CN109059774B - Positioning device for space component - Google Patents
Positioning device for space component Download PDFInfo
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- CN109059774B CN109059774B CN201811223022.9A CN201811223022A CN109059774B CN 109059774 B CN109059774 B CN 109059774B CN 201811223022 A CN201811223022 A CN 201811223022A CN 109059774 B CN109059774 B CN 109059774B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a positioning device of a space component, which belongs to the technical field of equipment positioning and comprises a positioning plate, wherein the shape of the positioning plate is matched with the shape of a positioning surface of the space component; a plurality of positioning elements are arranged on the positioning plate; the positioning element is provided with a light reflecting part, and the centers of the positioning element and the light reflecting part are the same; the positioning plate is of a transparent or semitransparent plate-shaped structure; a plurality of upper positioning holes are formed in the positioning plate, and lower positioning holes are formed in the position, corresponding to the upper positioning holes, of the backup plate; the upper end mirror image and the lower end mirror image of the positioning plate are provided with limiting structures; the limiting structure comprises limiting edges and limiting blocks which are arranged at the upper end part and the lower end part of the positioning plate. The invention has simple and reasonable structure, saves the material cost, and is economical and practical; the spatial position and the gesture of the space component which is easy to wear can be easily determined, the intensity of later data processing is reduced, and the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of equipment positioning, and particularly relates to a positioning device for a space component.
Background
During the contact of the mechanical device with the earth, the components at the front end are not only severely worn by the earth but also subjected to strong impact loads, and are therefore frequently replaced. The general components are arranged on mechanical equipment according to the designed space position, and the installation positioning precision has important influence on the construction stability and the service life of the construction machinery.
Currently, the positioning technology of space components is very immature, and positioning is generally performed by welding experience of operators. Some construction machines provide locating repair plates that are generally cumbersome and difficult to repair to the machinery at the construction site. Often, the engineering machinery loses the optimal structure after repeated repair, so that the construction efficiency is reduced, and the service life of mechanical equipment is shortened. Repairing worn machinery requires precisely locating the spatial position of the spatial member prior to wear. Manufacturers often provide locating repair plates for repairing the spatial position of a spatial member, but do not provide specific spatial position information, and the locating repair plates are difficult to be practically used due to heavy weight. Another way is to acquire the spatial position information of the wear part by means of a scanning device, which requires scanning the whole machine. Due to limitations of the scanning equipment and the scanning accuracy, it is difficult to obtain the desired result in the spatial region of the worn part, and therefore it is also difficult to obtain the spatial position of the worn part. Meanwhile, the later-period data processing intensity is high, and the working efficiency is low.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the positioning device for the space component, which has the advantages of simple and reasonable structure, low cost and convenient measurement.
The invention adopts the technical proposal for solving the technical problems in the prior art that:
1. A positioning device of a space component comprises a positioning plate; the method is characterized in that: the shape of the positioning plate is matched with the shape of the positioning surface of the space component; a plurality of positioning elements are arranged on the positioning plate; the positioning element is provided with a light reflecting part, and the centers of the positioning element and the light reflecting part are the same;
The positioning plate is of a transparent or semitransparent plate-shaped structure; a plurality of upper positioning holes are formed in the positioning plate, and lower positioning holes are formed in the position, corresponding to the upper positioning holes, of the backup plate;
The upper end mirror image and the lower end mirror image of the positioning plate are provided with limiting structures; the limiting structure comprises limiting edges and limiting blocks which are arranged at the upper end part and the lower end part of the positioning plate.
Further, a detachable backup plate is arranged between the positioning plate and the space member.
Further, when the space member is made of iron, the backup plate has magnetism, and one side of the backup plate with magnetism is closely attached to the space member.
Further, when the space component is non-iron, a positioning structure for attaching the positioning device to the space component is arranged on the positioning device; the positioning structure comprises a clamping part, a shaft part and a positioning disc.
Further, the clamping part is arranged at the upper end of the positioning plate; the shaft part penetrates through the positioning plate and the backup plate; the positioning disc is arranged below the backup plate and is in positioning contact with the surface of the space component.
Further, the clamping part is arranged at the upper end of the positioning plate; the shaft part penetrates through the positioning plate; the positioning disc is arranged below the positioning plate and is in positioning contact with the surface of the space component.
Further, the number of the positioning structures is four, and the four positioning structures are uniformly arranged on the positioning device.
Further, the positioning element is of a circular sheet structure, the light reflecting portion is of a circular area, and the centers of the positioning element and the light reflecting portion are the same.
Further, the number of the positioning elements is 3, and the 3 positioning elements are all provided with fixed intervals.
Still further, the locating plate includes four vertical sides, and adjacent vertical sides passes through convex spacing angle and connects.
The invention has the advantages and positive effects that:
1. the positioning device has simple and reasonable structure, saves the material cost, and is economical and practical; the spatial position of the easily worn part can be measured by using simple materials;
2. The invention has wide application range, and any space component can be basically spatially positioned by the positioning device, so that the space position and the gesture of the easily worn part can be determined by using a three-point positioning system;
3. the invention reduces the labor cost, has accurate and reliable operation method, can be compiled into a special calculation program,
The intensity of the later data processing is greatly reduced.
Drawings
FIG. 1 is an installation view of a positioning device in a preferred embodiment of the present invention;
FIG. 2 is a three-dimensional view of the lower end of the positioning device in the preferred embodiment of the present invention;
FIG. 3 is a three-dimensional view of the upper end of the positioning device in the preferred embodiment of the present invention;
FIG. 4 is a side view of a positioning device (including a fence) in a preferred embodiment of the invention;
Fig. 5 is a side view of the positioning device (with the back plate removed) in a preferred embodiment of the invention.
Wherein:
1. A support part; 2. a space member; 3. a positioning device; 31. a positioning plate; 311. a first side edge; 312. a second side edge; 313. a third side; 314. a side edge IV; 315. a limiting angle I; 316. a limiting angle II; 317. the limiting angle III; 318. the limiting angle is four; 32. a backup plate; 33. a positioning element; 331. a first positioning element; 332. a second positioning element; 333. a positioning element III; 33a, a light reflecting portion; 34. a positioning structure; 341. a first positioning structure; 342. a second positioning structure; 343. a positioning structure III; 344. a positioning structure IV; 34a, an engagement portion; 34b, a shaft portion; 34c, positioning plate; 35. a limit structure; 351. limiting edges; 352. and a limiting block.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
As shown in fig. 1, the machine has a plurality of support portions 1 and space members 2, each space member 2 being fixed to the machine by the support portion 1; the space component 2 is directly contacted with or acts on the rock soil, and the space position and the gesture of the space component 2 are very important to the operation efficiency of the mechanical equipment; in general, the position and the attitude of any one of the support portions 1 are determined, and the position and the attitude of the space member 2 to be mated therewith are determined at the same time, and vice versa. The space member 2 has an effective area and an ineffective area. The active area refers to an area in which the spatial member 2 can be clearly identified, which should have a clear feature so that the positioning device 3 can be accurately placed. Of course, the spatial member 2 may have a plurality of effective areas, but in performing spatial positioning, it is necessary to ensure that the calculated effective areas are the same.
As shown in fig. 2 to 4, in order to be able to determine the spatial position and posture of the spatial member 2, a positioning device 3 of the spatial member 2 of the present invention includes a positioning plate 31 and a backup plate 32; the backup plate 32 is detachably arranged between the positioning plate 31 and the space member 2; the shape of the positioning plate 31 is matched with the shape of the positioning surface of the space member 2; when the space member 2 to be positioned has a planar positioning feature, the positioning plate 31 is of a planar plate-like structure, and when the space member 2 to be positioned has a curved positioning feature, the positioning plate 31 is of a curved shell-like structure;
A plurality of positioning elements 33 are arranged on the positioning plate 31; the positioning element 33 has a light reflecting portion 33a, the light reflecting portion 33a being capable of reflecting the laser light emitted from the detecting means, and then the reflected laser light is received by the detecting means, so that the detecting apparatus can recognize the positioning element 33, or the spatial position and posture of the positioning element 33. The spatial position is generally expressed as a spatial rectangular coordinate, and can also be a spatial cylindrical coordinate or a spherical coordinate, and the coordinate general rate belongs to a right-hand coordinate system. Preferably, the positioning element 33 has a circular sheet structure, the reflecting portion 33a has a circular area, and the centers of the positioning element 33 and the reflecting portion 33a are the same, so that the detection device can calculate the coordinates and the azimuth of the positioning element 33.
The positioning plate 31 is a transparent or semitransparent plate-shaped structure; the inspector can see the surface of the component through the positioning plate 31 to see if the positioning element 33 is fixed in a specified position.
Preferably, the number of the positioning elements 33 is 3, namely a first positioning element 331, a second positioning element 332 and a third positioning element 333; the 3 positioning elements 33 have a fixed spacing therebetween.
Preferably, the upper end mirror and the lower end mirror of the positioning plate 31 are provided with a limiting structure 35; the limiting structure 35 comprises limiting edges 351 and limiting blocks 352 which are arranged at the upper end part and the lower end part of the positioning plate 31; preferably, the limiting block 352 is arranged at one side perpendicular to the limiting ridge 351 so as to be convenient for positioning;
Preferably, when the space member 2 is made of iron, the backup plate 32 has magnetism, so that one end of the backup plate 32 is closely attached to the space member 2, and the other end of the backup plate 32 is screwed or adhered to the positioning plate 31; the size of the backup plate 32 may be the same as the size of the positioning plate 31, or may be smaller than the area of the positioning plate 31. More preferably, the backup plate 32 has unidirectional magnetism, and when the space member 2 is made of iron, the positioning structure 34 does not need to be installed, and the positioning device 3 can be tightly attached to the space member 2 by only attaching one side of the backup plate 32 with magnetism to the space member 2.
Preferably, when the space member 2 is non-ferrous, the positioning device 3 is provided with a positioning structure 34; the positioning structure 34 includes an engaging portion 34a, a shaft portion 34b and a positioning plate 34c; the clamping part 34a is arranged at the upper end of the positioning plate 31; the shaft portion 34b penetrates the positioning plate 31 and the backup plate 32; the positioning plate 34c is disposed below the backup plate 32 and is in positioning contact with the surface of the space member 2. For ease of assembly, the diameter of the locating hole in the fence 32 in which the shaft portion 34b is assembled is equal to or slightly greater than the diameter of the shaft portion 34 b. So that the positioning structure 34 can attach the positioning means 3 to the surface of the space member 2 when said space member 2 is non-ferrous. The principle of adsorption of the positioning disk 34c is: after the air in the positioning plate 34c is pressed, the external atmospheric pressure closely adheres the positioning structure 34 to the space member 2, so that it is necessary to ensure that the surface of the space member 2 in contact with the positioning plate 34c is flat and clean.
More preferably, as shown in fig. 5, when the space member 2 is non-ferrous, the positioning device 3 may remove the backup plate 32, and only the positioning structure 34 may be required to closely attach the positioning plate 31 to the space member 2. Specifically, the engaging portion 34a is provided at the upper end of the positioning plate 31; the shaft portion 34b penetrates the positioning plate 31; the positioning plate 34c is provided below the positioning plate 32 and is in positioning contact with the surface of the space member 2.
Preferably, the positioning structure 34 includes a first positioning structure 341, a second positioning structure 342, a third positioning structure 343 and a fourth positioning structure 344 which are uniformly arranged on the positioning device 3;
Preferably, the positioning plate 31 includes four vertical sides, namely a first side 311, a second side 312, a third side 313 and a fourth side 314, which are connected end to end;
Preferably, in order to observe the alignment condition of the positioning device 3 and the space member 2 during measurement, the adjacent vertical side edges are connected through a circular arc-shaped limiting angle, and specifically, the limiting angle between the side edge one 311 and the side edge two 312 is a limiting angle one 315; the limiting angle between the second side 312 and the third side 313 is a limiting angle two 316, and the limiting angle between the third side 313 and the fourth side 314 is a limiting angle three 317; the limiting angle between the side IV 314 and the side one 311 is a limiting angle IV 318;
the positioning method of the positioning device 3 comprises the following steps: the method comprises the following steps:
S1, establishing an initial coordinate system: the space member 2 is taken out and the positioning means 3 are placed in the active area of the space member 2. Typically, either side one 311 or side two 312 is aligned with the feature side of the active area and fine tuned by the first limit angle 315 and the second limit angle 316 while positioning one 341, second 342, third 343, and fourth 344 is placed on the active area of the space member 2. The detection device is then driven to detect the first positioning element 331, the second positioning element 332 or the third positioning element 333 of the positioning device 3. Generally, when the driving detection device detects the first positioning element 331, the second positioning element 332 or the third positioning element 333 of the positioning device 3, a set of coordinate systems is established, which is called an initial coordinate system;
s2, acquiring three-dimensional coordinates of a first positioning element 331, a second positioning element 332 or a third positioning element 333 on the positioning device 3 at an initial position;
Placing the space member 2 at any position, defining the position as an initial position, then placing the positioning plate 31 in an effective positioning area of the position, and driving a monitoring device to monitor the positioning elements 33 of the positioning device 3 one by one to obtain three-dimensional coordinates { (x n,yn,zn) of each positioning element 33 on the positioning device 3, wherein n=1, 2,3, …, N }, where N is the number of the positioning elements 33 used on the positioning device 3; the number of positioning elements 33 is generally more than 3. Since the detection means can make a change in arbitrary position and arbitrary posture, the position and posture information of the positioning member 33 is obtained.
S3, calculating a transformation matrix A 0 of the positioning element 33 on the positioning device 3 at the initial position:
The coordinates of 3 positioning elements 33 in S2 are selected, the selected positioning elements 33 should be the positioning elements 33 already detected in S2, the coordinates of which are (x 1,y1,z1),(x2,y2,z2) and (x 3,y3,z3), respectively, and the transformation matrix is expressed as,
Wherein,
Since the positional information of the three positioning elements 33 has been acquired in S2, equation (4) can be solved, and the initial transformation matrix of the space member 2 is determined. The coordinates of the 3 positioning elements 33 are calculated by the space transformation matrix of the formula (4) to obtain the space coordinates of the standard position.
S4, acquiring three-dimensional coordinates of a first positioning element 331, a second positioning element 332 or a third positioning element 333 of the positioning device 3 arranged on the space member 2:
positioning device 3 is placed in the effective area of space component 2, then positioning element one 331, positioning element two 332 or positioning element three 333 on positioning device 3 of the detection device is driven to detect, three-dimensional coordinates { (X 1n,Y1n,Z1n), n=1, 2,3, …, N } of the positioning element one 331, positioning element two 332 or positioning element three 333 of each component are obtained, then other space components 2 are sequentially detected to obtain space coordinates { (X mn,Ymn,Zmn), m=1, 2,3, …, M, n=1, 2,3, …, N } of positioning element one 331, positioning element two 332 or positioning element three 333 on positioning device 3 of space component 2. It is noted that upon detection of the positioning of the spatial member 2, the detection device again establishes a set of coordinate systems, which are generally different from the coordinate system of step one. The two sets of coordinate systems are established automatically by the detection equipment, and are difficult to be manually interfered, so that the connection between the two sets of coordinate systems needs to be established.
S5, calculating a transformation matrix { B m, m=1, 2, …, M } of the positioning device 3 placed on the space member 2:
the three positioning elements one 331, two 332 or three 333 used in the second step are selected, and the coordinates are (x m1,ym1,zm1),(xm2,ym2,zm2) and (x m3,ym3,zm3), respectively, so that the transformation matrix can be expressed as,
Wherein,
Since the positional information of the first positioning element 331, the second positioning element 332, or the third positioning element 333 has been acquired in S4, the initial transformation matrix of the space member 2 is determined as the equation (8) can be solved. The coordinates of the first positioning element 331, the second positioning element 332, or the third positioning element 333 are subjected to the space transformation matrix operation of the formula (8) to obtain the space coordinates of the standard position. The spatial coordinates of the standard position are virtually identical to the spatial coordinates of the standard position obtained in step two.
S6, calculating an inverse matrix { C m, m=1, 2, …, M } of the transformation matrix of the positioning device 3 placed on the space member 2:
Cm＝Bm -1 (12)
The inversion of the transformation matrix of the space member 2 is to transform the spatial coordinates of the standard position obtained in S5 to the actual position of the space member 2, as shown in the formula (12). Because the formula (8) is reversible, it represents that the spatial member 2 performs position transformation and posture transformation according to the transformation matrix described in the formula (8), to obtain another position and posture, that is, the posture of the standard position. The posture of the standard position is converted into a spatial position and posture according to the inverse transformation of the formula (8), that is, the formula (12), and restored to the actual position of the spatial member 2.
S7, calculating a transformation matrix { D m, m=1, 2, …, M } of the positioning element one 331, the positioning element two 332 or the positioning element three 333 on the positioning device 3 from the initial position to the spatial member 2:
Dm＝A0Cm(13)
Equation (13) is to perform the transformation of equation (4) to the posture of the standard position before performing the transformation of equation (8) to the actual position of the space member 23, in real time, the corresponding transformation matrix of the position and posture of the space member 2. The initial position of the space member 2 (3) may be also subjected to position conversion and posture conversion to reach the actual position of the space member 2 by the formula (13). It is to be noted that the position and posture of each space member 2 are different, and thus the transformation matrix shown in formula (13) is also different.
S8, moving the initial member to a specified spatial position:
The initial mechanism is moved to the specified position according to the matrix shown in equation (13). The spatial component 2 in the initial position is transformed to the standard position by the formula (4), and then transformed to the spatial position by the formula (8). The spatial member 2 at the initial position may be subjected to position conversion and posture conversion to achieve a spatial position by the formula (13). The spatial position contains position information and attitude information of the spatial member 2.
Further, the space member 2 may have a plurality of effective areas, each of which is also different in position and posture, so that the effective areas should be determined in advance before the detection apparatus is used. Each space member 2 should be provided with positioning means 3 in the same active area.
The invention can acquire the position and the posture of the space member 2, and can calibrate the posture and the position of the space member 2 by utilizing the special positioning device 3 to position the space member 2. The spatial components 2 are located differently and the gestures are also different, and the invention can obtain the internal relation of the transformation of the spatial components 2, namely a spatial transformation matrix. By calculation of these matrices, the spatial member 2 of the initial position can be transformed to the spatial position of the spatial member 2.
The positioning device for the space component solves the positioning problem of the space component 2, has a simple structure, is economical and practical, and can be used for manufacturing the positioning device 3 for measuring the space position of the abrasion part by using simple materials. The positioning device 3 has wide application range, and any space component 2 can be positioned in space basically through the positioning device 3. The three-point positioning system can be used for determining the spatial position and the attitude of the abrasion part, so that the intensity of later data processing is reduced, and the working efficiency is improved. In addition, the invention reduces the labor cost, the operation method is accurate and reliable, and can be compiled into a special calculation program, thereby greatly reducing the intensity of the later data processing.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention should be made within the scope of the present invention.
Claims (9)
1. A positioning device of a space component comprises a positioning plate; the method is characterized in that: the shape of the positioning plate is matched with the shape of the positioning surface of the space component; three positioning elements are arranged on the positioning plate; the positioning element is provided with a light reflecting part, and the centers of the positioning element and the light reflecting part are the same;
The positioning plate is of a transparent or semitransparent plate-shaped structure; a plurality of upper positioning holes are formed in the positioning plate, and a detachable backup plate is arranged between the positioning plate and the space component; the position of the backup plate corresponding to the upper positioning hole is provided with a lower positioning hole;
the upper end mirror image and the lower end mirror image of the positioning plate are provided with limiting structures; the limiting structure comprises limiting edges and limiting blocks which are arranged at the upper end part and the lower end part of the positioning plate;
the positioning method of the positioning device comprises the following steps: the method comprises the following steps:
s1, establishing an initial coordinate system: taking out the space component and placing the positioning device in an effective area of the space component; when the detection device is driven to detect three positioning elements of the positioning device, an initial coordinate system is established;
S2, placing a space component at any position, defining the position as an initial position, then placing a positioning plate in an effective positioning area of the position, and driving monitoring equipment to monitor positioning elements of the positioning device one by one to obtain three-dimensional coordinates (x 1,y1,z1),(x2,y2,z2) and (x 3,y3,z3) of three positioning elements on the positioning device;
s3, calculating a transformation matrix A 0 of a positioning element on the positioning device at the initial position:
Coordinates (x 1,y1,z1),(x2,y2,z2) and (x 3,y3,z3) of the positioning element that have been detected in S2 are selected, the transformation matrix is expressed as,
Wherein,
S4, placing the positioning device in an effective area of a space component, then driving a detection device to detect a first positioning element, a second positioning element or a third positioning element on the positioning device to obtain three-dimensional coordinates (X 1n,Y1n,Z1n), n=1, 2,3, … and N of all positioning elements, then sequentially detecting other space components to obtain the space coordinates (X mn,Ymn,Zmn), m=1, 2,3, …, M, n=1, 2,3, … and N of all positioning elements of each component, wherein M is the number of the space components, and N is the number of a certain positioning element on the positioning device of the space component;
s5, calculating a transformation matrix { B m, m=1, 2, …, M } of the positioning means placed on the spatial member:
selecting the first positioning element, the second positioning element or the third positioning element used in the second step, wherein the coordinates are (x m1,ym1,zm1),(xm2,ym2,zm2) and (x m3,ym3,zm3) respectively, and the transformation matrix can be expressed as,
Wherein,
S6, computing an inverse { C m, m=1, 2, …, M } of the transformation matrix of the positioning means placed on the spatial member:
Cm＝Bm -1 (12)；
s7, calculating a transformation matrix { D m, m=1, 2, …, M } of three positioning elements on the positioning device from the initial position to the spatial structure:
Dm＝A0Cm (13)；
s8, the space component moving the initial position reaches the designated space position.
2. The positioning device for a space member according to claim 1, wherein: when the space component is iron, the backup plate has magnetism, and one side of the backup plate with magnetism is closely attached to the space component.
3. The positioning device for a space member according to claim 1, wherein: when the space component is non-iron, a positioning structure for attaching the positioning device to the space component is arranged on the positioning device; the positioning structure comprises a clamping part, a shaft part and a positioning disc.
4. A positioning device for a space member as claimed in claim 3, wherein: the clamping part is arranged at the upper end of the positioning plate; the shaft part penetrates through the positioning plate and the backup plate; the positioning disc is arranged below the backup plate and is in positioning contact with the surface of the space component.
5. A positioning device for a space member as claimed in claim 3, wherein: the clamping part is arranged at the upper end of the positioning plate; the shaft part penetrates through the positioning plate; the positioning disc is arranged below the positioning plate and is in positioning contact with the surface of the space component.
6. A positioning device for a space member as claimed in claim 3, wherein: the number of the positioning structures is four, and the four positioning structures are uniformly arranged on the positioning device.
7. The positioning device for a space member according to claim 1, wherein: the positioning element is of a circular sheet structure, the light reflecting portion is of a circular area, and the centers of the positioning element and the light reflecting portion are the same.
8. The positioning device for a space member according to claim 1, wherein: the 3 positioning elements are all provided with fixed intervals.
9. The positioning device for a space member according to claim 1, wherein: the locating plate comprises four vertical side edges, and the adjacent vertical side edges are connected through circular arc-shaped limiting angles.
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| CN106736077A (en) * | 2016-12-28 | 2017-05-31 | 武汉武船重型装备工程有限责任公司 | Steel pipe post flange coordinate location device and its localization method |
| CN208902039U (en) * | 2018-10-19 | 2019-05-24 | 中交天津航道局有限公司 | A kind of positioning device of dimensional component |
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| EP1447644A1 (en) * | 2003-02-14 | 2004-08-18 | Metronor ASA | Measurement of spatial coordinates |
| CN102878988B (en) * | 2012-10-15 | 2015-03-18 | 浙江正和造船有限公司 | Planar reflection device of total-station instrument |
| CN106425762A (en) * | 2016-11-25 | 2017-02-22 | 广东技术师范学院 | Robot grinding, polishing, loading and positioning tooling rack |
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| CN106736077A (en) * | 2016-12-28 | 2017-05-31 | 武汉武船重型装备工程有限责任公司 | Steel pipe post flange coordinate location device and its localization method |
| CN208902039U (en) * | 2018-10-19 | 2019-05-24 | 中交天津航道局有限公司 | A kind of positioning device of dimensional component |
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