CN204575030U - Three-dimensional laser automatically scanning measuring system - Google Patents

Three-dimensional laser automatically scanning measuring system Download PDF

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Publication number
CN204575030U
CN204575030U CN201520231362.1U CN201520231362U CN204575030U CN 204575030 U CN204575030 U CN 204575030U CN 201520231362 U CN201520231362 U CN 201520231362U CN 204575030 U CN204575030 U CN 204575030U
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CN
China
Prior art keywords
guide rail
reverberator
mechanical arm
automatically scanning
turning axle
Prior art date
Application number
CN201520231362.1U
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Chinese (zh)
Inventor
周世勃
傅奕颉
邢恩奎
王延瑄
黄科锋
荆紫乾
薄剑
李伦
邵君奕
刘国蓉
Original Assignee
北京恒正精机科技有限责任公司
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Application filed by 北京恒正精机科技有限责任公司 filed Critical 北京恒正精机科技有限责任公司
Priority to CN201520231362.1U priority Critical patent/CN204575030U/en
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Publication of CN204575030U publication Critical patent/CN204575030U/en

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Abstract

The utility model discloses a kind of three-dimensional laser automatically scanning measuring system, comprising: guide rail; Base, it is connected to guide rail slidably; Industry mechanical arm, it is connected with base by shaft assembly, and it is moved on guide rail by base; Reverberator, it is clamped in industrial machinery on hand, reverberator in response to industry mechanical arm rotation or move on guide rail and make corresponding to rotate or mobile, to coordinate with laser tracker, for laser tracker provides reflection; Laser tracker.The utility model is by the executor of industry mechanical arm as laser scanning measurement, the industry mechanical arm that hold reverberator is placed on a mobile platform, the increase to workpiece calibration scope and expansion can be realized, significantly reduce the labour intensity of personnel, improve efficiency, not only can realize the accuracy measured under the prerequisite ensureing laser tracker certain position, and may be used for the accurate measurement of free form surface, provide measurement result in real time.

Description

Three-dimensional laser automatically scanning measuring system

Technical field

The utility model relates to a kind of scanning measurement system used in utensil accurately measurement situation.More particularly, the utility model relates to a kind of three-dimensional laser automatically scanning measuring system be used in utensil accurately measurement situation.

Background technology

The gauge check of large scale complex surface machine-made spares and the accurate measurement of measurement instrument are difficult problems on puzzlement metering circle always, the possibility that the solution appearing as this class problem of laser tracker system provides, the comparative analysis of three-dimensional scanning measurement and digital-to-analogue, for manufacturing accuracy evaluation, formulates the technique etc. that repairs a die and provides foundation.

Along with the development of national economy and the raising of advanced manufacture level, aviation, space flight, shipbuilding, iron and steel, the big machinery such as energy production and accumulating manufacturing enterprise and relevant scientific research institutions and the metrological service demand to all kinds of large-sized parts and the detection of large-scale geometry gets more and more, current three-dimensional laser scanning measurement system is gripped reverberator or laser scanner by people, substantially increase the labour intensity of personnel, reduce efficiency, the accuracy of running stability and movement can not be ensured simultaneously, the accuracy measured is reduced, and cannot perform the calibration of measurement instrument and complex-curved measurement.

Utility model content

An object of the present utility model solves at least the problems referred to above and/or defect, and provide the advantage will illustrated at least below.

The utility model also has an object to be to provide a kind of three-dimensional laser automatically scanning measuring system being aided with the artificial gripping scanning of slide rail replacement by industry mechanical arm, makes to measure reachable tree more greatly, can complete the accurate measurement that manual control difficulty completes.

The utility model also has an object to be to provide a kind of high-precision automatically scanning measuring system, and it can reduce overall measuring error greatly.

The utility model also has an object to be to provide the automatically scanning measuring system of a kind of parts machining or erecting yard, achieve at the scene under environment at a high speed and high-precision measurement.

In order to realize these objects of the present utility model and other advantage, providing a kind of three-dimensional laser automatically scanning measuring system, comprising:

Guide rail;

Base, it is connected to described guide rail slidably;

Industry mechanical arm, it is connected with described base by shaft assembly, and it is moved on described guide rail by described base;

Reverberator, it is clamped in described industrial machinery on hand, described reverberator in response to described industry mechanical arm rotation or move on described guide rail and make corresponding to rotate or mobile, to coordinate with laser tracker, for described laser tracker provides reflection;

Laser tracker.

Preferably, wherein, described industry mechanical arm also comprises:

Balanced component, it is connected with described shaft assembly, for described shaft assembly provides balanced support effect;

Swing arm, it is connected with described balanced component by screw, and described swing arm provides power by servomotor and reductor, and described shaft assembly drives and swings in specialized range;

Support bar, it is connected with described swing arm by described shaft assembly;

Mechanical gripper, it is arranged on described support bar, and described mechanical gripper is connected with described reverberator, drives described reverberator to move by cylinders providing power.

Preferably, wherein, described shaft assembly comprises:

First turning axle, it is rotatably connected at described base, provides power to produce the rotary motion of specialized range by servomotor and reductor for it;

Second turning axle, it is rotatably connected on described balanced component, provides power to drive described swing arm in the swing of specialized range by servomotor and reductor for it;

3rd turning axle, it is connected with described swing arm by screw, by servomotor with reductor for it provides power to drive described swing arm in the swing of specialized range together with described second turning axle;

4th turning axle, its one end is connected with described 3rd turning axle, and the other end is connected with described support bar, and described 4th turning axle provides power to produce the rotary motion of specialized range by servomotor and reductor for it;

5th turning axle, it is set on described support bar, and one end is connected with described cylinder, and described 5th turning axle drives described mechanical gripper rotary motion by cylinders providing power.

Preferably, wherein, described laser tracker specifically comprises: beam emissions unit, detecting unit and light beam adjustment unit, wherein, described beam emissions unit Emission Lasers is mapped on described reverberator, through reflector reflects, reflected light turns back to detecting unit, the locus of detecting unit measuring and calculating target, when reverberator follow described industry mechanical arm move on described guide rail time, described light beam adjustment unit adjustment light beam aims at the mark.

Preferably, wherein, described guide rail both sides are provided with slide block, and described slide block both sides are through arranges groove, to make the saddle on described base be mated slip, make described industry mechanical arm at described slide on rails.

Preferably, wherein, described guide rail two ends arrange block, to limit the sliding scale of described industry mechanical arm.

Preferably, wherein, be flexibly connected between each part of described swing arm, make described swing arm do oscillating motion.

Preferably, wherein, described reverberator can rotate 0 ~ 360 degree around described support bar.

Preferably, wherein, the width of described guide rail is greater than the width of described base.

The utility model at least comprises following beneficial effect:

1, measure to replace either scans owing to being aided with slide rail by the Industry mechanical arm of large work space, make measurement reachable tree larger, have very much manual measurement less than or measure the place that there is very large difficulty and can complete measurement easily;

2, owing to being provided with high-precision laser tracker and laser scanning head, ensure that the precision of curved surface scanning, measuring error can control within ± 50 μm generally;

3, make continuous path motion owing to being held high-precision reflector by the industrial machinery handgrip of high reliability according to the measuring route of planning, effectively can prevent laser tracker to break light, not only ensure that measuring accuracy, greatly can improve the efficiency of surveying work simultaneously;

4, achieve at the scene under environment (temperature: 0 ~ 40 DEG C, humidity: high speed less than 90%), high-acruracy survey, and achieve in part processing or assembling process field process measure and the demarcation of measurement instrument and measurement;

5, all measuring process realizes omnidistance, full-scale digitized measurement.

Part is embodied by explanation below by other advantage of the present utility model, target and feature, part also will by research and practice of the present utility model by those skilled in the art is understood.

Accompanying drawing explanation

Fig. 1 is the structural representation of three-dimensional laser automatically scanning measuring system in an embodiment of the present utility model;

Fig. 2 is the close-up schematic view of three-dimensional laser automatically scanning measuring system in another embodiment of the present utility model;

Fig. 3 is the close-up schematic view of three-dimensional laser automatically scanning measuring system in another embodiment of the present utility model;

Fig. 4 is the close-up schematic view of three-dimensional laser automatically scanning measuring system in another embodiment of the present utility model;

Fig. 5 is the measurement procedure schematic diagram of three-dimensional laser automatically scanning measuring system in another embodiment of the present utility model;

Fig. 6 is the schematic flow sheet of industrial machinery hand measurement work planning in three-dimensional laser automatically scanning measuring system in another embodiment of the present utility model.

Embodiment

Below in conjunction with accompanying drawing, the utility model is described in further detail, can implements according to this with reference to instructions word to make those skilled in the art.

Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.

Fig. 1, Fig. 2, Fig. 3 and Fig. 4 show entirety according to a kind of three-dimensional laser automatically scanning measuring system of the present utility model and local implementation form, comprising:

Guide rail 1;

Base 2, it is connected to described guide rail 1 slidably;

Industry mechanical arm, it is connected with described base 2 by shaft assembly, and it is moved on described guide rail 1 by described base 2;

Reverberator 12, it is clamped in described industrial machinery on hand, described reverberator 12 in response to described industry mechanical arm rotation or move on described guide rail 1 and make corresponding to rotate or mobile, to coordinate with laser tracker 14, for described laser tracker 14 provides reflection;

Laser tracker 14.

In example 1, described industry mechanical arm also comprises:

Balanced component 4, it is connected with described shaft assembly, for described shaft assembly provides balanced support effect;

Swing arm 6, it is connected with described balanced component 4 by screw, and described swing arm 6 provides power by servomotor and reductor, and described shaft assembly drives and swings in specialized range;

Support bar 13, it is connected with described swing arm 6 by described shaft assembly;

Mechanical gripper, it is arranged on described support bar, and described mechanical gripper is connected with described reverberator, provides power to drive described reverberator 12 to move by cylinder 11.

A kind of implementation of the shaft assembly in such scheme is: described shaft assembly comprises:

First turning axle 3, it is rotatably connected at described base 2, provides power to produce the rotary motion of specialized range by servomotor and reductor for it;

Second turning axle 5, it is rotatably connected on described balanced component 4, provides power to drive described swing arm in the swing of specialized range by servomotor and reductor for it;

3rd turning axle 8, it is connected with described swing arm 6 by screw, by servomotor with reductor for it provides power to drive described swing arm in the swing of specialized range together with described second turning axle 5;

4th turning axle 7, its one end is connected with described 3rd turning axle 8, and the other end is connected with described support bar 13, and described 4th turning axle 7 provides power to produce the rotary motion of specialized range by servomotor and reductor for it;

5th turning axle 9, it is set on described support bar 13, and one end is connected with described cylinder 11, and described 5th turning axle 9 provides power to drive described mechanical gripper rotary motion by cylinder 11.

In example 2, described laser tracker specifically comprises: beam emissions unit, detecting unit and light beam adjustment unit, wherein, described beam emissions unit Emission Lasers is mapped on described reverberator, through reflector reflects, reflected light turns back to detecting unit, the locus of detecting unit measuring and calculating target, when reverberator follow described industry mechanical arm move on described guide rail time, described light beam adjustment unit adjustment light beam aims at the mark, laser tracker described in the utility model is high-precision laser tracker, the digitizing (not needing surface spraying etc.) of light and diffusion curved surface can be completed under normal light condition.Within the scope of measurement range diameter 18 meters, more accurately can scan large-sized object, relatively similar product, measuring speed accelerates 50%.Setup times reaches minimum, does not need photogrammetry targets object, and this mode is a kind of explanation of preferred embodiments, but is not limited thereto.When implementing the utility model, the enforcement aspect doing corresponding replacing can be required according to the precision of user's demand laser tracker and other, such as can also adopt the non-contact laser scanner of microlight-type, there is the acquisition capacity of collection 20000 point data per second, just can the coordinate datas of millions of the point of precise acquisition within short a few minutes, and in whole range ability (18 meters), space measurement error is no more than 20 μm.May be used for the accurate measurement of free form surface, measurement result can be provided in real time.

In example 3, described three-dimensional laser automatically scanning measuring system also comprises control system, wherein said control system will comprise main frame, manipulater and electric control cabinet 3 parts, main frame, realizes measuring the functions such as work planning, movement instruction generation and system running state supervision for core with industrial computer, motion control card and CAN card.Manipulater is a Portable intelligent terminal, is connected with main frame by CAN, and user can directly to System Implementation teaching control by manipulater (man-machine interaction).Electrical control cabinet is primarily of PLC, motor driver, power module composition, and electrical control cabinet and main frame realize the detection and control to working state of system jointly, and guarantee security of system operation, for system provides safety guarantee.

In example 4, described guide rail both sides are provided with slide block, and described slide block both sides are through arranges groove, is mated slip to make the saddle on described base, make described industry mechanical arm at described slide on rails, for the increasing of industry mechanical arm measurement space adds one degree of freedom.Further, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.When implementing the utility model, different enforcement aspects can be selected according to user's demand base and the different fit system of slide block.

In example 5, described guide rail two ends arrange block, to limit the sliding scale of described industry mechanical arm, enhance the operation stability of industry mechanical arm, the magnitude range well-formedness of work space.

In example 6, be flexibly connected between each part of described swing arm, make described swing arm do oscillating motion, make industry mechanical arm clamp reverberator, carry out the detecting and tracking of different parts along with the swing of swing arm, improve the degree of accuracy and increase measurement range measured.

In example 7, described reverberator can rotate 0 ~ 360 degree around described support bar, makes reverberator do corresponding rotation, and the three-dimensional test specimen of complete detection, improves accuracy of measurement and measuring accuracy.

In example 8, the width of described guide rail is greater than the width of described base, to make described base can move freely on described guide rail, increases the dirigibility that base drives industry mechanical arm movement.

In the utility model, three-dimensional laser automatically scanning measuring system forms primarily of high-precision laser scanner, the three-dimensional localization to high-precision laser scanner is completed by parts such as the existing laser tracker of user, high speed Attitude Tracking camera and controllers, under the cooperation of supporting large-scale comparative analysis software, the digital-to-analogue scanning point cloud chart and the workpiece recorded can be carried out automatic comparative analysis.

The measurement data completed in three-dimensional laser automatically scanning measuring system in the utility model is completed by PolyWorks software carries out measurement of comparison with theoretical digital-to-analogue, PolyWorks software is developed by Canadian InnovMetric company, has high density point cloud software client group maximum in the world in manufacture field.High density 3D scanner is converted to real surveying instrument by software that between the more than ten years in past, InnovMetric software company endeavours to develop.This also makes become the standard point cloud engineering software solution of global mainstream automotive and aviation OEM manufacturer and supplier thereof. as the solution of a whole world application, make that client can compare with CAD at the standardized parts of whole organizations, GD & T analysis, virtual soft rule dimensional measurement, the triangle gridding of high density point cloud and the quick nurbs surface of scan-data.

In order to improve user job efficiency, by the free 3D testing result browser of PolyWorks, can maximize and share object information, making anyone can view testing result, carry out basic measurement and generate new report.The user of PolyWorks is used to be sure of its powerful function, high precision and world-class technical support and control system conceptual design in routine duties.

The measurement of three-dimensional laser automatically scanning measuring system of the present utility model to workpiece comprises the in site measurement to workpiece, and concrete steps as shown in Figure 5, comprising:

1, industry mechanical arm moves to appointment station;

2, the position of workpiece and industry mechanical arm is demarcated;

3, judge that whether the position of industry mechanical arm is suitable, if improper, the position of guide rail adjustment industry mechanical arm, if suitable, industry mechanical arm carries out measurement work planning;

4, industry mechanical arm coordinates laser tracker to complete measurement operation, Measurement and Data Processing, obtains and analysis to measure result, exports measurement result.

Wherein, in step 3, industry mechanical arm to measuring the planning principle of operation is: industrial machinery hand measurement work planning refers to that workpiece coordinate, the laser tracker obtained according to demarcation is put and laser scanning head measurement parameter, the end orbit of planning industrial machinery hand measurement operation.Industrial machinery hand measurement work planning can utilize the secondary development function of CATIA, adopts C++ on the basis of CATIA CAA, complete the functional development of measuring work planning.Major function should comprise: nominal data imports, curved surface segmentation (large-scale workpiece measurement), path planning, emulation etc.As shown in the figure, after work planning terminates, industry mechanical arm will perform measuring process according to program results to its planning process subelement flow process.The concrete steps measuring work planning as shown in Figure 6, comprising:

1, part model is imported;

2, judge whether workpiece is large-scale workpiece, if large-scale workpiece, perform the operation of segmentation curved surface, if not large-scale workpiece, perform setting measurement parameter manipulation;

3, measurement path planning and the result to measurement work planning carry out operation simulation operation;

After measurement work planning terminates, industry mechanical arm will perform measuring process according to program results, the result (position and attitude) of industry mechanical arm work planning sends to industrial machinery hand controls by main frame, carry laser scanning head by industry mechanical arm and perform measurement action, and by laser tracker image data.The data gathered are processed by related software, and the result obtained may be used for instructing work pieces process, contrast model and reverse-engineering etc.

Here the number of devices illustrated and treatment scale are used to simplify explanation of the present utility model.The application of three-dimensional laser automatically scanning measuring system of the present utility model, modifications and variations be will be readily apparent to persons skilled in the art.

As mentioned above, according to the utility model, the utility model is by the executor of industry mechanical arm as laser scanning measurement, the Industry mechanical arm that hold reverberator is placed on a mobile platform, its running stability, the size of work space and system reliability not only can realize the accuracy measured under the prerequisite ensureing laser tracker certain position, and have very important meaning to the calibration of measurement instrument and complex-curved measurement, the increase to workpiece calibration scope and expansion can be realized, significantly reduce the labour intensity of personnel, improve efficiency.

Although embodiment of the present utility model is open as above, it is not restricted to listed in instructions and embodiment utilization.It can be applied to various applicable field of the present utility model completely.For those skilled in the art, can easily realize other amendment.Therefore do not deviating under the universal that claim and equivalency range limit, the utility model is not limited to specific details and illustrates here and the legend described.

Claims (9)

1. a three-dimensional laser automatically scanning measuring system, is characterized in that, comprising:
Guide rail;
Base, it is connected to described guide rail slidably;
Industry mechanical arm, it is connected with described base by shaft assembly, and it is moved on described guide rail by described base;
Reverberator, it is clamped in described industrial machinery on hand, described reverberator in response to described industry mechanical arm rotation or move on described guide rail and make corresponding to rotate or mobile, to coordinate with laser tracker, for described laser tracker provides reflection;
Laser tracker.
2. three-dimensional laser automatically scanning measuring system as claimed in claim 1, it is characterized in that, described industry mechanical arm also comprises:
Balanced component, it is connected with described shaft assembly, for described shaft assembly provides balanced support effect;
Swing arm, it is connected with described balanced component by screw, and described swing arm provides power by servomotor and reductor, and described shaft assembly drives and swings in specialized range;
Support bar, it is connected with described swing arm by described shaft assembly;
Mechanical gripper, it is arranged on described support bar, and described mechanical gripper is connected with described reverberator, drives described reverberator to move by cylinders providing power.
3. three-dimensional laser automatically scanning measuring system as claimed in claim 2, it is characterized in that, described shaft assembly comprises:
First turning axle, it is rotatably connected at described base, provides power to produce the rotary motion of specialized range by servomotor and reductor for it;
Second turning axle, it is rotatably connected on described balanced component, provides power to drive described swing arm in the swing of specialized range by servomotor and reductor for it;
3rd turning axle, it is connected with described swing arm by screw, by servomotor with reductor for it provides power to drive described swing arm in the swing of specialized range together with described second turning axle;
4th turning axle, its one end is connected with described 3rd turning axle, and the other end is connected with described support bar, and described 4th turning axle provides power to produce the rotary motion of specialized range by servomotor and reductor for it;
5th turning axle, it is set on described support bar, and one end is connected with described cylinder, and described 5th turning axle drives described mechanical gripper rotary motion by cylinders providing power.
4. three-dimensional laser automatically scanning measuring system as described in claim 3, it is characterized in that, described laser tracker specifically comprises: beam emissions unit, detecting unit and light beam adjustment unit, wherein, described beam emissions unit Emission Lasers is mapped on described reverberator, through reflector reflects, reflected light turns back to detecting unit, the locus of detecting unit measuring and calculating target, when reverberator follow described industry mechanical arm move on described guide rail time, described light beam adjustment unit adjustment light beam aims at the mark.
5. three-dimensional laser automatically scanning measuring system as claimed in claim 4, it is characterized in that, described guide rail both sides are provided with slide block, and described slide block both sides are through arranges groove, to make the saddle on described base be mated slip, make described industry mechanical arm at described slide on rails.
6. three-dimensional laser automatically scanning measuring system as claimed in claim 5, it is characterized in that, described guide rail two ends arrange block, to limit the sliding scale of described industry mechanical arm.
7. three-dimensional laser automatically scanning measuring system as claimed in claim 6, is characterized in that, be flexibly connected between each part of described swing arm, make described swing arm do oscillating motion.
8. three-dimensional laser automatically scanning measuring system as claimed in claim 7, wherein, described reverberator can rotate 0 ~ 360 degree around described support bar.
9. three-dimensional laser automatically scanning measuring system as claimed in claim 8, it is characterized in that, the width of described guide rail is greater than the width of described base.
CN201520231362.1U 2015-04-16 2015-04-16 Three-dimensional laser automatically scanning measuring system CN204575030U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272370A (en) * 2016-08-12 2017-01-04 无锡百禾工业机器人有限公司 A kind of industrial machinery arm
CN106584273A (en) * 2017-01-31 2017-04-26 西北工业大学 Online visual detecting system for robot polishing
CN106767499A (en) * 2016-11-25 2017-05-31 江苏奥维信亨通光学科技有限公司 A kind of preform flexibility measuring method
CN108444382A (en) * 2018-02-02 2018-08-24 中铁二十二局集团第二工程有限公司 A kind of extracting method of each appearance detection project of III type track plates of CRTS
CN108519049A (en) * 2018-02-02 2018-09-11 中铁二十二局集团有限公司 A method of establishing III type track plates of the CRTS detection feature for meeting prescribed requirement
CN109141246A (en) * 2016-08-22 2019-01-04 徐勤凤 Bilateral symmetry formula pneumatically winds positioning distance measuring disk
CN109883831A (en) * 2019-03-08 2019-06-14 安徽机电职业技术学院 A kind of production detection system of automobile fuselage plate
CN110132133A (en) * 2019-06-13 2019-08-16 中铁山桥集团有限公司 A kind of railroad turnout steel rail part top comprehensive analysis of conditions of CUN KOU pulse and skin of the forearm automated detection method and system

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272370A (en) * 2016-08-12 2017-01-04 无锡百禾工业机器人有限公司 A kind of industrial machinery arm
CN109141246B (en) * 2016-08-22 2020-06-05 南京溧水高新创业投资管理有限公司 Bilateral symmetry formula pneumatic winding location range finding dish
CN109141246A (en) * 2016-08-22 2019-01-04 徐勤凤 Bilateral symmetry formula pneumatically winds positioning distance measuring disk
CN106767499A (en) * 2016-11-25 2017-05-31 江苏奥维信亨通光学科技有限公司 A kind of preform flexibility measuring method
CN106584273A (en) * 2017-01-31 2017-04-26 西北工业大学 Online visual detecting system for robot polishing
CN106584273B (en) * 2017-01-31 2019-02-15 西北工业大学 A kind of online vision detection system for robot polishing
CN108519049A (en) * 2018-02-02 2018-09-11 中铁二十二局集团有限公司 A method of establishing III type track plates of the CRTS detection feature for meeting prescribed requirement
CN108444382A (en) * 2018-02-02 2018-08-24 中铁二十二局集团第二工程有限公司 A kind of extracting method of each appearance detection project of III type track plates of CRTS
CN109883831A (en) * 2019-03-08 2019-06-14 安徽机电职业技术学院 A kind of production detection system of automobile fuselage plate
CN109883831B (en) * 2019-03-08 2020-12-15 安徽机电职业技术学院 Production detecting system of automobile body plate
CN110132133A (en) * 2019-06-13 2019-08-16 中铁山桥集团有限公司 A kind of railroad turnout steel rail part top comprehensive analysis of conditions of CUN KOU pulse and skin of the forearm automated detection method and system

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