WO2023005027A1 - Robot de détection de pulvérisation basé sur un positionnement visuel, et un procédé de détection associé - Google Patents

Robot de détection de pulvérisation basé sur un positionnement visuel, et un procédé de détection associé Download PDF

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Publication number
WO2023005027A1
WO2023005027A1 PCT/CN2021/126959 CN2021126959W WO2023005027A1 WO 2023005027 A1 WO2023005027 A1 WO 2023005027A1 CN 2021126959 W CN2021126959 W CN 2021126959W WO 2023005027 A1 WO2023005027 A1 WO 2023005027A1
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WO
WIPO (PCT)
Prior art keywords
flange
clamping
spraying
detection
transmission chain
Prior art date
Application number
PCT/CN2021/126959
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English (en)
Chinese (zh)
Inventor
王银
叶尧珍
谢宏
鲍怡香
Original Assignee
南京轩世琪源软件科技有限公司
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
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Application filed by 南京轩世琪源软件科技有限公司 filed Critical 南京轩世琪源软件科技有限公司
Publication of WO2023005027A1 publication Critical patent/WO2023005027A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation

Definitions

  • the invention relates to the technical field of flange processing, in particular to a visual positioning-based spraying detection robot and a detection method thereof.
  • flanged connections The integrity of flanged connections is critical to piping systems that carry fluids. Whether it is a piping system for transporting chemical media or a water supply pipeline, flange connection leakage will cause serious environmental and economic impacts, and may even bring huge safety hazards. The surface of the flange is often sprayed for corrosion protection.
  • the flange is sprayed with a spray gun. Due to the complex shape of the flange, there are often sprayed surface defects, different coating thicknesses, poor uniformity of flange spraying, and missing spraying at flange dead ends. In this situation, the efficiency of the processing workers is reduced, and the paint waste is serious. Due to the special and changeable shape of the flange, the traditional detection device cannot realize the detection of the multi-angle plane of the flange.
  • a vision-based positioning-based spraying inspection robot and its inspection method are provided, which can simultaneously process workpieces of different heights through a retractable upper grinding disc, thereby solving the above-mentioned problems existing in the prior art.
  • a spraying detection robot based on visual positioning including two parts: a detection component and a detection auxiliary component.
  • the detection assembly, the first transmission chain and the second transmission chain fixed on the frame at a predetermined angle to each other, and the detection device arranged on the transmission chain at a predetermined distance;
  • the second transmission chain is fixedly arranged on the frame One side of the frame;
  • the first transmission chain and the second transmission chain are arranged at any angle with each other, and the detection device can effectively distinguish the spraying situation of the flange, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency.
  • the detection auxiliary component includes at least one clamping component that is symmetrically arranged on both sides of the transmission chain and located on one side of the detection device.
  • the clamping assembly is vertically and fixedly connected to the first transmission chain through a transition plate, and includes a connecting seat extending longitudinally along the transition plate and fixedly connected, and being rotatably connected to the connecting seat and
  • the clamping arms are arranged symmetrically, and the clamping arms move relatively around the first rotation axis. According to the flange size of the detection component, the clamping component automatically moves to a predetermined distance along the transition plate according to the flange size data under the condition of maintaining sufficient clamping force on the flange, and the clamping arm moves relative or opposite to each other around the first rotation axis , to realize the clamping and loosening of the flange.
  • the cross-section of the connecting seat in the horizontal direction is in the shape of a "Xi”, and is rotatably connected with the clamping arm through a rotating shaft to form a clampable section.
  • the clamping arm is connected to the connecting seat through the first rotating shaft. When the clamping arm is closed, it is generally in the shape of a round head and a flat key. The angle increases the clamping range.
  • the clamping arm is provided with a clamping space formed by extending in the circumferential direction of the first rotating shaft, and a locking assembly is fixedly connected between the clamping space and the clamping arm.
  • a predetermined distance between the clamping parts of the clamping arm which is used to place the locking component.
  • the locking component can effectively prevent the clamping arm from loosening and cause the flange to shake or even fall off, which will affect the accuracy of the detection data, and the locking component Located in front of the clamping arm can effectively ensure easy maintenance.
  • the locking assembly includes a plurality of slots opened transversely along the upper part of the clamping arm, a locking wheel that intermittently touches the slots, and a locking wheel along the vertical direction of the clamping arm.
  • the air pipe is horizontally connected after extending a predetermined distance, and the two ends of the air pipe are movably connected to the first push rod and the second push rod to form an air flow.
  • the first push rod adopts an air push rod, and extends a predetermined distance along the inner wall of the clamping arm to close to the bottom of the flange, so that when the flange touches the air push rod, it can push the air push rod, and the locking wheel is guaranteed by compressing the air all the time.
  • the cross-sectional size of the locking wheel is in the shape of an inverted comma
  • one side of the locking wheel is fixedly provided with a rotating block at a predetermined angle to the left of the rotating shaft
  • the clamping arm is fixed by the second rotating shaft It is connected and rotates synchronously with the rotating block around the rotating shaft within a predetermined range.
  • the locking wheel is snapped inside the clamping arm through the second rotating shaft, rotates along the second rotating shaft at a predetermined angle to form a rotating arc and is tangent to the inner side of the clamping arm, rotates clockwise along the radial direction of the arc and gradually
  • the locking wheel is widened and extended by 90 degrees.
  • the arc contact surface of the locking wheel forms a line contact with the card slot, and the plane contacts the card slot to form a surface contact, so as to ensure that the locking wheel rotates clockwise to achieve locking, and reverse rotation Achieving a state of relaxation.
  • the top of the second push rod penetrates radially to form a bonding surface with the same specifications as the rotating block, and the second push rod extends along a predetermined distance in the circumferential direction to form a telescopic shape with the clamping arm.
  • a push block is arranged at a predetermined distance along the coaxial direction of the second push rod, and the push block is in clearance fit with the inner wall of the telescopic hole and is fixedly connected with a telescopic piece.
  • the second push rod fits closely with the rotating block to achieve efficient pushing, and the compressed air of the first push rod pushes the second push rod to push, making full use of the flange's own weight and air to keep the locking wheel in a locked state, effectively utilizing resources ,Energy saving.
  • the telescopic hole is used to place the parts, so as to prevent the parts from moving along the inside of the clamping arm to increase the frictional resistance, thereby greatly reducing the transmission efficiency.
  • the telescopic part uses a spring to connect with the second push rod. After the air is compressed to push the push block, the push block compresses the spring and pushes the second push rod to fit the rotating block, so as to realize the push. Provides a cushioning effect when pressed against the second putter.
  • the middle eye of the connecting seat extends laterally and is fixedly provided with a rotating shaft, and moves linearly along the transition plate.
  • the connecting seat moves according to the data of the flange dimensions by the system, and effectively prevents the flange from hitting the first transmission chain during the second plane detection during the flipping process.
  • the present invention provides a detection method of a spray detection robot based on visual positioning, comprising the following steps:
  • the detection device scans the relevant data of the flange and sends it to the control system, and judges and marks it through the image system;
  • the system judges whether the surface of the flange meets the inspection standard. If the judgment is no, the third push rod pushes the flange to move to the second transmission chain. If the judgment is yes, the flange continues to be transmitted through the first transmission chain.
  • the image system determination includes the following steps:
  • the detection device scans and shoots the surface of the flange
  • the system judges according to the grayscale image formation of the image.
  • the dark part indicates the sprayed surface, and the light part indicates the unsprayed surface;
  • the system judges and classifies the flanges according to the data.
  • the invention provides a detection method of a spraying detection robot based on visual positioning.
  • the detection device distinguishes and judges the spraying conditions on the flange surface, and classifies them through a transmission chain, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency.
  • the detection device simultaneously scans the size of the flange surface and sends relevant data to the control system, so as to effectively adjust the moving distance of the clamping assembly along the transition plate, and effectively prevent the flange edge from touching the transmission chain during the subsequent flipping process, affecting the flange surface quality.
  • the clamping of the flange base is realized through the symmetrically arranged clamping arms.
  • the relatively rotatable clamping arm effectively expands the clamping range, and the locking wheel works according to the gravity of the flange itself, thereby further improving the clamping arm. effective gripping force.
  • the locking wheel is rotated by air compression to ensure the locking state, and the weight of the flange and the air are fully utilized to realize the locking wheel being in the locked state, effectively utilizing resources and saving energy.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Fig. 2 is the overall structure diagram of the clamping assembly in the present invention.
  • Fig. 3 is a schematic diagram of the working state of the clamping assembly in the present invention.
  • Fig. 4 is a schematic diagram of the working state of the locking assembly in the present invention.
  • Fig. 5 is a state position diagram of the second push rod in the present invention.
  • detection device 1 clamping assembly 2
  • connecting seat 201 first rotating shaft 202, clamping arm 203, transition plate 3, first transmission chain 4, second transmission chain 5, third transmission chain
  • Rotating shaft 6, flange 7, locking assembly 8 card slot 801, locking wheel 802, first push rod 803, second push rod 804, telescopic member 8041, air pipe 805, push block 8042, rotating block 9.
  • the present invention provides a method based on The vision-positioned spraying detection robot and detection method thereof realize simultaneous processing of workpieces of different heights through a retractable upper grinding disc, thereby solving the above-mentioned problems existing in the prior art.
  • the present invention discloses that the present invention provides a visual positioning-based spraying detection robot and its detection method.
  • the detection device 1 distinguishes and judges the spraying conditions on the surface of the flange 7, and carries out the process through the transmission chain. Classification is convenient for workers to detect the quality of spraying at any time, thereby effectively improving work efficiency.
  • the detection device 1 simultaneously scans the size of the surface of the flange 7 and sends relevant data to the control system, thereby effectively adjusting the moving distance of the clamping assembly 2 along the transition plate 3 and effectively preventing the edge of the flange 7 from touching the transmission chain during the subsequent flipping process. , affecting the surface quality of flange 7.
  • the clamping of the base of the flange 7 is realized by the clamping arm 203 arranged symmetrically.
  • the clamping arm 203 that can be rotated relatively effectively expands the clamping range, and realizes the work of the locking wheel 802 according to the gravity of the flange 7 itself, thereby further The effective clamping force of the clamping arm 203 is increased.
  • the locking wheel 802 is rotated by air compression to ensure the locked state, and the weight of the flange 7 and the air are fully utilized to realize the locking wheel 802 being in the locked state, effectively utilizing resources and saving energy.
  • a spraying inspection robot based on visual positioning, including two parts: a detection component and a detection auxiliary component.
  • the detection assembly, the first transmission chain 4 and the second transmission chain 5 fixed on the frame at a predetermined angle with each other, and the detection device 1 that is movable on the transmission chain at a predetermined distance;
  • the second transmission chain 5 is fixedly arranged On one side of the frame;
  • the first transmission chain 4 and the second transmission chain 5 are arranged at any angle with each other, and are used to distinguish the spraying situation of the flange 7 after the detection device 1 completes the detection, and determine whether there are any spraying defects.
  • Lan 7 classifies, and the detection device 1 positions and marks the defective parts, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency.
  • the workpiece of the flange 7 is stably kept under the detection device 1 and is rotating stably, which has an important influence on the detection result data.
  • the detection auxiliary component includes a clamping component that is symmetrically arranged on both sides of the transmission chain and located on one side of the detection device 1 .
  • the shape of the flange 7 is changed based on the disk to form flanges 7 of various specifications. Since the surface shape of the flange 7 is fixed with a disk, the stable clamping of the flange 7 can be realized by clamping the disk.
  • the clamping assembly is vertically and fixedly connected to the first transmission chain 4 through the transition plate 3, and includes a connection seat 201 that extends longitudinally along the transition plate 3 and is fixedly connected, and is rotationally connected with the connection seat 201 and is symmetrical
  • a clamping arm 203 is provided, and the clamping arm 203 relatively moves around the first rotation axis 202 .
  • the connecting base 201 is in the shape of a "X" in cross-section along the horizontal direction, and is rotatably connected with the clamping arm 203 through a rotating shaft to form a clampable section.
  • the clamping component automatically moves along the transition plate 3 to a predetermined distance according to the size data of the flange 7 under the condition of maintaining sufficient clamping force on the flange 7, and the connecting seat 201 moves along the transition plate 3
  • the clamping arm 203 is driven to realize synchronous movement, and the clamping arm 203 moves relatively or oppositely around the first rotation axis 202 to realize clamping and loosening of the flange 7 .
  • the clamping arm 203 Since the flange 7 is transmitted to the bottom of the detection device 1 through the transmission chain, the bottom surface of the flange 7 is in close contact with the upper surface of the transmission chain, and the edge of the clamping arm 203 cannot directly contact the clamping surface of the flange 7, resulting in difficulty in clamping , the clamping arm 203 is connected to the connecting seat 201 through the first rotating shaft 202.
  • the clamping arm 203 When the clamping arm 203 is closed, it is generally in the shape of a round head and a flat key.
  • the end edge of the clamping arm 203 is provided with a predetermined distance from the inner wall of the connecting seat 201. The extended angle of the clamping arm 203 is effectively expanded, and the clamping range is increased.
  • the clamping arm 203 After the clamping arm 203 is rotated, the inner surface fits the workpiece surface of the flange 7 to achieve clamping, but only relying on the rotation of the clamping arm 203 has no interaction force on the surface of the flange 7, so that the clamping effect cannot be realized, so
  • the clamping arm 203 is provided with a clamping space extending in the circumferential direction of the first rotating shaft 202 , and a locking assembly 8 is fixedly connected between the clamping space and the clamping arm 203 .
  • the clamping space guarantees that the edge of the clamping arm 203 is linear at the same time, and the flange 7 that is closely fitted to the transmission chain is effectively clamped.
  • the tightening assembly 8 effectively prevents the clamping arm 203 from loosening and causing the flange 7 to shake or even fall off, thereby affecting the accuracy of the detection data, and because the locking wheel 802 rotates frequently, it will hit the inner wall of the card slot 801 during the locking process Frequent, long-term use is easy to damage the locking wheel 802, and the locking assembly 8 is located in front of the clamping arm 203 to effectively ensure convenient maintenance.
  • the locking assembly 8 includes A plurality of card slots 801 formed horizontally, a locking wheel 802 that intermittently touches the card slots 801, and an air tube 805 that extends vertically for a predetermined distance along the clamping arm 203 and connects horizontally.
  • the air tube The first push rod 803 and the second push rod 804 are movably connected at both ends of 805 to form an air flow.
  • the card slot 801 is set according to the rotation range of the support arm.
  • the locking wheel 802 When the angle between the support arms is at the minimum limit value, the locking wheel 802 is located at the first position of the card slot 801 and is close to the flange 7 workpiece, otherwise it is located at the end of the card slot 801, away from the flange 7.
  • the first push rod 803 adopts an air push rod, and extends a predetermined distance along the inner wall of the clamping arm 203 to move closer to the bottom surface of the flange 7, so that when the flange 7 touches the air push rod, it can push the air push rod.
  • the traditional ordinary cam arc sliding contact cannot achieve the buckle effect.
  • the cross-sectional size of the locking wheel 802 is in the shape of an inverted comma, and one side of the locking wheel 802 is left along the rotation axis.
  • a rotating block 9 is fixedly arranged at a predetermined angle on both sides, and the clamping arm 203 is fixedly connected through a second rotating shaft and rotates synchronously with the rotating block 9 around the rotating shaft within a predetermined range.
  • the locking wheel 802 is snapped inside the clamping arm 203 through the second rotating shaft, rotates along the second rotating shaft at a predetermined angle to form a rotating arc and is tangent to the inner side of the clamping arm 203, clockwise along the radial direction of the circular arc Rotate and gradually widen and extend 90 degrees to form a locking wheel 802.
  • the arc contact surface of the locking wheel 802 forms a line contact with the card slot 801, and the plane forms a surface contact with the card slot 801, thereby ensuring that the locking wheel 802 moves clockwise. Rotate to lock, counter-rotate to loosen.
  • the second push rod 804 pushes the rotating block 9 to move, and the contacted effective area effectively reflects the smoothness and efficiency of the movement.
  • the top of the second push rod 804 penetrates radially to form a bonding surface with the same specifications as the rotating block 9, and the second push rod 804 extends a predetermined distance along the circumferential direction to form a telescopic hole with the clamping arm 203,
  • a push block 8042 is provided at a predetermined distance along the coaxial direction of the second push rod 804 , and the push block 8042 is in clearance fit with the inner wall of the telescopic hole and is fixedly connected with a telescopic member 8041 .
  • the second push rod 804 fits closely with the rotating block 9 to realize efficient pushing.
  • the compressed air of the first push rod 803 pushes the second push rod 804 to realize pushing. Tight state, effective use of resources, energy saving.
  • the telescopic holes are used to place parts, so as to prevent the parts from moving along the inside of the clamping arm 203 to increase frictional resistance, thereby greatly reducing the transmission efficiency.
  • the telescopic part 8041 is connected to the second push rod 804 by a spring, and after the air is compressed to push the push block 8042, the push block 8042 compresses the spring until the push block 8042 touches the second push rod 804, and pushes the second push rod 804 to fit the rotating block 9.
  • the second push rod 804 pushes the rotating block 9 to move and at the same time drives the locking wheel 802 to rotate, thereby realizing pushing.
  • the telescopic member 8041 effectively limits the moving direction of the push block 8042 and realizes cushioning effect.
  • the flange 7 always presses the first push rod 803 to maintain the gas compression state, so that when the second push rod 804 pushes the lock wheel 802 to a predetermined position, as long as the second push rod 804 is not reset, the lock wheel 802 is always in the locked state. tight state.
  • the connecting seat 201 moves according to the data of the outer dimensions of the flange 7 by the system, and the third rotating shaft 6 drives the clamping assembly 2 to rotate to realize detection in different directions, and effectively prevent the flange 7 from turning over during the secondary plane detection. Hit the first conveyor chain 4 .
  • the third rotating shaft 6 drives the movement and rotation of the clamping assembly 2 at the same time.
  • the clamping assembly 2 bears the weight of the flange 7 itself.
  • 3 There are multiple clamping positions evenly arranged at a predetermined distance inside, and the clamping positions are telescopically set.
  • the rotating shaft drives the clamping assembly 2 to move above the clamping positions, and the clamping positions automatically extend to limit the clamping component 2 to prevent it from sliding down.
  • the present invention provides a detection method of a spraying detection robot based on visual positioning, which includes the following steps: placing the flange 7 workpiece to be detected on the first transmission chain 4, and transferring it to the bottom of the detection device 1; the detection device 1 Scan the relevant data of the flange 7 and send it to the control system, and judge and mark it through the image system; the clamping arm 203 extends to a predetermined angle to clamp the flange 7 on the transmission chain, and the clamping arms on both sides 203 bears the weight of the flange 7 at the same time, and under the pressure of the flange 7, the first push rod 803 realizes air compression to the second push rod 804, and drives the locking wheel 802 to rotate into the locking groove 801 to realize locking, clamping
  • the tightening assembly 2 moves to a predetermined position according to the size of the flange 7 given by the system, and the third rotating shaft 6 drives the connecting seat 201 to turn over, so as to realize the detection of different directions of the flange 7, and the detection device
  • the flange moves horizontally (the axis of the flange is parallel to the movement plane), along the direction of movement, in the When shooting at different positions, at least two images can be formed that can capture the connection between the side of the flange and the body, so that it can be more accurately judged whether there is a defect.
  • the flange is flipped at a predetermined angle along the axial direction, so as to realize oblique photography of the flange and photography of different sides, and realize three-dimensional photography of the flange. Realize the photographing in the circumferential direction and the oblique photographing in the axial direction.
  • oblique photography and axial photography can also be formed, so as to obtain more detection area.
  • the component is provided with a positioning area, a larger color difference is formed and the recognition degree of the area to be detected is improved.
  • efficient detection of flanges is formed.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
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Abstract

La présente invention concerne un robot de détection de pulvérisation basé sur un positionnement visuel, et un procédé de détection associé. Un état de pulvérisation d'une surface d'une bride est caractérisé et déterminé au moyen d'un appareil de détection, et une classification est effectuée au moyen d'une chaîne transporteuse, de manière à faciliter la tâche d'un travailleur dans la détection de la qualité de l'état de pulvérisation à tout moment, ce qui permet d'améliorer efficacement l'efficience du travail. L'appareil de détection effectue un balayage pour obtenir les dimensions d'une bride et envoie des données associées à un système de commande, ce qui permet de régler efficacement une distance de déplacement d'un ensemble de serrage le long d'une plaque de transition, et d'empêcher efficacement une influence sur la qualité de surface de la bride provoquée par un bord de la bride touchant la chaîne transporteuse pendant un processus de retournement ultérieur. Une base de bride est serrée au moyen de bras de serrage qui sont disposés symétriquement, et une plage de serrage est efficacement étendue au moyen des bras de serrage, qui peuvent être mis en rotation de manière relative ; et une roue de verrouillage fonctionne selon la gravité de la bride, ce qui permet d'améliorer davantage la force de serrage effective des bras de serrage. La roue de verrouillage est mise en rotation par compression de l'air, ce qui permet d'assurer un état de verrouillage ; et une utilisation complète est faite du poids de la bride et de l'air, de façon à réaliser l'état de verrouillage, ce qui permet d'utiliser efficacement des ressources, et d'économiser de l'énergie.
PCT/CN2021/126959 2021-07-29 2021-10-28 Robot de détection de pulvérisation basé sur un positionnement visuel, et un procédé de détection associé WO2023005027A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110866321.XA CN113588674A (zh) 2021-07-29 2021-07-29 一种基于视觉定位的喷涂检测机器人及其检测方法
CN202110866321.X 2021-07-29

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WO2023005027A1 true WO2023005027A1 (fr) 2023-02-02

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CN (1) CN113588674A (fr)
WO (1) WO2023005027A1 (fr)

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CN116331774A (zh) * 2023-05-24 2023-06-27 泰山石膏(四川)有限公司 一种出板输送装置及方法
CN116788756A (zh) * 2023-08-29 2023-09-22 山西新世纪锻造股份有限公司 一种法兰零件加工用运输装置
CN116840259A (zh) * 2023-07-04 2023-10-03 昆山市珍和模具五金机械有限公司 一种用于金属冲压产品表面凹凸缺陷视觉检测装备
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CN116331774A (zh) * 2023-05-24 2023-06-27 泰山石膏(四川)有限公司 一种出板输送装置及方法
CN116331774B (zh) * 2023-05-24 2023-09-15 泰山石膏(四川)有限公司 一种出板输送装置及方法
CN116840259A (zh) * 2023-07-04 2023-10-03 昆山市珍和模具五金机械有限公司 一种用于金属冲压产品表面凹凸缺陷视觉检测装备
CN116788756A (zh) * 2023-08-29 2023-09-22 山西新世纪锻造股份有限公司 一种法兰零件加工用运输装置
CN116788756B (zh) * 2023-08-29 2023-11-17 山西新世纪锻造股份有限公司 一种法兰零件加工用运输装置
CN117943239A (zh) * 2024-03-27 2024-04-30 江苏海宇机械有限公司 一种法兰喷涂镀膜装置
CN117943239B (zh) * 2024-03-27 2024-06-07 江苏海宇机械有限公司 一种法兰喷涂镀膜装置
CN118543549A (zh) * 2024-05-16 2024-08-27 雷狄尼家具(南通)有限公司 一种实木家具激光测量控制设备

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