CN110440689B - Self-adaptive spherical taper hole vision reaming and repairing equipment - Google Patents
Self-adaptive spherical taper hole vision reaming and repairing equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/30108—Industrial image inspection
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Abstract
The invention discloses self-adaptive spherical taper hole vision twisting and repairing equipment, in particular to the field of spherical taper hole vision twisting and repairing, which comprises a conical hole repairing system, wherein the connecting end of the conical hole repairing system is respectively connected with a communication module, a detection module, a calibration module and an input/output module. According to the invention, the conical hole repair system is used as a main control system, wherein the conical hole repair system is a detection system based on programming of C# and C++ bits, so that the coordinate positioning of a conical hole workpiece can be realized, and the accuracy of the coordinate positioning is ensured; realize ethernet, RS232, IO card realization signal transmission and send coordinate data, guaranteed the stability in the signal transmission process, this design modularization, universalization, system reliable operation, easy maintenance, economy and durability, advanced technology, facilitate promotion, to visual detection circular, use the plane camera to realize detecting 3D sphere through the software comparatively convenient and practical.
Description
Technical Field
The invention relates to the technical field of visual twisting and repairing of spherical taper holes, in particular to self-adaptive visual twisting and repairing equipment of spherical taper holes.
Background
The reaming device consists of a base, a clamping system, a power system, a reaming system, a visual control system, a test piece and the like, and the working principle of the reaming device is as follows: the base provides a mounting platform and reference for the entire device. During operation, the processed object (inner ball) is fixed on the vacuum chuck of the B-axis turntable through the clamping system, and then the rotation of the inner ball around the Y-axis, the swing around the X-axis, the movement in the Y-axis direction and the translation of the detection system in the X-axis direction are realized through the servo power system. In the process, the detection system captures and analyzes the image of the corresponding taper hole on the inner ball in real time through the identification imaging method, so that the position information of the taper hole relative to the reaming system is obtained, the displacement is output, and the driving system is controlled to adjust. The whole process realizes closed-loop control until the taper hole is aligned with the reamer. Then, the reaming system translates in the Z-axis direction under the action of the power system to carry out reaming, thereby realizing the repair of the taper hole on the inner ball.
The existing spherical taper hole vision reaming and repairing equipment still has more defects in actual control, and can not accurately position the hole center on the inner ball, so that the positioning effect is poor, and the product rejection rate of the equipment is greatly increased in the actual use process.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a self-adaptive spherical taper hole vision reaming device, which adopts a taper hole repairing system as a main control system, wherein the taper hole repairing system is a detection system based on programming of C# and C++, and the self-adaptive spherical taper hole vision reaming device can be used for: coordinate positioning of the conical hole workpiece is realized, and the accuracy of coordinate positioning is ensured; the product data images are saved through the functions of generating texts, writing in texts, storing images and the like, so that stable control of information is ensured; realize ethernet, RS232, IO card realization signal transmission and send coordinate data, guaranteed the stability in the signal transmission process, this design modularization, universalization, system reliable operation, easy maintenance, economy and durability, advanced technology, facilitate promotion, to visual detection circular, use the plane camera to realize detecting 3D sphere through the software comparatively convenient and practical.
In order to achieve the above purpose, the present invention provides the following technical solutions: the self-adaptive spherical taper hole vision reaming equipment comprises a taper hole repairing system, wherein the connecting end of the taper hole repairing system is respectively connected with a communication module, a detection module, a calibration module and an input/output module;
the conical hole repair system is programmed by adopting C# combined with C++;
the internal flow of the detection module comprises the following steps: camera driving-image acquisition-user variable-preprocessing (processing the image), edge detection-setting variable (calling the variable created by the user variable to calculate the distance from the edge to the center of the camera), text generation (linking the data of the setting variable into a setting format), text transmission (linking the text generation through TCP), spot analysis (locating the position of a round hole), position correction (locating XY records to make the position of the calling position of the detection tool coincide with the position of the detection position), circle detection (detecting XY and radius of the round hole), end correction-setting sub-variable (calling the angle of the X, Y of the round hole to the center of the field of view of the camera to calculate the deviation of the user variable), text generation (linking the data of the setting variable into a setting format), text transmission (linking the text generation through TCP);
the communication module is used for establishing communication connection with external equipment, can customize an editing format according to a machine requirement format, and can link data detected by a detection tool to form a new format, and the communication module adopts standard TCP, RS232 and common IO communication;
the detection module is used for detecting the actual size and coordinates of a product in the visual field of the camera, and specifically comprises a detection circle and a detection edge, and finding out the highest point based on the edge to fit the highest point into a circle and a line so as to obtain corresponding data;
the calibration module is used for converting the camera pixel coordinates into machine actual coordinates; and the independent program coordinates and data can be formed with more machines through calibration;
the input/output module is used for receiving and transmitting formats required by external equipment.
In a preferred embodiment, the spot analysis: and (3) invoking a spot analysis tool, setting RGB values in the image to be binarized, enabling the edge profile in the image to be more obvious, performing binarization processing on round holes on the surface of the ball, setting detection colors and areas, and then directly grabbing the round holes to obtain a center X, Y for subsequent positioning.
In a preferred embodiment, the detection circle is: setting edge polarity, namely detecting the pointing direction of a frame arrow, and scanning out a plurality of points from the edge to fit a circle to obtain a circle center X, Y and a radius when the number of points to be grabbed is set.
In a preferred embodiment, the generating the sub-text: and obtaining a result by using a circle center X, Y detected by the circular tool according to a trigonometric function calculation formula, and defining a format by using the numerical control in China, substituting the calculated value into the defined format by using a text generating tool, calling the text generating tool, and transmitting the text to the numerical control system in China 818B.
In a preferred embodiment, the detection edge: grabbing the highest point on the edge for calculating the distance, firstly extracting edge contrast information in the image, then determining the edge of the image through the preset edge contrast and edge length, and for the pixel point P with coordinates of (i, j), the edge contrast is as follows:a continuous edge table is then generated: if the end points of the two sections of edges are similar, the two sections of edges are combined in an interpolation mode, and if the length of the edges is smaller than the set value of the minimum edge length, the edges are removed.
In a preferred embodiment, the generating an edge search table: first, the center points of all the acquired edges are set as reference points, and then the points (x i ,y i ) The distance and coordinate information relative to the reference point is stored in a look-up table for points (x i ,y i ) Corresponding center of round hole (x) c ,y c ) Coordinates (r) i ,θ i ) The method comprises the following steps: x is x i ＝x c +rcos(θ)，y i ＝y c And (4) fitting all the calculated edge points into a line according to a formula, and taking the central point of the line as a calculated reference point, wherein the matching process comprises the following steps of: for each point (i, j) in the edges of the images to be matched, determining the coordinates of the center point through the (r, theta) values in the template, calculating all points on the edges, and forming a formula with the edge lineEdge points are calculated by formulas and are fitted into lines.
In a preferred embodiment, the required calculation of the spherical center coordinates is as follows: the coordinates of the bowl opening of the fixture can be used as a fixed known quantity in a numerical control system through CCD (charge coupled device) calibration, and as the fixture is designed in a reset state of the device, the position of the sphere center only moves back and forth along with the size of the sphere diameter on the Y axis, and the coordinates of the sphere center are required to be calculated firstly:wherein GJ is the center of the table surface of the B-axis turntable, G is the center of a sphere, J is the center point of the bowl opening of the clamp, H is a point on the outer edge of the clamp, and r is the radius of the sphere.
In a preferred embodiment, the calculation of the position correction increment is: with the center of the camera field of view (x 0 ,y 0 ) Using the circular tool to detect the current position of the circular hole as a reference, and calculating the center coordinate (x c ,y c ) Then, the angles of the A axis and the B axis which need to be rotated are respectively determined according to the following two formulas:(angle of oscillation about axis a),(angle of rotation about axis B), wherein: delta A An angle required to swing around the X axis for a workpiece; delta B An angle required to rotate around the Y axis for a workpiece to be processed; r is the radius of the workpiece, y 0 -y c AB, x 0 -x c BC.
In a preferred embodiment, the method comprises the following steps: double clicking on bitstrong on the computer desktop to open the detection software; clicking a shortcut key of an existing file at the upper left corner after opening software, popping up an opening page after clicking, selecting a desktop option, and selecting a needed engineering file, namely a source program, at a desktop; after clicking to open, waiting for file loading to be completed, clicking a continuous operation button of software, and starting circulating operation of the software; the stop system clicks a stop button of the software interface, then clicks a right upper corner closing button to exit the system, and the suspension system clicks a minimizing button at the right upper corner to realize suspension of the software.
The invention has the technical effects and advantages that:
the invention adopts the conical hole repair system as the main control system, wherein the conical hole repair system is a detection system based on programming of C# and C++, and the system can be used for: coordinate positioning of the conical hole workpiece is realized, and the accuracy of coordinate positioning is ensured; the product data images are saved through the functions of generating texts, writing in texts, storing images and the like, so that stable control of information is ensured; realize ethernet, RS232, IO card realization signal transmission and send coordinate data, guaranteed the stability in the signal transmission process, this design modularization, universalization, system reliable operation, easy maintenance, economy and durability, advanced technology, facilitate promotion, to visual detection circular, use the plane camera to realize detecting 3D sphere through the software comparatively convenient and practical.
Drawings
FIG. 1 is a schematic diagram of the overall module of the present invention.
Fig. 2 is a schematic flow chart of the conical hole repairing system of the invention.
FIG. 3 is a schematic diagram of a detection module according to the present invention.
Fig. 4 is a schematic diagram of the calculation of the center of sphere according to the present invention.
FIG. 5 is a schematic diagram of the calculation of the core of the present invention.
The reference numerals are: 1 conical hole repair system, 2 communication module, 3 detection module, 4 calibration module, 5 input/output module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the self-adaptive spherical taper hole visual winch repairing device shown in the figures 1-2, the self-adaptive spherical taper hole visual winch repairing device comprises a taper hole repairing system 1, wherein the connecting end of the taper hole repairing system 1 is respectively connected with a communication module 2, a detection module 3, a calibration module 4 and an input/output module 5;
the conical hole repair system 1 is programmed by adopting C# combined with C++;
the internal flow of the detection module 3 includes: the method comprises the steps of camera driving, image acquisition, user variable preprocessing, image processing, edge detection, setting of a variable created by a variable calling user variable, calculation of distance from the detection edge to the center of a camera by the variable, text generation, data linkage of the variable entering the setting format, text link generation, text transmission, round hole position positioning through TCP (transmission control protocol), XY (X, Y) of a round detection round hole and radius-end correction, X, Y of the round detection round hole and X, Y of the variable calculation round hole by the variable calling user, angle of deviation of the Y and the center of a camera visual field, text generation, text data linkage of the variable entering the setting format, text link generation, text transmission through TCP;
the communication module 2 is used for establishing communication connection with external equipment, can customize an editing format according to a machine requirement format, and can link data detected by a detection tool to form a new format, and the communication module 2 adopts standard TCP, RS232 and common IO communication;
the detection module 3 is used for detecting the actual size and coordinates of the product in the visual field of the camera, and specifically comprises detecting a circle and detecting an edge, and finding out the highest point based on the edge to fit the circle and the line so as to obtain corresponding data;
the calibration module 4 is used for converting camera pixel coordinates into machine actual coordinates; and the independent program coordinates and data can be formed with more machines through calibration;
the input/output module 5 is used for receiving and transmitting formats required by external devices.
The spot analysis: and (3) invoking a spot analysis tool, setting RGB values in the image to be binarized, enabling the edge profile in the image to be more obvious, performing binarization processing on round holes on the surface of the ball, setting detection colors and areas, and then directly grabbing the round holes to obtain a center X, Y for subsequent positioning.
The detection circle: setting edge polarity, namely detecting the pointing direction of a frame arrow, and scanning out a plurality of points from the edge to fit a circle to obtain a circle center X, Y and a radius when the number of points to be grabbed is set.
The generating of the sub-text: and obtaining a result by using a circle center X, Y detected by the circular tool according to a trigonometric function calculation formula, and defining a format by using the numerical control in China, substituting the calculated value into the defined format by using a text generating tool, calling the text generating tool, and transmitting the text to the numerical control system in China 818B.
The detection edge: grabbing the highest point on the edge for calculating the distance, firstly extracting edge contrast information in the image, then determining the edge of the image through the preset edge contrast and edge length, and for the pixel point P with coordinates of (i, j), the edge contrast is as follows:a continuous edge table is then generated: if the end points of the two sections of edges are similar, the two sections of edges are combined in an interpolation mode, and if the length of the edges is smaller than the set value of the minimum edge length, the edges are removed.
The generating an edge search table: first, the center points of all the acquired edges are set as reference points, and then the points (x i ,y i ) The distance and coordinate information relative to the reference point is stored in a look-up table for points (x i ,y i ) Corresponding center of round hole (x) c ,y c ) Coordinates (r) i ,θ i ) The method comprises the following steps: x is x i ＝x c +rcos(θ)，y i ＝y c And (4) fitting all the calculated edge points into a line according to a formula, and taking the central point of the line as a calculated reference point, wherein the matching process comprises the following steps of: for each point (i, j) in the edge of the image to be matched, the coordinates of the center point are determined by the (r, θ) values in the template, and the calculation is performedAll points on the edge are calculated, and the edge line are used as a formula, so that the edge points are calculated by the formula and are fitted into the line.
The spherical center coordinates need to be calculated: the coordinates of the bowl opening of the fixture can be used as a fixed known quantity in a numerical control system through CCD (charge coupled device) calibration, and as the fixture is designed in a reset state of the device, the position of the sphere center only moves back and forth along with the size of the sphere diameter on the Y axis, and the coordinates of the sphere center are required to be calculated firstly:wherein GJ is the center of the table surface of the B-axis turntable, G is the center of a sphere, J is the center point of the bowl opening of the clamp, H is a point on the outer edge of the clamp, and r is the radius of the sphere.
The increment of the calculated position correction: with the center of the camera field of view (x 0 ,y 0 ) Using the circular tool to detect the current position of the circular hole as a reference, and calculating the center coordinate (x c ,y c ) Then, the angles of the A axis and the B axis which need to be rotated are respectively determined according to the following two formulas:(angle of swing about A axis),>(angle of rotation about axis B), wherein: delta A An angle required to swing around the X axis for a workpiece; delta B An angle required to rotate around the Y axis for a workpiece to be processed; r is the radius of the workpiece, y 0 -y c AB, x 0 -x c BC.
The application method of the self-adaptive spherical taper hole vision reaming equipment further comprises the following steps: double clicking on bitstrong on the computer desktop to open the detection software; clicking a shortcut key of an existing file at the upper left corner after opening software, popping up an opening page after clicking, selecting a desktop option, and selecting a needed engineering file, namely a source program, at a desktop; after clicking to open, waiting for file loading to be completed, clicking a continuous operation button of software, and starting circulating operation of the software; the stop system clicks a stop button of the software interface, then clicks a right upper corner closing button to exit the system, and the suspension system clicks a minimizing button at the right upper corner to realize suspension of the software.
The working principle of the invention is as follows:
referring to fig. 1-3 of the specification, by using the conical hole repair system 1 as a main control system, wherein the conical hole repair system 1 is a detection system based on programming of c# and c++, the system can: coordinate positioning of the conical hole workpiece is realized, and the accuracy of coordinate positioning is ensured; the product data images are saved through the functions of generating texts, writing in texts, storing images and the like, so that stable control of information is ensured; realize ethernet, RS232, IO card realization signal transmission and send coordinate data, guaranteed the stability in the signal transmission process, this design modularization, universalization, system reliable operation, easy maintenance, economy and durability, advanced technology, facilitate promotion, to visual detection circular, use the plane camera to realize detecting 3D sphere through the software comparatively convenient and practical.
Secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The utility model provides a self-adaptation sphere taper hole vision hank repair equipment, includes taper hole repair system (1), its characterized in that: the connecting end of the conical hole repairing system (1) is respectively connected with a communication module (2), a detection module (3), a calibration module (4) and an input/output module (5);
the conical hole repair system (1) adopts C# combined with C++ for programming;
the internal flow of the detection module (3) comprises the following steps:
a. a camera drive; b. collecting an image; c. a user variable; d. preprocessing, namely processing the image; e. detecting edges; setting a variable, namely calling the variable created by the user variable to calculate the distance from the detection edge to the center of the camera; g. generating text, namely linking the data of the setting variables into a setting format; h. transmitting text, namely transmitting the link generation text through TCP; i. spot analysis, namely positioning the position of the round hole; position correction, namely enabling the positioned XY record to enable the position of the calling position of the detection tool to reach the position of positioning to be consistent with the detection position; detecting a circle, namely detecting XY and radius of the round hole; i, finishing correction; setting a subvariable, namely calling a user variable to calculate the angle of the X, Y of the round hole and the deviation of the center of the camera vision; generating a sub-text, namely linking the data of the setting variables into a setting format; transmitting the sub-text, namely transmitting the link generation text through TCP;
the communication module (2) is used for establishing communication connection with external equipment, customizing an editing format according to a machine requirement format, or forming a new format by linking data detected by a detection tool, wherein the communication module (2) adopts standard TCP, RS232 and IO communication;
the detection module (3) is used for detecting the actual size and coordinates of a product in the visual field of the camera, and specifically comprises a detection circle and a detection edge, and finding out the highest point based on the edge to fit the highest point into a circle and a line so as to obtain corresponding data;
the calibration module (4) is used for converting camera pixel coordinates into machine actual coordinates; and the independent program coordinates and data are formed by calibrating more machines;
the input and output module (5) is used for receiving and transmitting formats required by external equipment.
2. The adaptive spherical cone hole vision reaming and repairing device according to claim 1, wherein: the spot analysis: and (3) invoking a spot analysis tool, setting RGB values in the image to be binarized, enabling the edge profile in the image to be more obvious, performing binarization processing on round holes on the surface of the ball, setting detection colors and areas, and then directly grabbing the round holes to obtain a center X, Y for subsequent positioning.
3. The adaptive spherical cone hole vision reaming and repairing device according to claim 1, wherein: the detection circle: setting edge polarity, namely detecting the pointing direction of a frame arrow, and scanning out a plurality of points from the edge to fit a circle to obtain a circle center X, Y and a radius when the number of points to be grabbed is set.
4. The adaptive spherical cone hole vision reaming and repairing device according to claim 1, wherein: the generating of the sub-text: and obtaining a result by using a circle center X, Y detected by the circular tool according to a trigonometric function calculation formula, and defining a format by using the numerical control in China, substituting the calculated value into the defined format by using a text generating tool, calling the text generating tool, and transmitting the text to the numerical control system in China 818B.
5. The adaptive spherical cone hole vision reaming and repairing device according to claim 1, wherein: the detection edge: grabbing the highest point on the edge for calculating the distance, firstly extracting edge contrast information in the image, then determining the edge of the image through the preset edge contrast and edge length, and for the pixel point P with coordinates of (i, j), the edge contrast is as follows:an edge search table is then generated: if the end points of the two sections of edges are similar, the two sections of edges are combined in an interpolation mode, and if the length of the edges is smaller than the set value of the minimum edge length, the edges are removed.
6. The adaptive spherical cone hole vision reaming and repairing device of claim 5, wherein: the generating an edge search table: first, the center points of all the acquired edges are set as reference points, and then the points (x i ,y i ) The distance and coordinate information relative to the reference point is stored in a look-up table for points (x i ,y i ) Corresponding sphere center (x) c ,y c ) Coordinates (r) i ,θ i ) The method comprises the following steps: x is x i ＝x c +r i cos(θ i )，y i ＝y c +r i sin(θ i ) According to the formula, all the calculated edge points are fitted into a line, and the center point of the line is used as a calculated reference point, wherein the matching process comprises the following steps: for each point (i, j) in the edge of the image to be matched, the image is obtained by means of a method (r i ,θ i ) The value determines the coordinates of the center point, calculates all points on the edge, and uses a formula with the edge line as a formula to calculate the edge point and fit the edge point into a line.
7. The adaptive spherical taper hole vision reaming and repairing device according to claim 6, wherein coordinates of the bowl opening of the fixture can be used as a fixed known quantity in a numerical control system through CCD calibration, and as the fixture is designed in a reset state of the device, the position of the spherical center only moves back and forth along with the size of the spherical diameter on the Y axis, and the coordinates of the spherical center need to be calculated firstly:wherein GJ is the center of the table surface of the B-axis turntable, G is the center of a sphere, J is the center point of the bowl opening of the clamp, H is a point on the outer edge of the clamp, and r is the radius of the sphere.
8. The adaptive spherical cone hole vision reaming and repairing device of claim 7, wherein: with the center of the camera field of view (x 0 ,y 0 ) Using the circular tool to detect the current position of the circular hole as a reference, and calculating the coordinates (x c ,y c ) Then, the angles of the A axis and the B axis which need to be rotated are respectively determined according to the following two formulas:
angle of oscillation about axis a:
angle of rotation about axis B:
wherein: delta A An angle required to swing around the A axis for a workpiece to be processed; delta B An angle required to rotate around the B axis for a workpiece to be processed; r is the radius of the workpiece, y 0 -y c Is AB, x 0 -x c BC.
9. The method for using the self-adaptive spherical taper hole vision reaming and repairing equipment according to any one of claims 1-8, wherein the method comprises the following steps: the method comprises the following steps: double clicking on "bitstrong" on the computer desktop to open the detection software; clicking a shortcut key of an existing file at the upper left corner after opening software, popping up an opening page after clicking, selecting a desktop option, and selecting a needed engineering file, namely a source program, at a desktop; after clicking to open, waiting for file loading to be completed, clicking a continuous operation button of software, and starting circulating operation of the software; the stop system clicks a stop button of the software interface, then clicks a right upper corner closing button to exit the system, and the suspension system clicks a minimizing button at the right upper corner to realize suspension of the software.
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| Title |
|---|
| 重车主轴锥孔精度的研究;谭德宁;王一岭;曹健;;新技术新工艺(10);全文 * |
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| Publication number | Publication date |
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| CN110440689A (en) | 2019-11-12 |
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