EP2956345A1 - Système de surveillance des conditions de circulation des cabines au niveau d'un point de raccordement et de fonctionnement entre le câble, la cabine, la station et la bride de support dans un système de transport tracté par câble - Google Patents

Système de surveillance des conditions de circulation des cabines au niveau d'un point de raccordement et de fonctionnement entre le câble, la cabine, la station et la bride de support dans un système de transport tracté par câble

Info

Publication number
EP2956345A1
EP2956345A1 EP14713580.0A EP14713580A EP2956345A1 EP 2956345 A1 EP2956345 A1 EP 2956345A1 EP 14713580 A EP14713580 A EP 14713580A EP 2956345 A1 EP2956345 A1 EP 2956345A1
Authority
EP
European Patent Office
Prior art keywords
cable
sensors
station
vehicle
circulation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14713580.0A
Other languages
German (de)
English (en)
Inventor
Gustavo Alberto MEJÍA TOBON
Leonel Francisco CASTAÑEDA HEREDIA
Alexander TRUJILLO VÁSQUEZ
Mónica Patricia HERNÁNDEZ LOURDUI
José Fernando OSORIO BRAND
Geovanny MARTÍNEZ GARCÍA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Empresa De Transporte Masivo Del Valle De Aburra L
UNIVERSIDAD EAFIT
Original Assignee
EAFIT, University of
Universidad Eafit
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by EAFIT, University of, Universidad Eafit filed Critical EAFIT, University of
Publication of EP2956345A1 publication Critical patent/EP2956345A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
    • B61B12/06—Safety devices or measures against cable fracture

Definitions

  • the present invention is directed towards automated monitoring of a set of dynamic, static and geometric type physical variables, in order to inspect the actual condition of the operational, maintenance and safety variables at an operational and connection point between the cable, car, station and support clamp in a cabin type aerial cable-drawn transport medium.
  • Cable car-drawn transport system operators are often concerned about maintaining quality and safety in their service, and thus, the operating conditions of the system must be inspected. Given operating conditions are affected by component wear and tear, maintenance routine includes monitoring of variables at the point of connection and operation between the cable, car, station and support clamp.
  • maintenance routine includes monitoring of variables at the point of connection and operation between the cable, car, station and support clamp.
  • cable car drawn transport systems are being implemented as mass transport systems in urban settings generating high use and high frequency in maintenance and servicing routines. Therefore, it is convenient to automate the manual process of measuring operational, maintenance, and safety variables in the system by means of monitoring equipment.
  • FR2750764 describes a clamping force testing device for the clamp, formed by two infrared sensors which measure distances between the clamping lever and fixed spots in swinging positions on said clamp, thus determining the clamping force.
  • AU2003203595A1 discloses a device used to test the clamping force of the clamp, formed by at least two different measuring sensors, located inside an elastically deformable area.
  • US4617829A refers to a device for monitoring the clamping force, by means of a prox detector, which measures the amplitude of the elastic deformation of the clutch control ramp's flexible base.
  • EP0582528A1 also refers to a clamping force measuring device for the clamp, which comprises a load cell type measuring element located on the clutch control ramp; in this case, the use of the load cell is inconvenient because it has a complicated implementation.
  • a clamping force measuring device for the clamp which comprises a load cell type measuring element located on the clutch control ramp; in this case, the use of the load cell is inconvenient because it has a complicated implementation.
  • US7,880,633 B2 discloses a monitoring device of the cable position in order to monitor the cable guide on a set of rolls in a cable transport system.
  • DE3822466A1 describes a method to test the position and movement of a cable transported carrier; the invention is applied to the use in machinery in the mining field, it carries out an analysis of signals obtained through optics, preferably optoelectronics. These devices are limited because they only show the cable's alignment, and however, do not include inspection and documentation of the cable's geometric defects.
  • the present invention provides the joint automated measurement of several variables such as: travel distance, position, acceleration, orientation, load and pressure.
  • the present invention is able to carry out the measurements of this set of variables automatically which regulate optimal operating at the point of connection and operation between the cable, car, station and support clamp, in a cable car-drawn transport system.
  • Fig. 1 shows the basic components of a disengageable cable car.
  • Fig. 2 shows a general view and a cutaway view of the elements comprising a clamp in a disengageable cable car.
  • PIN 1 disengageable clamps Omega T and Omega TL.
  • Fig. 3 shows a station within a cable car transport system.
  • Fig. 4 shows a basic representation of the pathways and rails through which the clamp goes through at the entrance of a disengageable cable car station.
  • Fig. 5 shows a schematic representation in order to explain the device which inspects the actual and operating conditions at the point of connection and operation between the cable, car, station and support clamp in a car car-drawn transport system.
  • Fig. 6 is a basic representation in order to explain the general disposition of the sensor arrangement in order to measure the clamp aperture and closure ramp profile during the vehicle's circulation pathway in the station.
  • Fig. 7 is a representation in order to explain the general disposition of a sensor arrangement in order to measure vertical distance between the top track and the clamp aperture and closure control ramp at a fixed point in the station.
  • Fig. 8 is a basic representation in order to explain the general disposition of a sensor which measures the circulation tire pressure within the station in a cable car type system.
  • Fig. 9 is a basic representation in order to explain the general disposition of a sensor which measures the height of the tractor tires with regards to the top rail of a station in a cable car type system.
  • Fig. 10 is a basic representation in order to explain the general disposition of a sensor which measures vehicle acceleration during the vehicle's trajectory within a station in a cable car type system.
  • Fig. 1 1 is a basic representation in order to explain the general disposition of a sensor which measures inclination between the stabilizing rail and top rail within a station in a cable car type system.
  • Fig. 12 is a basic representation in order to explain the general disposition of a sensor which measures cross-section oscillation of a cable car vehicle.
  • Fig. 13 is a basic representation in order to explain the general disposition of a sensor which measures longitudinal oscillation of a cable car vehicle.
  • Fig. 14 is a basic representation in order to explain the general disposition of a sensor which measures vibration the cable car vehicle absorbs.
  • Figs. 15 show a basic representation in order to explain the general disposition of the sensor array which measures the relative horizontal distance between the carrier cable and the top rail in a cable car type installation, in two positions of the station's drive zone.
  • Figs. 16 show a basic representation in order to explain the general disposition of the sensor array which measures the relative vertical distance between the carrier cable and the top rail in a cable car type installation, in two positions of the station's drive zone.
  • Fig. 17 is a basic representation in order to explain the general disposition of the sensor array which estimates the alignment of the cable with respect to the top rail within the station in a cable car type system.
  • Fig. 18 is a basic representation in order to explain the general disposition of the sensor array which measures the diameter of the aperture and closure wheels of a cable car type vehicle.
  • Fig. 19 is a basic representation in order to explain the general disposition of the sensor array which measures the shape of the carrier cable in a cable car type transport system.
  • Fig. 20 is a basic representation in order to explain the general disposition of the sensor array which measures the diameter of the stabilizing wheels of cable car type vehicles.
  • Fig. 21 is a general schematic representation with block diagrams of the target method of the present invention.
  • the present invention discloses a monitoring system of the conditions of circulating vehicles at the point of connection and operation between the cable, car, station and support clamp in a cable car-drawn transport system, characterized because it comprises: a. A measuring device of dynamic, static and geometric variables which interfere at the engagement, circulation and disengagement zone between the support clamp and the station, car and carrier cable; b. A processing method which receives information from the measuring device, centralizes said information, processes it, stores it, and administrates it, in order to report the status of the maintenance, operation and safety variables within the engagement, circulation and disengagement zone between the support clamp and the station, car and carrier cable.
  • One of the objectives of the present invention is to provide a device and a method to monitor actual conditions of operation, maintenance and safety variables associated with the circulation of a clamp through the aperture and closure pathways of a cable car-drawn type transport system.
  • car or telecabin (300) reference is (see Fig. 1 ) made to a vehicle placed to travel throughout a transport system, additionally comprised of a suspension cabin system (301 ) and a disengageable clamp.
  • clamp (302) reference is made (see Fig. 2) to an assembly comprised of several elements which by acting together allow for the vehicle to engage and disengage entirely from the carrier cable during its trajectory through the station.
  • Fig. 1 By car or telecabin (300) reference is (see Fig. 1 ) made to a vehicle placed to travel throughout a transport system, additionally comprised of a suspension cabin system (301 ) and a disengageable clamp.
  • clamp (302) reference is made (see Fig. 2) to an assembly comprised of several elements which by acting together allow for the vehicle to engage and disengage
  • the clamp (302) is disengaged upon entering the station (200), being necessary the interaction with the three trajectories comprising the station (200): i) the stabilization trajectory (103) (trajectory where the clamp's stabilizing wheel travels);
  • circulation trajectory (104) (trajectory where the top wheels travel or clamp circulation (302) of the cable cars);
  • variable conditions makes reference to the status of the variable according to the manufacturer, who shows a "good” or “accepted” status provided the variable is found within the tolerance ranges determined by the manufacturer.
  • Operating variables refer to parameters such as velocity, acceleration, oscillations, and vibrations of the transport system and/or of the vehicles travelling on it.
  • Maintenance and safety variables refer to geometric measurements, established by the manufacturer, which must be guaranteed in order to maintain operation of the transport system.
  • a device (100) having at least two measurement apparatuses (10, 20), each measurement apparatus being independent in its operation, and is integrated within the device unit (100) that centralizes, processes, stores, and administrates data acquired by each measurement apparatus.
  • the device unit (100) is comprised by a set of information based on signals, corresponding to several measurement cells comprised by a plurality of sensors (S1 , S2, ... S17) coming from different measurement apparatuses (10, 20).
  • the device (100) of the present invention is comprised, on one hand, of a measurement apparatus located at a station within a cable transport system (20), in order to acquire and process data for the inspection of the clamp's aperture and closure status, circulation and stabilization of the vehicle travelling through the station (200); and on the other hand, of a measurement apparatus located in the cable car type vehicle (10), in order to acquire and process data for the inspection of the vehicle's circulation condition (300) within the cable car station circuit.
  • Each measurement apparatus comprises a plurality of sensors (S1 , S2, ...S17) used to measure a set of dynamic and geometric variables.
  • Dynamic variables refer to the vehicle's acceleration and vibration, to the vehicle's orientation and inclination, amongst others; and geometric variables refer to circulation minimum clearances and elevations, wheel diameters, component heights and parallelisms, and the like.
  • device (100) comprises data transmission media (30) for data coming from the measurement apparatuses (10, 20) towards a data acquisition system (40), which transmits said data to a data processing system (50) and has connectivity with the virtual setting (60), which allows for user interaction (61 ) from a web browser (62) based on a Client/Server type model data network and interconnected users (61 ), in order for the information to be read and interpreted by the operators (64) in real time or able to observe historic data information.
  • the virtual setting (60) comprises a set of support users, comprised by a data acquisition and processing support (65), network server and administrator (66) and a network keeper (67), which may be structured in a medium for accessing the remote desktop-type setting (68), the virtual setting (60) may be associated to information of different origin stemming from other server equipment (69); and also, the virtual setting (60) may integrate other measurement data stemming from other measurement equipment (70) through the addition of modules in its setting.
  • the measurement apparatus (10) located inside the vehicle comprises media which measure the following variables throughout the trajectory of the entire transport system and its passage by all the stations:
  • the engagement and disengagement trajectory or engagement control ramp (102) comprises contactless distance sensors (S1 and S2), located on the trumpet (1 1 ) of the clamp (302), having a V-shaped installation configuration, together with the vehicle travel information (C7), a from this information the engagement control ramp's geometric profile (C4) is obtained.
  • Circulation tire pressure in the station (C5) comprises a sensor (S4) which is adequate for recording the load directly or by recording elastic deformation of an element affected by said load; located on the clamp's bearer, it individually records the load of each tire, see Fig. 8.
  • the circulation tire pressure measurement consists of an indirect measurement of the force exerted on the clamp's bearer.
  • Circulation tire height in the station (C6) comprises a contactless distance sensor (S5) placed on a support (106) towards the end of the bearer's base, thereby recording the relative distance between the circulation rail (104) and the tires' lowest point; said distance is about 100 mm, see Fig. 9.
  • Vehicle acceleration during the vehicle's trajectory in the station comprises a sensor (S6), which can be any appropriate optical type or magnetic type encoder in order to record clamp wheel rotation, and thus calculate the corresponding distance traveled and acceleration (C7), see Fig. 10.
  • the inclination between the stabilizing rail (103) and the circulation rail (104) in a station (C8) comprises a fixed sensor (S7) on the clamp's main axis, measuring the angle covered by the clamp in the carrier cable direction during its trajectory in the station, see Fig. 1 1 .
  • Vehicle longitudinal inclination (C9) comprises a fixed sensor (S8) on the cable car shell, at its geometric center (107), measuring the angle covered by the clamp in longitudinal direction to the carrier cable during its trajectory on the cable path, see Fig. 12.
  • Vehicle cross-section inclination comprises a fixed sensor (S9) on the cable car shell, at its geometric center (107), measuring the angle covered by the clamp in cross-section direction to the carrier cable during its trajectory on the cable path, see Fig. 13.
  • Vehicle vibration (C1 1 ) comprises a fixed sensor (S10) on the cable car shell, recording acceleration during its trajectory on the cable path, see Fig. 14.
  • the measurement apparatus (20) placed in one of the stations (200) of the transport system comprises means to record the following variables, which are only present in the station and in the vehicles travelling through it.
  • the vertical distance between the circulation rail and engagement control ramp at the station's safety entry point (C1 ), comprises a contactless distance sensor (S3), fixed on a structural support over the engagement and disengagement ramp, see Fig. 7A;
  • the relative horizontal distance between the carrier cable (101 ) and the circulation rail (104) (C12) at the first alignment point of the cable position over the disengagement zone comprises a contactless distance sensor (S1 1 ), located about 100 mm from the carrier cable (101 ), fixed on a structural support at the station directly recording the distance to the carrier cable (101 ), and the distance (C12) is calculated from this information, see Fig. 15A;
  • the relative vertical distance between the carrier cable (101 ) and the circulation rail (104) (C13) at the first alignment point of the cable position over the disengagement zone comprises a contactless distance sensor (S12), located about 100 mm from the carrier cable (101 ), fixed on a structural support at the station directly recording the distance to the carrier cable (101 ), and the distance (C13) is calculated from this information, see Fig. 16A;
  • the relative horizontal distance between the carrier cable (101 ) and the circulation rail (104) (C12') at the second alignment point of the cable position over the disengagement zone comprises a contactless distance sensor (S1 1 '), located about 100 mm from the carrier cable (101 ), fixed on a structural support at the station directly recording the distance to the carrier cable (101 ), and the distance (C12') is calculated from this information, see Fig.
  • the relative vertical distance (C13') between the carrier cable (101 ) and the circulation rail (104) at the second alignment point of the cable position over the disengagement zone comprises a contactless distance sensor (S12'), located about 100 mm from the carrier cable (101 ), fixed on a structural support at the station directly recording the distance to the carrier cable (101 ), and the distance (C13') is calculated from this information, see Fig. 16B;
  • the alignment of the carrier cable (101 ) with the circulation path (104), is based on a geometrical calculation between the measurements of sensors S1 1 , S1 1 ', S12, and S12', see Fig. 17;
  • the aperture and closure wheel diameters (C15) comprise two facing distance sensors (S13, S14) fixed on a support located at the station (200), which measure the diameters when the cable cars pass through the station (200), see Fig. 18;
  • the carrier cable's (101 ) shape (C16, C16') comprises an array of two sensors (S15, S15') fixed at station (101 ) cross-sectionally oriented in the direction of the carrier cable's movement, thus recording the profile of the carrier cable's cross-section, see Fig. 19;
  • the diameter of the equilibrium wheels (C17), comprises two facing distance sensors (S16, S17), fixed on a support located at the station (101 ), which measures the diameters when the cable cars travel through the station, see Fig. 20.
  • the present invention also provides a method for continuous inspection of a cable car-drawn transport system, focused on evaluating the condition of operating, maintenance and safety variables at the point of connection and operation between the cable, car, station and support clamp, directed towards automating measurements, processing, storage, analysis and report, obtained from a device for this purpose.
  • the method of the present invention comprises a set of steps for managing information that the measuring equipment transmits (10, 20).
  • Fig. 21 shows a series of steps which comprise the method (200), consisting of a sequential process comprising the following elements: method onset (201 ), entry of measurement conditions (202), measurement onset status (203), signal acquisition (204), signal conversion (205), data storage (206), end of measurement (207), data processing (208), report generation (209) and end of method (210).
  • the user enters the conditions with which the measurement is performed; for device 20, the vehicle identification number with which the measurement is initiated, the order and identification of vehicles present in the transport system and the number of vehicles on which the measurement is performed; for device (10), the transport system station in which the measurement is initiated is indicated and the velocity of the transport system.
  • Re device (20) as for the measurement onset status (203), the measurement onset condition is based on the moment in which the first vehicle enters the station; re device (10), it is the moment where the vehicle enters the first station.
  • signal acquisition it is performed in a real time hardware timer circuit, wherein electric and electronic signals produced by the sensors are acquired (S1 , S2, S17).
  • the data storage stage (206) comprises an automated process which stores data recorded in each sampling period.
  • Data is stored in two independent storage systems, on one hand, for the measurement device located on the vehicle (20), data can be stored in a portable memory media, and on the other hand, the measurement device located at the station (10) can be stored in a hard drive.
  • each monitoring process ends in the following manner: for device (20), when the total number of monitoring target vehicles is measured; for device (10), when the user manually ends the measurement.
  • the measurement device located in station (10) comprises an identification system which performs an information swap between the sequence of the acquired signal set and a record of the sequence of vehicles which were placed in operation.
  • Data processing (208) is in charge of analyzing, calculating and discriminating acquired data in order to ultimately deliver basic or necessary information to the user.
  • the report generation stage (209) comprises the data base holding parameters and values obtained in the previous stages of the method, which presents in an organized fashion all variables and condition thereof.
  • the method (200) of the present invention is characterized by the following stages:
  • the method (200) of the present invention is characterized by the following stage:
  • the device comprises two measurement apparatuses (10, 20) which make up the device unit of the present invention (100), a measurement apparatus located in a vehicle (10), and another apparatus located at a station (20), each measurement apparatus being autonomous, capable of acting independently.
  • the device of the present invention comprises connectivity (30) with the virtual setting (62) based on a Client/Server model, which allows for user interaction (61 ) from a web browser, allowing for the registration and processing of a set of data coming from a plurality of sensors (S1 , S2, S17), and generating reports on the conditions of operating, maintenance and safety variables.
  • the device (101 ) has a sampling period in order to gather 100 Hz data, comprising a plurality of sensors:
  • a set of contactless distance sensors (S1 , S2, S3, S5, S1 1 , S12, S1 1 ⁇ S12', S13, S14, S16, S17) preferably optical, lineal distance laser sensor-type sensors having a structured light beam source, operating voltage of 10-30 VCD, measuring ranges between a minimum of 80 mm up to 600 mm and a 4-20 mA output;
  • a sensor for recording the load (S4) preferably a 90 kg load cell, 10 VDC excitation voltage, and 3mV/V sensitivity;
  • a sensor for measuring the rotation of a clamp circulation wheel (S6), preferably a magnetic-type incremental encoder, having 1024 pulses/rev, and a 5 VDC input, the encoder must have a magnetic wheel that is in contact with the axis of one of the clamp's circulation wheels;
  • Sensors for recording cable car oscillation preferably two inclinometers having two degrees of freedom, 10-30 VDC excitation voltage, measurement range 0-360°, and a 0-5 VDC output; a sensor used to record vibrations (S10), preferably a tri-axial accelerometer having a ⁇ 10g measuring range, 500 mV/g sensitivity and 0-3 KHz frequency; - A sensor array (S15, S15'), preferably a led matrix-type with driver optical sensor array, 2.5 mm detection between leds, 1 ms processing per scan, and a 16-30 VDC input.
  • the device focused on a vehicle, comprises a method, which in a first step gathers measurements coming from measurement apparatuses (10) which synchronize the data measurements of the sensors (S1 , S2, S4, S5, S7, S8, S9, S10), according to values gathered by sensor (S6), thus being able to obtain the variables in relation to the position of the vehicle within the station.
  • the data is processed using a computing application, which establishes relationships between the measured variables (C1 , C1 , C15, C16, C17) and tolerance ranges, established by the manufacturer, thus determining the real condition of the operating, maintenance and safety variables.
  • the variables and conditions thereof are processed in order to automatically generate a monitoring report
  • the fourth step is the report transmission management.
  • the measurement apparatus located in vehicle (10) holds a portable memory which digitally stores the reports, using an HTML format; it may be periodically integrated to the data network manually and directly by a user (61 ).
  • the measurement apparatus located at the station (20) automatically sends the digital report to the data network via ethernet.
  • Each report generated by the measurement apparatuses is integrated and stored in the data network through a virtual server (63).
  • the reports show in an organized fashion in tables the value of all variables measured, the nominal value and the tolerance range, established by the manufacturer, and accordingly, the variables' condition, which if found within the tolerance range is "good” or "acceptable", on the contrary deemed “unacceptable”.
  • users may program servicing according to certain adjustments established by the manufacturer.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention se rapporte à un dispositif et à un procédé permettant de surveiller les conditions de circulation des cabines de transport tractées par câble dans une station ou au niveau des locaux des téléphériques, en particulier des cabines de type téléphérique qui comportent des télésièges débrayables ou des téléphériques qui comportent des éléments de fixation fixés à un câble porteur, composées d'un ressort réalisant la fermeture d'un étrier de serrage sur le câble porteur et un levier d'entraînement qui agit contre le ressort afin de désolidariser la cabine du câble porteur au niveau des stations, l'état de fonctionnement, la maintenance et les variables de sécurité étant contrôlés entre le câble, la cabine, la station et la bride de support au moyen de l'enregistrement d'une série de variables physiques à l'aide de deux types d'appareils de mesure, un type d'appareil de mesure étant placé au niveau de la station et l'autre type d'appareil de mesure étant placé sur la cabine.
EP14713580.0A 2013-02-12 2014-02-12 Système de surveillance des conditions de circulation des cabines au niveau d'un point de raccordement et de fonctionnement entre le câble, la cabine, la station et la bride de support dans un système de transport tracté par câble Withdrawn EP2956345A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CO13028591A CO7030190A1 (es) 2013-02-12 2013-02-12 Sistema de monitoreo de la condición de circulación de vehiculos en el punto de conexión y operación entre el cable, la cabina, la estación y la pinza soporte en un sistema de transporte de tracción por cable
PCT/IB2014/058944 WO2014125423A1 (fr) 2013-02-12 2014-02-12 Système de surveillance des conditions de circulation des cabines au niveau d'un point de raccordement et de fonctionnement entre le câble, la cabine, la station et la bride de support dans un système de transport tracté par câble

Publications (1)

Publication Number Publication Date
EP2956345A1 true EP2956345A1 (fr) 2015-12-23

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Family Applications (1)

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EP14713580.0A Withdrawn EP2956345A1 (fr) 2013-02-12 2014-02-12 Système de surveillance des conditions de circulation des cabines au niveau d'un point de raccordement et de fonctionnement entre le câble, la cabine, la station et la bride de support dans un système de transport tracté par câble

Country Status (5)

Country Link
EP (1) EP2956345A1 (fr)
AR (1) AR094759A1 (fr)
CL (1) CL2015002247A1 (fr)
CO (1) CO7030190A1 (fr)
WO (1) WO2014125423A1 (fr)

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AT517919B1 (de) 2015-10-19 2020-12-15 Innova Patent Gmbh Klemme
CN109561650B (zh) * 2018-12-20 2021-02-26 苏州光韵达自动化设备有限公司 一种自动拼板机及自动拼板方法
CN109693677B (zh) * 2018-12-28 2023-10-27 浙江领航市政工程有限公司 空中客车的车身防偏移装置

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CL2015002247A1 (es) 2016-05-20

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