixed on the wall of the supporting cylinder; one end of the first connecting rod is connected to the cantilever pin shaft, and the other end of the first connecting rod is connected to the camera mounting plate through the pin shaft; one end of the second connecting rod is connected to the middle part of the first connecting rod through a pin shaft, the other end of the second connecting rod is connected to a connecting plate through a pin shaft, the connecting plate is L-shaped, a transverse plate below the connecting plate is fixedly connected with a piston rod of the air cylinder, and a longitudinal plate above the connecting plate is connected into the supporting part in a vertically sliding mode; the cylinder body of the cylinder is positioned in the guide head, the piston rod of the cylinder is positioned in the support cylinder, and a reset tension spring is arranged between the transverse plate and the guide head.
2. The opening mechanism of the inspection probe in the narrow and long space, according to claim 1, wherein: two groups of first connecting rods are hinged with two sides of the camera module respectively.
3. The opening mechanism of the inspection probe in the narrow and long space, according to claim 1, wherein: and the side wall of the supporting cylinder is provided with a foreign matter preventing baffle.
4. An opening mechanism for a test probe in an elongated space, according to claim 1, wherein: the opening mechanism further comprises a camera mounting plate arranged between the first connecting rod and the camera module.
CN201811014680.7A 2018-08-31 2018-08-31 Opening mechanism for detecting probe in long and narrow space Active CN109192344B (en)

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Citations (1)

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CN207263698U (en) * 2017-09-27 2018-04-20 鞍钢股份有限公司 Ultrasonic flaw detection device for circular arc area on steel rail head

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US5078955A (en) * 1989-06-14 1992-01-07 Westinghouse Electric Corp. Control rod guide tube inspection system
CN105810267B (en) * 2014-12-30 2017-11-28 中核武汉核电运行技术股份有限公司 Face ultrasonic inspection apparatus is passed through in a kind of nuclear reactor pressure container adapter friendship
CN206409819U (en) * 2017-01-18 2017-08-15 上海润品工贸有限公司 A kind of pipe video detects robot

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CN207263698U (en) * 2017-09-27 2018-04-20 鞍钢股份有限公司 Ultrasonic flaw detection device for circular arc area on steel rail head

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