CN111238381A - Device and method for automatically measuring external thread parameters of steel pipe - Google Patents
Device and method for automatically measuring external thread parameters of steel pipe Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims abstract description 36
- 238000004519 manufacturing process Methods 0.000 claims description 9
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
An automatic measuring device and a measuring method for external thread parameters of a steel pipe. At present, the measurement of the external thread parameters of the steel pipe is contact measurement and non-contact measurement, and the two types of measurement generally have the defects of low precision, abrasion of a measuring head, fuzzy image and the like. The invention comprises the following components: supporting platform I (1), supporting platform I is the top and is groove structure, install screw rod device I (10) in the recess, the protruding department in recess both ends has the guide rail and is connected with supporting platform II (2) through the guide rail, screw rod device II (9) are installed on the last plane of supporting platform II, screw rod device II top is passed through the support and is connected with supporting platform III (3), install supporting platform IV (4) on supporting platform III's the curb plate, install screw rod device III (8) in the supporting platform IV, supporting platform IV side is passed through the support and is connected with axis of rotation I (7), axis of rotation I is fixed with supporting platform V (5), install in the supporting platform V and turn to the device. The device is used for automatically measuring the external thread parameters of the steel pipe.
Description
The technical field is as follows:
the invention relates to a device and a method for automatically measuring external thread parameters of a steel pipe.
Background art:
at present, the methods for measuring the parameters of the external thread of the steel pipe by enterprises such as petrochemical engineering and the like are contact measurement and non-contact measurement; the contact type measurement adopts a single device for each parameter, and each device needs to be detected regularly, so that the defects of low precision, easy abrasion of a measuring head, large repetitive fluctuation, complex operation and the like exist generally, the cost is high, and human error factors are easy to introduce; the non-contact measurement generally adopts optical imaging measurement, and in the measurement process, the parameter measurement can be completed only by the movement of a camera due to the wide angle of the camera, so that a movement error is generated; when the camera shoots, in order to improve the picture quality, the three positioning accuracy of this equipment of steel pipe screw thread relatively is required to be guaranteed: the steel pipe is moved and rotated along the X axis, the rotation along the Z axis is required, namely, the vertical plane where the central axis of the thread of the steel pipe is located is perpendicular to a light source, and the plane passes through the focus of the camera, the length of the steel pipe is about 10 meters generally, the steel pipe is directly rolled and sent through a production line, only the approximate position precision can be ensured, and the steel pipe is bent to a certain degree, so that when the camera takes a picture, the steel pipe hardly meets the positioning requirement, and the size of the picture after the camera takes a picture is deformed and blurred.
The invention content is as follows:
the invention aims to provide a device and a method for automatically measuring external thread parameters of a steel pipe, which particularly adopt non-contact measurement, take pictures by two cameras for measurement imaging at one time to measure three parameters of thread tooth height, thread pitch and taper, reduce the cost, design a positioning device of the measured steel pipe thread and a camera light source, improve the measurement precision, develop a set of parameter measurement system, and effectively improve the measurement efficiency and the measurement quality.
The above purpose is realized by the following technical scheme:
the utility model provides an automatic measure external screw thread parameter device of steel pipe, its constitution includes: a support platform I, the
Support platform I is the top and is the groove structure, the recess in install screw rod device I, recess both ends arch have the guide rail and be connected with support platform II through the guide rail, support platform II on the plane install screw rod device II, screw rod device II top pass through the support and be connected with support platform III, support platform III's curb plate on install support platform IV, support platform IV in install screw rod device III, support platform IV side pass through the support and be connected with axis of rotation I, axis of rotation I fixed with support platform V, support platform V in install and turn to the device, the device that turns to include axis of rotation II, axis of rotation II fixed with push jack I, push jack I fixed with 2 guiding axles respectively, the guiding axle penetrate in the push jack II, push jack I with push jack II between install 2 spring I, 2 springs II are arranged between the push sheet I and the side wall of the supporting platform V.
Automatic measure external screw thread parameter device of steel pipe, supporting platform V be the cell type structure, light source I, light source II are installed respectively to one of them side, camera I, camera II are installed respectively to another side, supporting platform V's bottom surface on install sensor I, supporting platform V side easy to assemble sensor II, sensor III and with camera I with camera II homonymy, axis of rotation II top install sensor IV.
Automatic measure external screw thread parameter device of steel pipe, screw rod device I link together and at end connection motor I through screw nut for the lead screw, screw rod device II link together and at end connection motor II through screw nut for the lead screw, screw rod device III link together and at end connection motor III through screw nut for the lead screw, axis of rotation I top install motor IV, the steel pipe of being surveyed place supporting platform V's left side.
A device and a method for automatically measuring external thread parameters of a steel pipe comprise the following steps:
firstly, in the process of measuring the thread parameters of the steel pipe, the device is required to ensure that the steel pipe threads are opposite to the device
Three positioning accuracies, movement and rotation along the X-axis, rotation along the Z-axis;
the measurement process of the device is as follows: firstly, a motor II, a motor I and a motor III return to zero along an X axis, a Y axis and a Z axis, a motor IV rotates around the Z axis to return to zero, waiting for the steel pipe to be detected to be in place, after the sensor I detects that the steel pipe to be detected comes along the negative direction of the Y axis, the sensor I sends signals to a production line and the equipment respectively, the steel pipe to be detected stops moving, the motor I feeds along the positive direction of the Y axis, after the sensor III and the sensor II detect the steel pipe to be detected, the sensor III informs the motor I to decelerate along the Y axis and feed along the positive direction for a fixed distance, the push plate II is ensured to contact the end face of the steel pipe to be detected, at the moment, as the steel pipe to be detected is not moved, the push plate II is pushed by using a guide shaft as a guide to move along the negative direction of the Y axis, the spring I is compressed to generate elastic force, under the action of the elastic force, the, the sensor IV records the rotation angle and sends the rotation angle to the motor IV, the motor IV is directly connected with the rotation shaft I, the rotation shaft I is fixedly connected with the supporting platform V, and the motor IV rotates the angle, so that the rotation deviation of the steel pipe along the Z axis is corrected;
after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe to be measured is separated from the push plate II, after the action is finished, the sensor II is a distance sensor and transmits a numerical value to the motor II, the motor II linearly moves along the X axis direction to correct the deviation, after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe is approximately positioned in a camera photographing area, the camera is started to photograph the end face of the steel pipe to be measured, the rotation deviation numerical value of the steel pipe along the X axis direction is obtained through picture analysis, after the action is finished, the motor I moves a certain distance along the positive direction of the Y axis to ensure that the thread of the steel pipe to be;
at the moment, the rotation deviation value of the measured steel pipe along the X-axis direction is transmitted to the computer internal software, the computer internal software processes the image to obtain thread parameters, then the motor I moves for a certain distance along the Y-axis negative direction to ensure that the sensor I cannot detect the measured steel pipe, then the detection result is sent to the production line, if the thread parameters are qualified, the steel pipe is transferred to the next station, if the parameters are unqualified, an alarm is given, the measured steel pipe is transferred to a waste station, the equipment is in a state of being in place, and the next measured steel pipe is waited.
Has the advantages that:
1. the invention adopts non-contact measurement, and can accurately take pictures and measure images by two cameras at one time
Three parameters of thread tooth height, thread pitch and taper are measured, the detection cost is effectively reduced, the measurement efficiency is high, the accuracy is high, and online measurement is realized.
The invention designs the positioning device for the thread of the steel pipe to be measured and the camera light source, improves the measurement precision, and improves the measurement efficiency and the measurement quality, the measurement efficiency is high, namely, three parameters are manually measured, about 90 seconds are needed from the measurement to the recording completion, and the measurement can be completed only about 40 seconds by using the device.
According to the invention, a positioning device for three directions of the steel pipe thread is designed, the imaging precision is effectively improved, three parameters of the standard thread, namely the tooth height, the thread pitch and the taper, are measured on site by using the device according to the American Petroleum institute standard (API standard), each parameter is repeatedly measured for 5 times, the API standard is completely met, and the data is stable.
The cost is reduced, the traditional method adopts manual measurement, three shifts are needed, each worker has about 3000 yuan per month for wages, so that about 11 ten thousand yuan per year for manual wages of 1 year, a manual measurement instrument device, a calibration device and the like have about 5 ten thousand yuan per year for 1 year, and the calibration device needs to be calibrated by a metering bureau regularly, so that 18 ten thousand yuan is consumed per year in total, the cost of the device is about 20 ten thousand yuan, and no much consumable is generated, so the cost is reduced; by processing the field, online measurement can be realized.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a perspective view of the present invention.
FIG. 5 is a program flow diagram of the computer software of the present invention.
Wherein: 1 supporting platform I, 2 supporting platform II, 3 supporting platform III, 4 supporting platform IV, 5 supporting platform V, 6 rotating shaft II, 7 rotating shaft I, 8 screw rod device III, 9 screw rod device II, 10 screw rod device I, 11 motor III, 12 motor IV, 13 motor I, 14 motor II, 15 camera I, 16 camera II, 17 light source I, 18 light source II, 19 sensor IV, 20 sensor III, 21 sensor II, 22 sensor I, 23 push sheet II, 24 spring I, 25 guide shaft, 26 push sheet I, 27 spring II.
The specific implementation mode is as follows:
example 1:
the utility model provides an automatic measure external screw thread parameter device of steel pipe, its constitution includes: supporting platform I1, supporting platform I be the top and be groove structure, the recess in install screw rod device I10, the protruding department in recess both ends have the guide rail and be connected with supporting platform II2 through the guide rail, supporting platform II go up the plane and install screw rod device II9, screw rod device II top pass through the support and be connected with supporting platform III3, supporting platform III's curb plate on install supporting platform IV4, supporting platform IV in install screw rod device III8, supporting platform IV side pass through the support and be connected with axis of rotation I7, axis of rotation I fixed with supporting platform V5, supporting platform V in install and turn to the device, turn to the device including axis of rotation II6, axis of rotation II fixed with push jack I26, push jack I respectively with 2 guiding axles 25 fixed, the guiding axle penetrate in push jack II23, 2 springs I24 are arranged between the push piece I and the push piece II, and 2 springs II27 are arranged between the push piece I and the side wall of the supporting platform V.
Example 2:
according to embodiment 1 automatic measure external screw thread parameter device of steel pipe, supporting platform V be the cell type structure, light source I17, light source II18 are installed respectively to one of them side, camera I15, camera II16 are installed respectively to another side, supporting platform V's bottom surface on install sensor I22, supporting platform V side facilitate the installation sensor II21, sensor III20 and with camera I with camera II homonymy, axis of rotation II top install sensor IV 19.
Example 3:
the device for automatically measuring the external thread parameters of the steel pipe according to the embodiment 2, the screw rod device I is formed by connecting screw rods together through screw nuts and connecting a motor I13 at the end part, the screw rod device II is formed by connecting screw rods together through screw nuts and connecting a motor II14 at the end part, the screw rod device III is formed by connecting screw rods together through screw nuts and connecting a motor III11 at the end part, a motor IV12 is installed above the rotating shaft I, and the steel pipe to be measured is placed on the left side of the supporting platform V.
Example 4:
a measuring method using the device for automatically measuring the external thread parameters of the steel pipe in the embodiments 1-3, comprising the following steps:
firstly, in the process of measuring the thread parameters of the steel pipe, the device is required to ensure that the steel pipe threads are opposite to the device
Three positioning accuracies, movement and rotation along the X-axis, rotation along the Z-axis;
the measurement process of the device is as follows: firstly, a motor II, a motor I and a motor III return to zero along an X axis, a Y axis and a Z axis, a motor IV rotates around the Z axis to return to zero, waiting for the steel pipe to be detected to be in place, after the sensor I detects that the steel pipe to be detected comes along the negative direction of the Y axis, the sensor I sends signals to a production line and the equipment respectively, the steel pipe to be detected stops moving, the motor I feeds along the positive direction of the Y axis, after the sensor III and the sensor II detect the steel pipe to be detected, the sensor III informs the motor I to decelerate along the Y axis and feed along the positive direction for a fixed distance, the push plate II is ensured to contact the end face of the steel pipe to be detected, at the moment, as the steel pipe to be detected is not moved, the push plate II is pushed by using a guide shaft as a guide to move along the negative direction of the Y axis, the spring I is compressed to generate elastic force, under the action of the elastic force, the, the sensor IV records the rotation angle and sends the rotation angle to the motor IV, the motor IV is directly connected with the rotation shaft I, the rotation shaft I is fixedly connected with the supporting platform V, and the motor IV rotates the angle, so that the rotation deviation of the steel pipe along the Z axis is corrected;
after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe to be measured is separated from the push plate II, after the action is finished, the sensor II is a distance sensor and transmits a numerical value to the motor II, the motor II linearly moves along the X axis direction to correct the deviation, after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe is approximately positioned in a camera photographing area, the camera is started to photograph the end face of the steel pipe to be measured, the rotation deviation numerical value of the steel pipe along the X axis direction is obtained through picture analysis, after the action is finished, the motor I moves a certain distance along the positive direction of the Y axis to ensure that the thread of the steel pipe to be;
at the moment, the rotation deviation value of the measured steel pipe along the X-axis direction is transmitted to the computer internal software, the computer internal software processes the image to obtain thread parameters, then the motor I moves for a certain distance along the Y-axis negative direction to ensure that the sensor I cannot detect the measured steel pipe, then the detection result is sent to the production line, if the thread parameters are qualified, the steel pipe is transferred to the next station, if the parameters are unqualified, an alarm is given, the measured steel pipe is transferred to a waste station, the equipment is in a state of being in place, and the next measured steel pipe is waited.
The transmission relationship of the device for automatically measuring the external thread parameters of the steel pipe is as follows:
the main structure of the device consists of four motors, three lead screws, two rotating shafts, five supporting platforms, two cameras, two light sources, a set of mobile steering device and four sensors; the transmission relationship is as follows: the supporting platform I is fixed, and a screw rod device I and a motor I are arranged on the supporting platform I; the support platform II reciprocates linearly along the Y axis and is connected with the screw rod device I through a screw rod nut, and the screw rod device II and the motor II are arranged on the support platform II; the support platform III linearly reciprocates along the X axis, is connected with the screw rod device II through a screw rod nut, and is provided with the screw rod device III, a motor III and a sensor I; the support platform IV linearly reciprocates along the Z axis and is connected with the screw rod device III through a screw rod nut, and a rotating shaft I and a motor IV are arranged on the support platform IV; the supporting platform V rotates along the Z axis and is fixedly connected with the rotating shaft I, two cameras, two light sources, a set of steering devices (comprising a push piece, a guide shaft and a spring) and three sensors are arranged on the supporting platform V, wherein the cameras, the light sources, the sensors II and the sensors III are all fixed on the side surface of the supporting platform V, the axes of the cameras I and the light sources I are coaxial, the axis is parallel to the X axis, the axes of the cameras II and the light sources II are coaxial, the axis is parallel to the X axis, the sensors IV and the rotating shaft II are connected together, the rotating shaft II rotates along the Z axis, the push piece I and the rotating shaft II are fixedly connected together, the two ends of the push piece I and the rotating shaft II are kept stable by the stretching of the spring II (stretching on the supporting platform V), the push piece II is connected together by the spring I, the guide shaft is vertically fixed on the push piece I, the spring I is a compression spring.
The working principle of the device for automatically measuring the external thread parameters of the steel pipe is as follows:
three parameters of the external thread of the steel pipe on the production line are mainly measured: the tooth height, the tooth pitch and the tooth taper, and the length of the steel pipe is about 10 m; firstly, a steel pipe to be detected moves along the negative direction of a Y axis, after a sensor I detects the steel pipe to be detected, an instruction is sent to a production line and the device at the same time, the steel pipe to be detected stops moving, meanwhile, a motor I drives a supporting platform II to move along the positive direction of the Y axis, after a sensor II and a sensor III are triggered respectively, the supporting platform II decelerates, at the moment, a push sheet II is in contact with the end face of the steel pipe to be detected, the supporting platform II walks for a fixed distance through a program and stops moving, under the push of the end face of the steel pipe to be detected, the push sheet II moves for a certain distance along a guide shaft, meanwhile, the push sheet I rotates for an angle along the axis of a rotating shaft II, the sensor IV receives the value of the angle and transmits the value to a motor IV to drive the rotating shaft I to rotate, thereby the rotating deviation of the steel pipe along the direction, after the end face of the steel pipe is separated from the push piece II, the sensor II is a distance sensor, after the distance between the sensor II and the steel pipe is measured, the numerical value is transmitted to the motor II, the supporting platform III is made to move the numerical value, the moving deviation of the steel pipe along the X-axis direction is corrected, after the correction is finished, the motor I moves for a certain distance along the Y-axis negative direction, the end face of the steel pipe is enabled to be approximately positioned in a camera photographing area, the camera is started to photograph the end face of the steel pipe, and the rotating deviation numerical value of the steel pipe along; then supporting platform II moves a certain distance along the positive direction of the Y axis, the screw thread is guaranteed to be located in a camera photographing area, then sensor I transmits measured data to motor III, motor III drives supporting platform IV to move along the Z axis, the screw thread is adjusted to the range of the visual angle of the camera, and the camera starts photographing to complete subsequent work.
Three parameters of the standard thread, namely tooth height, thread pitch and taper, are measured on site by using the device, as shown in table 1, each parameter is repeatedly measured for 5 times, and the standard requirement in table 1 is an API standard, so that the standard is completely in accordance with the API standard and the data is stable; the cost reduction means that: the manual measurement needs three shifts, each worker's wages are about 3000 yuan per month, so that the 1 year's wages are about 11 ten thousand yuan, and the manual measurement instrument device and the calibration device are about 5 ten thousand yuan per year, meanwhile, the calibration device needs to be calibrated to a measuring bureau regularly, so that 18 ten thousand yuan is consumed per year, and the device has the cost of about 20 ten thousand yuan, so that too many consumables are not needed, thereby reducing the cost; by processing the field, online measurement can be realized.
Table 1 shows the measurement results:
Claims (4)
1. the utility model provides an automatic measure external screw thread parameter device of steel pipe, its constitution includes: support platform I, its characteristics
The method comprises the following steps: the supporting platform I is of a groove structure, the groove is internally provided with a screw rod device I, the bulges at the two ends of the groove are provided with guide rails and are connected with the supporting platform II through the guide rails, the supporting platform II is provided with a screw rod device II on the plane, the top of the screw rod device II is connected with the supporting platform III through a support, the side plate of the supporting platform III is provided with a supporting platform IV, the supporting platform IV is internally provided with a screw rod device III, the side surface of the supporting platform IV is connected with a rotating shaft I through a support, the rotating shaft I is fixed with the supporting platform V, the supporting platform V is internally provided with a steering device, the steering device comprises a rotating shaft II, the rotating shaft II is fixed with a push sheet I, the push sheet I is respectively fixed with 2 guide shafts, the guide shafts penetrate into the push sheet II, 2 springs I are arranged between the push sheet I and the push sheet II, 2 springs II are arranged between the push sheet I and the side wall of the supporting platform V.
2. The apparatus for automatically measuring the external thread parameter of a steel pipe according to claim 1, wherein: supporting platform V be the cell type structure, light source I, light source II are installed respectively to one of them side, camera I, camera II are installed respectively to another side, supporting platform V's bottom surface on install sensor I, supporting platform V side make things convenient for sensor II, sensor III and with camera I with camera II homonymy, axis of rotation II top install sensor IV.
3. The apparatus for automatically measuring the external thread parameter of a steel pipe according to claim 2, wherein: screw rod device I link together and at end connection motor I through lead screw nut for the lead screw, screw rod device II link together and at end connection motor II through lead screw nut for the lead screw, screw rod device III link together and at end connection motor III through lead screw nut for the lead screw, axis of rotation I top install motor IV, the steel pipe of being surveyed place supporting platform V's left side.
4. A measuring method using the apparatus for automatically measuring the parameters of the external thread of the steel pipe according to any one of claims 1 to 3, wherein: the method comprises the following steps:
firstly, in the process of measuring the thread parameters of the steel pipe, the device is required to ensure that the steel pipe threads are opposite to the device
Three positioning accuracies, movement and rotation along the X-axis, rotation along the Z-axis;
the measurement process of the device is as follows: firstly, a motor II, a motor I and a motor III return to zero along an X axis, a Y axis and a Z axis, a motor IV rotates around the Z axis to return to zero, waiting for the steel pipe to be detected to be in place, after the sensor I detects that the steel pipe to be detected comes along the negative direction of the Y axis, the sensor I sends signals to a production line and the equipment respectively, the steel pipe to be detected stops moving, the motor I feeds along the positive direction of the Y axis, after the sensor III and the sensor II detect the steel pipe to be detected, the sensor III informs the motor I to decelerate along the Y axis and feed along the positive direction for a fixed distance, the push plate II is ensured to contact the end face of the steel pipe to be detected, at the moment, as the steel pipe to be detected is not moved, the push plate II is pushed by using a guide shaft as a guide to move along the negative direction of the Y axis, the spring I is compressed to generate elastic force, under the action of the elastic force, the, the sensor IV records the rotation angle and sends the rotation angle to the motor IV, the motor IV is directly connected with the rotation shaft I, the rotation shaft I is fixedly connected with the supporting platform V, and the motor IV rotates the angle, so that the rotation deviation of the steel pipe along the Z axis is corrected;
after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe to be measured is separated from the push plate II, after the action is finished, the sensor II is a distance sensor and transmits a numerical value to the motor II, the motor II linearly moves along the X axis direction to correct the deviation, after the action is finished, the motor I moves a certain distance along the negative direction of the Y axis to ensure that the end face of the steel pipe is approximately positioned in a camera photographing area, the camera is started to photograph the end face of the steel pipe to be measured, the rotation deviation numerical value of the steel pipe along the X axis direction is obtained through picture analysis, after the action is finished, the motor I moves a certain distance along the positive direction of the Y axis to ensure that the thread of the steel pipe to be;
at the moment, the rotation deviation value of the measured steel pipe along the X-axis direction is transmitted to the computer internal software, the computer internal software processes the image to obtain thread parameters, then the motor I moves for a certain distance along the Y-axis negative direction to ensure that the sensor I cannot detect the measured steel pipe, then the detection result is sent to the production line, if the thread parameters are qualified, the steel pipe is transferred to the next station, if the parameters are unqualified, an alarm is given, the measured steel pipe is transferred to a waste station, the equipment is in a state of being in place, and the next measured steel pipe is waited.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112013764A (en) * | 2020-08-19 | 2020-12-01 | 中车四方车辆有限公司 | Thread detection, imaging and identification equipment |
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| CN111238381B (en) | 2021-07-16 |
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