CN103438828A - Method for laser detection of screw rotor end sectional shape - Google Patents
Method for laser detection of screw rotor end sectional shape Download PDFInfo
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Abstract
一种激光检测螺杆转子端截形的方法，涉及螺杆转子的检测。利用激光位移传感器高精度、非接触式、寿命长的测量优势，使其沿着转子理论端截形运动以保持等距测量。建立螺杆转子转动坐标系与激光位移传感器移动平台所在坐标系的运动关系，计算出转子端截形各型值点的法向矢量，通过旋转螺杆转子避免了测量过程中被测点被其它轮廓遮挡的干涉现象以及被测点法向矢量与激光射出方向的夹角超出激光位移传感器可精确测量的角度范围的问题。可有效提高检测精度，获得螺杆转子端截形的高精度检测，亦可实用于螺旋面相对开阔产品的端截形测量。
The invention relates to a method for detecting the end section of a screw rotor by laser, which relates to the detection of the screw rotor. Taking advantage of the advantages of high precision, non-contact and long life measurement of the laser displacement sensor, it moves along the truncated shape of the theoretical end of the rotor to maintain equidistant measurement. Establish the motion relationship between the rotating coordinate system of the screw rotor and the coordinate system of the laser displacement sensor mobile platform, calculate the normal vector of the various value points of the rotor end section, and avoid the measured point being blocked by other contours during the measurement process by rotating the screw rotor The interference phenomenon and the angle between the normal vector of the measured point and the laser emission direction exceed the angle range that the laser displacement sensor can accurately measure. It can effectively improve the detection accuracy, obtain high-precision detection of the end section of the screw rotor, and is also applicable to the end section measurement of products with relatively open helical surfaces.
Description
技术领域technical field
本发明涉及螺杆转子的检测，尤其是涉及一种激光检测螺杆转子端截形的方法。The invention relates to the detection of a screw rotor, in particular to a method for detecting the end section of a screw rotor with a laser.
背景技术Background technique
螺杆转子端面型线是螺杆转子的主要特征线，是螺杆制造的基础，因而对螺杆转子端面型线的测量是螺杆产品质量控制的关键。随着螺杆及其研究的发展，其转子端截面型线组成也越来越复杂，在保证精度的条件下对型线测量的难度也越来越大。对转子型线的检测方法之一是机械靠模（[1]张正华.螺杆转子型线检测技术研究[D].江南大学.2008年6月)，其测量的关键取决于标准螺杆转子的制造精度，该方法适用于测量精度较低的螺杆转子。目前普遍采用三坐标测量仪（CMM）进行检测([2]石国荣,隋连香,查继红.螺旋曲面的数字化测量及数据处理技术[J].沈阳工业学院学报.2004,23(2):80-82)，按其接触方式可分为接触式和非接触式两类。接触式测量是采用测头直接接触转子表面获得转子型线坐标的方法，该检测方法可使螺杆在回转状态下，测量其全部尺寸、型线等的几何形状精度([3]叶晶.双螺杆压缩机转子型线检测与表达的研究[D].江南大学.2011年6月)。但与CMM设备相配套的检测软件操作复杂，对工作人员的操作技能要求很高；测头使用中易磨损导致测量精度降低、寿命低，针对大曲率型线的测量运动加速度变化大影响测量精度、故此检测精度方面也有待提高。而非接触式测量因为机械运动为三个直线轴，运动计算复杂，效率低，测量精度难以满足产品需求，以TDV-900为例其测量精度在0.02mm～0.05mm，而螺杆转子属于精密制造产品，其精度要求上下偏差不超过0.01mm，因此目前企业普遍采用的是接触式测量设备。The profile line of the end surface of the screw rotor is the main characteristic line of the screw rotor and the basis of screw manufacturing. Therefore, the measurement of the profile line of the end surface of the screw rotor is the key to the quality control of the screw product. With the development of the screw and its research, the composition of the section profile of the rotor end is becoming more and more complex, and it is becoming more and more difficult to measure the profile under the condition of ensuring accuracy. One of the detection methods for rotor profiles is mechanical profiling ([1] Zhang Zhenghua. Research on screw rotor profile detection technology [D]. Jiangnan University. June 2008), the key to the measurement depends on the manufacture of standard screw rotors Accuracy, this method is suitable for screw rotors with low measurement accuracy. At present, three-coordinate measuring instrument (CMM) is generally used for detection ([2] Shi Guorong, Sui Lianxiang, Zha Jihong. Digital measurement and data processing technology of spiral surface [J]. Journal of Shenyang Institute of Technology. 2004,23(2):80 -82), according to its contact mode can be divided into two types of contact and non-contact. Contact measurement is a method in which the probe directly contacts the rotor surface to obtain the coordinates of the rotor profile. This detection method allows the screw to measure the geometric shape accuracy of all dimensions and profile lines in the rotating state ([3] Ye Jing. Double Research on detection and expression of screw compressor rotor profile [D]. Jiangnan University. June 2011). However, the detection software matched with the CMM equipment is complex to operate and requires high operating skills of the staff; the probe is easy to wear during use, resulting in reduced measurement accuracy and low life, and the change in the measurement motion acceleration for large curvature lines greatly affects the measurement accuracy. , Therefore, the detection accuracy also needs to be improved. Non-contact measurement because the mechanical motion is three linear axes, the motion calculation is complex, the efficiency is low, and the measurement accuracy is difficult to meet the product requirements. Taking TDV-900 as an example, its measurement accuracy is 0.02mm ~ 0.05mm, while the screw rotor belongs to precision manufacturing. The accuracy of the product requires that the upper and lower deviations should not exceed 0.01mm, so at present enterprises generally use contact measuring equipment.
发明内容Contents of the invention
本发明的目的在于提供可满足丝级精度检测要求，能够精确获得螺杆转子端截面型线的精度，并且可通过沿Z轴移动和转动转子平台获得螺杆转子几何尺寸和任意其它位置端截形型线的精度，精确评估加工误差，测量结果为指导和提高螺杆转子加工精度提供可靠数据的一种激光检测螺杆转子端截形的方法。The purpose of the present invention is to provide a tool that can meet the requirements of wire-level precision detection, can accurately obtain the accuracy of the section line of the screw rotor end, and can obtain the geometric dimensions of the screw rotor and the sectional shape of the end of any other position by moving and rotating the rotor platform along the Z axis. The accuracy of the line, the accurate evaluation of the machining error, and the measurement results provide reliable data for guiding and improving the machining accuracy of the screw rotor. It is a method of laser detection of the end section of the screw rotor.
本发明包括以下步骤：The present invention comprises the following steps:
（1）建立螺杆转子坐标系，根据螺杆转子端截形方程计算出螺杆转子端面轮廓上的各型值点法向矢量，将理论型线的X坐标加上激光位移传感器的最佳测量距离L，得到螺杆转子端截形理论型线的平行曲线；(1) Establish the coordinate system of the screw rotor, calculate the normal vector of each type value point on the profile of the end surface of the screw rotor according to the sectional equation of the screw rotor end, add the X coordinate of the theoretical shape line to the optimal measurement distance L of the laser displacement sensor , to obtain the parallel curve of the truncated theoretical profile of the screw rotor end;
（2）将激光位移传感器固定在可沿X、Y、Z三个方向移动的平台上，建立转子转动坐标系与激光位移传感器移动平台所在坐标系的运动关系，调整激光位移传感器使其相对被测螺杆处于最佳测量位置，并对测量起始位置进行归零标定；(2) Fix the laser displacement sensor on a platform that can move along the three directions of X, Y, and Z, establish the motion relationship between the rotor rotation coordinate system and the coordinate system of the laser displacement sensor moving platform, and adjust the laser displacement sensor so that it is relatively The measuring screw is in the best measurement position, and the initial position of the measurement is zeroed;
（3）对下一个被测型值点的法向矢量与激光射出方向（X方向）的夹角是否在激光位移传感器可准确测量角度范围（－α，α）内以及是否会发生干涉进行判断，在夹角合理且无干涉的情况下移动，再通过X、Y轴的联动，使激光位移传感器沿步骤（1）中预先计算好的螺杆转子端截形理论型线的平行曲线移动，且激光射出方向（记为X方向）与转子被测型值点法向矢量的夹角在激光位移传感器可准确测量角度范围（－α，α）内；(3) Determine whether the angle between the normal vector of the next measured value point and the laser emission direction (X direction) is within the angle range (-α, α) that the laser displacement sensor can accurately measure and whether interference will occur , move with a reasonable included angle and no interference, and then through the linkage of X and Y axes, the laser displacement sensor is moved along the parallel curve of the theoretical line of the truncated section of the screw rotor end calculated in step (1), and The angle between the laser emission direction (denoted as the X direction) and the normal vector of the measured value point of the rotor is within the angle range (-α, α) that the laser displacement sensor can accurately measure;
（4）当被测型值点法向矢量与X方向的夹角超出（－α，α），或者激光位移传感器发射的激光被其它轮廓挡住而发生干涉现象时，旋转螺杆转子使其转过角度α或－α，保证两个激光射出方向与被测型值点法向矢量的夹角在角度（－α，α）内且无干涉现象，再根据坐标变换原理计算旋转后的螺杆转子端面型线各型值点法向矢量，并相应地移动激光位移传感器，使激光位移传感器与被测点处于理论的标定距离继续进行检测，直到螺杆转子端面型线测量完成；(4) When the angle between the normal vector of the measured value point and the X direction exceeds (-α, α), or the laser emitted by the laser displacement sensor is blocked by other contours and interference occurs, rotate the screw rotor to make it rotate Angle α or -α, to ensure that the angle between the two laser emission directions and the normal vector of the measured value point is within the angle (-α, α) and there is no interference phenomenon, and then calculate the rotated screw rotor end face according to the coordinate transformation principle The normal vector of each type value point of the profile line, and move the laser displacement sensor accordingly, so that the laser displacement sensor and the measured point are at the theoretical calibration distance and continue to detect until the end surface profile line measurement of the screw rotor is completed;
（5）将激光位移传感器沿Z轴移动到下一个需要检测的位置，重复步骤（3）和（4）；(5) Move the laser displacement sensor along the Z axis to the next position to be detected, and repeat steps (3) and (4);
（6）通过数据采集模块读取螺杆转子不同位置端面型线的测量值，将计算结果保存为可处理的数据；测量的最大值与最小值做差即为螺杆转子端截形的精度。(6) Read the measured values of the end surface profiles of the screw rotor at different positions through the data acquisition module, and save the calculation results as processable data; the difference between the measured maximum value and the minimum value is the accuracy of the screw rotor end section.
在步骤（1）中，所述螺杆转子端截形方程包括各型值点参数和螺旋参数。In step (1), the screw rotor end section equation includes various type value point parameters and screw parameters.
在步骤（2）中，所述激光位移传感器的激光射出方向平行于X轴；所述平台沿X、Y方向联动用于检测螺杆转子端截形轮廓，平台沿Z方向移动用于检测螺杆转子不同位置的端面型线，所述移动的平台的移动精度高于1μm；所述起始位置的要求如下：激光位移传感器与被测型值点的距离为激光位移传感器的最佳测量长度L，并使被测点的法向矢量与激光射出方向（X方向）的夹角在激光位移传感器可准确测量的角度范围（－α，α）内。In step (2), the laser emission direction of the laser displacement sensor is parallel to the X axis; the platform is linked along the X and Y directions to detect the sectional profile of the screw rotor end, and the platform moves along the Z direction to detect the screw rotor For end face molding lines at different positions, the movement accuracy of the moving platform is higher than 1 μm; the requirements for the starting position are as follows: the distance between the laser displacement sensor and the measured value point is the optimal measurement length L of the laser displacement sensor, And the angle between the normal vector of the measured point and the laser emission direction (X direction) is within the angle range (-α, α) that the laser displacement sensor can accurately measure.
在步骤（4）中，所述坐标变换包括：a）螺杆转子端截形坐标系绕Z’做旋转α角度的旋转变换、b）移动平台上的激光位移传感器坐标做相应的平移变换、c）根据图形变换理论，计算出旋转后的剩余理论截形及各型值点的法向矢量。In step (4), the coordinate transformation includes: a) rotation transformation of the truncated coordinate system at the end of the screw rotor around Z' for an angle α, b) corresponding translation transformation of the coordinates of the laser displacement sensor on the mobile platform, c ) According to the graphic transformation theory, calculate the remaining theoretical truncation after rotation and the normal vectors of various value points.
本发明用于检测三维直角坐标系下螺杆转子端截形的加工精度，利用激光位移传感器高精度、非接触式、寿命长的测量优势，使其沿着转子理论端截形运动以保持等距测量。建立螺杆转子转动坐标系与激光位移传感器移动平台所在坐标系的运动关系，计算出转子端截形各型值点的法向矢量，通过旋转螺杆转子避免了测量过程中被测点被其它轮廓遮挡的干涉现象以及被测点法向矢量与激光射出方向的夹角超出激光位移传感器可精确测量的角度范围的问题。本发明可有效提高检测精度，获得螺杆转子端截形的高精度检测，亦可实用于螺旋面相对开阔产品的端截形测量。The invention is used to detect the machining accuracy of the screw rotor end truncation in a three-dimensional rectangular coordinate system, and uses the advantages of high precision, non-contact and long service life of the laser displacement sensor to make it move along the theoretical end truncation of the rotor to maintain equidistant Measurement. Establish the motion relationship between the screw rotor rotation coordinate system and the coordinate system of the laser displacement sensor mobile platform, calculate the normal vector of the various value points of the rotor end section, and avoid the measured point being blocked by other contours during the measurement process by rotating the screw rotor The interference phenomenon and the angle between the normal vector of the measured point and the laser emission direction exceed the angle range that the laser displacement sensor can accurately measure. The invention can effectively improve the detection accuracy, obtain high-precision detection of the end section of the screw rotor, and is also applicable to the end section measurement of products with a relatively open helical surface.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
1.测量面广。应用本发明可以有效并准确地获得螺杆转子任意端截面型线的加工精度，即可实现转子的节距、螺旋角或导程等几何尺寸加工精度的检测。该检测方法可以推广于螺旋面截形相对开阔产品的端截形测量。1. Wide range of measurement. The application of the present invention can effectively and accurately obtain the processing accuracy of the profile line at any end of the screw rotor, and can realize the detection of the processing accuracy of geometric dimensions such as the pitch, helix angle or lead of the rotor. This detection method can be extended to the measurement of the end section of the helicoid section relative to the open product.
2.测量精度高。由于测量过程中激光位移传感器与被测型值点的距离始终保持在丝级的变化范围内，激光位移传感器的测量精度可认为是测量的重复精度，一般都是高于微米级，其测量误差可忽略不计。本发明的测量误差主要来源于系统的控制误差，包括移动平台的移动误差、光栅误差等，这些误差在检测过程中无法避免，但可以有效控制在0.001mm以下。在整个测量过程中，避免了要求螺杆转子与移动平台联动所造成的联动误差，避免了在后处理过程中要求对测量数据进行拼接处理而引起的拼接误差。故本发明具有极高的测量精度，理论上可达0.003～0.005mm。2. High measurement accuracy. Since the distance between the laser displacement sensor and the measured value point is always kept within the variation range of the wire level during the measurement process, the measurement accuracy of the laser displacement sensor can be considered as the repeatability of the measurement, which is generally higher than the micron level, and its measurement error Negligible. The measurement error of the present invention mainly comes from the control error of the system, including the movement error of the mobile platform, the grating error, etc. These errors cannot be avoided during the detection process, but can be effectively controlled below 0.001mm. During the entire measurement process, the linkage error caused by the linkage between the screw rotor and the mobile platform is avoided, and the stitching error caused by the stitching process of the measured data in the post-processing process is avoided. Therefore, the present invention has extremely high measurement precision, which can reach 0.003-0.005mm in theory.
3.精度评价方法简单。将测量值与标定0值进行比较，即可获得被测型值点的偏差，根据偏差的数值范围评定螺杆转子端截形的加工精度。3. The accuracy evaluation method is simple. By comparing the measured value with the calibrated 0 value, the deviation of the measured value point can be obtained, and the machining accuracy of the end section of the screw rotor can be evaluated according to the numerical range of the deviation.
4.使用寿命长。由于采用了非接触式的激光位移传感器测量，使用寿命一般高于10年，避免了采用接触式测量时激光位移传感器易磨损、使用寿命低的缺陷。4. Long service life. Since the non-contact laser displacement sensor is used for measurement, the service life is generally longer than 10 years, which avoids the defects of easy wear and low service life of the laser displacement sensor when contact measurement is used.
附图说明Description of drawings
图1为螺杆转子端截形检测模型。Figure 1 is the detection model of screw rotor end section.
图2为螺杆转子端截形测量原理。Figure 2 shows the principle of cross-section measurement of the screw rotor end.
在图1和2中，各标记为：In Figures 1 and 2, each is labeled:
11-移动平台，12-激光位移传感器；11-mobile platform, 12-laser displacement sensor;
21-激光位移传感器，22-理论端截形的平行曲线，23-旋转后传感器移动轨迹，24-旋转后的理论端截形的平行曲线，25-调整前的端截形，26-调整后的端截形；21-laser displacement sensor, 22-parallel curve of theoretical end truncation, 23-sensor moving track after rotation, 24-parallel curve of theoretical end truncation after rotation, 25-end truncation before adjustment, 26-after adjustment end truncated;
θ-参变量。θ - parameter.
具体实施方式Detailed ways
以下实施例将结合附图对本发明作详细说明。The following embodiments will describe the present invention in detail with reference to the accompanying drawings.
本发明的直接应用方式是进行螺杆转子端面截形型线的检测。The direct application mode of the present invention is to detect the section profile line of the end face of the screw rotor.
步骤（1）：如某已经加工完成的螺杆转子，建立螺杆转子坐标系，给出它的任意端截形方程为：Step (1): For a screw rotor that has been processed, establish the screw rotor coordinate system, and give its arbitrary end section equation as:
r0＝[x0(s)cosθ-y0(s)sinθ]i+[x0(s)sinθ+y0(s)cosθ]j±pθk （1）r 0 =[x 0 (s)cosθ-y 0 (s)sinθ]i+[x 0 (s)sinθ+y 0 (s)cosθ]j±pθk (1)
或用坐标式表示为：Or expressed in coordinates as:
上面两式中s,θ为参变量。In the above two formulas, s and θ are parameters.
其各型值点法向矢量为：The normal vectors of its various value points are:
螺杆转子端截形理论型线的平行曲线为:The parallel curve of the truncated theoretical line at the end of the screw rotor is:
步骤（2）：参照图1，将激光位移传感器固定于可沿X、Y、Z三个方向高精度移动的平台上，建立转子转动坐标系与激光位移传感器移动平台所在坐标系的运动关系，调整激光位移传感器使其相对被测螺杆处于最佳测量距离，即：Step (2): Referring to Figure 1, fix the laser displacement sensor on a platform that can move with high precision along the three directions of X, Y, and Z, and establish the motion relationship between the rotor rotation coordinate system and the coordinate system of the laser displacement sensor mobile platform, Adjust the laser displacement sensor so that it is at the best measurement distance relative to the measured screw, namely:
x=X－L （5）x=X－L （5）
测量开始前先对初始距离进行归零标定。Before the measurement starts, perform zero calibration on the initial distance.
步骤（3）：如图2所示，测量开始后，首先判断型值点的法向与X方向的夹角α0是否在（－α，α）范围内，并且判断被测型值点沿X方向是否有被其他轮廓挡住，若夹角合理且无干涉，则开始测量该点的距离。测量完第一个型值点后，判断下一个被测型值点是否可以测量，若可以测量，则将激光位移传感器沿理论端截形的平行曲线移动到下一个可准确测量的型值点，并进行测量。Step (3): As shown in Figure 2, after the measurement starts, first judge whether the angle α 0 between the normal direction of the type value point and the X direction is within the range of (-α, α), and judge whether the measured value point is along Whether the X direction is blocked by other contours, if the included angle is reasonable and there is no interference, start to measure the distance of this point. After measuring the first value point, judge whether the next measured value point can be measured, if it can be measured, move the laser displacement sensor along the parallel curve of the theoretical end section to the next accurately measurable value point , and measure.
步骤（4）：如图2所示，当被测型值点法向矢量与X方向的夹角超出（－α，α），则需旋转螺杆转子，旋转角度为α。对剩余未检测的端截线部分进行坐标变换，其坐标变换关系为：Step (4): As shown in Figure 2, when the angle between the normal vector of the measured value point and the X direction exceeds (-α, α), the screw rotor needs to be rotated, and the rotation angle is α. Carry out coordinate transformation on the remaining undetected end section, and its coordinate transformation relationship is:
同时，装有激光位移传感器的移动平台需相应地进行坐标移动变换，其坐标变换关系为：At the same time, the mobile platform equipped with a laser displacement sensor needs to carry out coordinate movement transformation accordingly, and its coordinate transformation relationship is:
若下一型值点沿X方向发生被其它轮廓挡住的干涉现象，则需旋转螺杆转子，旋转角度为－α。同样采用矩阵（6）、（7）做相应的坐标变换。If the next value point is blocked by other contours along the X direction, the screw rotor needs to be rotated, and the rotation angle is -α. Also use the matrix (6), (7) to do the corresponding coordinate transformation.
依此类推，测量下一个可准确测量的型值点，最终可以完成整个端截形的检测。By analogy, measure the next accurately measurable value point, and finally complete the detection of the entire end section.
步骤（5）：若需要测量另一个位置的端截形，则只需将激光位移传感器沿Z轴移动到该处，重复步骤（3）和步骤（4），即可完成检测。Step (5): If you need to measure the end section at another position, you only need to move the laser displacement sensor to this position along the Z axis, repeat steps (3) and (4), and the detection can be completed.
步骤（6）：将激光位移传感器对各型值点的测量值进行数据处理，取出最大检测值和最小检测值，两者的差值为螺杆转子端截形的加工精度。Step (6): Perform data processing on the measured values of various types of value points by the laser displacement sensor, and take out the maximum detection value and the minimum detection value. The difference between the two is the machining accuracy of the screw rotor end section.
沿Z轴移动平台，使激光位移传感器测量不同位置的螺杆转子端截形，测量方法同上。Move the platform along the Z axis to make the laser displacement sensor measure the end section of the screw rotor at different positions, and the measurement method is the same as above.
综合步骤（5）所测量的其他位置的螺杆转子端截形的加工精度，可以评价整个螺杆转子端截面型线的精度。Combining the processing accuracy of the screw rotor end section measured in step (5) at other positions, the accuracy of the entire screw rotor end section profile can be evaluated.
采用本发明所用的检测方法，大大缩小了激光位移传感器的检测范围，使激光位移传感器的测量精度为其测量重复精度，故从某种意义上可以说本发明的检测方法可以将螺杆转子端截形的检测精度提高到机械结构运动的极限，使误差主要来自于螺杆转子的旋转误差、固定激光位移传感器平台的移动精度、光栅精度等因素，使非接触式测量螺杆转子端截形的检测精度能够满足检测精度要求。By adopting the detection method used in the present invention, the detection range of the laser displacement sensor is greatly reduced, and the measurement accuracy of the laser displacement sensor is its measurement repeatability. Therefore, in a sense, it can be said that the detection method of the present invention can cut off the end of the screw rotor. The detection accuracy of the shape is improved to the limit of the mechanical structure movement, so that the error mainly comes from the rotation error of the screw rotor, the movement accuracy of the fixed laser displacement sensor platform, the accuracy of the grating and other factors, so that the non-contact measurement of the detection accuracy of the end section of the screw rotor Can meet the detection accuracy requirements.
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| CN111288893A (en) * | 2020-04-01 | 2020-06-16 | 厦门大学 | A multi-factor constraint path planning method for laser measurement of screw rotors |
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| CN106767606A (en) * | 2017-03-21 | 2017-05-31 | 重庆大学 | Quimby pump rotor interference detection method based on rigging error |
| CN109500451A (en) * | 2017-09-14 | 2019-03-22 | 利勃海尔齿轮技术股份有限公司 | For automatically determining the method for having the geometric dimension of the tool of machining area of screw flight shape |
| CN109500451B (en) * | 2017-09-14 | 2022-05-10 | 利勃海尔齿轮技术股份有限公司 | Method for automatically determining the geometry of a tool with a threaded spindle-shaped machining region |
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| WO2021003928A1 (en) * | 2019-07-09 | 2021-01-14 | 东莞市三姆森光电科技有限公司 | Constant linear velocity control method for detecting contour of workpiece |
| CN111288893A (en) * | 2020-04-01 | 2020-06-16 | 厦门大学 | A multi-factor constraint path planning method for laser measurement of screw rotors |
| CN112082445A (en) * | 2020-09-16 | 2020-12-15 | 湖北恒隆汽车系统集团有限公司 | Detection method and detection device for attenuation change of spiral trajectory of steering screw |
| CN112082445B (en) * | 2020-09-16 | 2021-11-12 | 湖北恒隆汽车系统集团有限公司 | A detection method and detection device for the change of the helical ballistic attenuation of a steering screw |
| CN114061485A (en) * | 2021-11-17 | 2022-02-18 | 桂林欧瑞德科技有限责任公司 | Control device for automatically adjusting laser incident angle and use method thereof |
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