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WO2018043788A1 - Coin à angle variable flexible destiné à une inspection d'onde ultrasonore, et système d'inspection d'onde guidée par ultrasons utilisant ledit coin à angle variable flexible - Google Patents

Coin à angle variable flexible destiné à une inspection d'onde ultrasonore, et système d'inspection d'onde guidée par ultrasons utilisant ledit coin à angle variable flexible Download PDF

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Publication number
WO2018043788A1
WO2018043788A1 PCT/KR2016/010205 KR2016010205W WO2018043788A1 WO 2018043788 A1 WO2018043788 A1 WO 2018043788A1 KR 2016010205 W KR2016010205 W KR 2016010205W WO 2018043788 A1 WO2018043788 A1 WO 2018043788A1
Authority
WO
WIPO (PCT)
Prior art keywords
ultrasonic
inspection
wedge
frame portion
liquid bag
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.)
Ceased
Application number
PCT/KR2016/010205
Other languages
English (en)
Korean (ko)
Inventor
조현준
이동훈
김창환
한성진
박동준
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.)
Institute Of Safety And Quality Co Ltd
Original Assignee
Institute Of Safety And Quality Co Ltd
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 Institute Of Safety And Quality Co Ltd filed Critical Institute Of Safety And Quality Co Ltd
Publication of WO2018043788A1 publication Critical patent/WO2018043788A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/24—Probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7225—Details of analogue processing, e.g. isolation amplifier, gain or sensitivity adjustment, filtering, baseline or drift compensation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/34—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor

Definitions

  • the present invention relates to a flexible variable angle wedge for ultrasonic inspection and an guided ultrasonic inspection system using the same, and more particularly, an ultrasonic inspection that can increase the reliability of inspection while providing convenience in manufacturing and installing the device by a simple configuration.
  • the present invention relates to a flexible variable angle wedge for an ultrasonic wave and a guided ultrasonic inspection system using the same.
  • pipes are constructed to supply or transport energy sources such as oil and gas, and such pipes may be corroded or cracked due to changes in the installation environment or over time.
  • the defects may be generated, and accordingly, the pipes are inspected from time to time or regularly to prevent safety risks, accidents, and economic losses.
  • the defect inspection of the pipe is to determine the presence and location of defects such as cracks and corrosion by collecting and analyzing the signal of the guided ultrasonic wave propagated in the longitudinal direction of the tube by oscillating the ultrasonic wave from the outside of the tube.
  • the inspection using the guided ultrasonic wave is provided with a wedge which is coupled to be in close contact with the outer circumferential surface of the tube by installing an ultrasonic transducer, and by the wedge, the ultrasonic transducer is installed at a predetermined angle to form the incident angle of the ultrasonic wave constantly. Done.
  • Such a conventional wedge is usually manufactured in a block shape of a certain size by acrylic, etc., which is a manufacturing hassle due to the constant cutting of the installation surface for forming the contact surface corresponding to the outer curvature of the pipe or the installation of the ultrasonic transducer. Not only does it follow, but also hassle for installation, such as the need to apply a separate gel to keep the wedge in close contact with the outer circumferential surface of the tube.
  • the conventional wedge is manufactured by a synthetic resin molding such as acrylic, there is a possibility that interference may occur due to the refraction or reflection of ultrasonic waves oscillated or received by the ultrasonic transducer according to the particle or crystal state of the wedge itself.
  • the inspection system using the conventional wedge uses the wedge as described above, so that the signal to noise ratio is lowered due to the interference of the particle or the crystal state of the wedge itself during the transmission and reception of the ultrasonic wave, thereby reducing the signal quality and defects.
  • the detection ability can be reduced.
  • the conventional inspection system has a software and hardware configuration that is provided for transmitting and receiving ultrasonic signals in a fragmented manner, which is inferior in compatibility and scalability, and thus the overall configuration of the apparatus when the expansion or change of the ultrasonic transmission / reception channel is required. Installation and maintenance is cumbersome due to replacement.
  • the present invention is to solve the problems described above, the present invention provides a convenience in the manufacture and installation of the device by a simple structure of the device and at the same time eliminate the interference in the transmission and reception of the ultrasonic wave to increase the inspection reliability It is possible to provide a flexible variable angle wedge for ultrasonic inspection and guided ultrasonic inspection system using the same that can be easily expanded or changed the channel by a removable board structure.
  • the wedge is in close contact with the surface of the inspection object (P) including the pipe to be incident or received by the ultrasonic transducer 20 at a predetermined angle;
  • the bottom surface 33 of a predetermined area is formed to be sealed in a state in which the liquid material W including water is filled in the bag member 32 of a flexible material having a predetermined volume, and adhered to the surface of the inspection object P.
  • a liquid bag 31 positioned at an upper portion of the bottom surface 33 and having an entrance surface 34 having a predetermined area so that the ultrasonic transducer 20 is installed;
  • Ultrasonic probe positioned to be in close contact with the incident surface 34 in a state coupled to the support frame portion 41 provided to be in close contact with the opposite sides of the liquid bag 31, the support frame portion 41 Provided is a flexible variable angle wedge for ultrasonic inspection, characterized in that it comprises a supporting unit 40 is formed with a fastening frame portion 42 to fasten the (20).
  • the support frame portion 41 is fixed frame 43 for supporting the lower side of the liquid bag 31, the fixing frame 43 is hinged to the fastening frame portion ( There is provided a flexible variable angle wedge for ultrasonic inspection, characterized in that the rotating frame 45 is provided to be inclined so as to adjust the position or angle of the 42.
  • the liquid bag 31 is formed such that the incident surface 34 is formed in a continuous circular arc surface in the range within 90 degrees or can be stretched on both the upper and lower sides of the incident surface 34 Ultrasonic flexible variable angle wedge is provided, characterized in that the pleats 35 are formed.
  • the close contact with the surface of the inspection object (P) including the pipe is provided to enter or receive the ultrasonic wave by the ultrasonic probe at a predetermined angle, a bag of a flexible material having a predetermined volume
  • the incident surface is sealed in a state in which the liquid material W including water is filled in the member 32, and a bottom surface 33 having a predetermined area is formed on the bottom surface and is inclined at an upper side of the bottom surface 33.
  • An ultrasonic pulser 11 configured to generate ultrasonic waves on the inspected object P through an ultrasonic probe 20 coupled to the wedge 30;
  • An ultrasonic receiver 12 configured to receive, amplify, and filter ultrasonic waves diffracted or reflected at a defective portion of the test object P;
  • Ultrasonic inspection characterized in that it comprises a control analysis device 15 for controlling the signal of the ultrasonic pulser 11 or the ultrasonic receiver 12 or the data by the digitizer 13 to analyze and display the data.
  • a guided ultrasonic inspection system using a flexible variable angle wedge is provided.
  • the control analysis device 15 has a backplane 21 in which a plurality of connection slots 22 are formed so that the number of channels of the ultrasonic pulser 11 and the ultrasonic receiver 12 can be easily changed. ), And a guided ultrasonic inspection system using a flexible variable angle wedge for ultrasonic inspection, comprising a pulsator / receiver board 23 and a digitizer board 24 detachably coupled on the connection slot 22. This is provided.
  • the interference such as scattering and reflection in the transmission process of the ultrasonic wave compared to a specific crystal state or particles such as acryl as in the prior art, and thus excludes the interference in the transmission and reception of the ultrasonic wave
  • the present invention corresponds to the surface shape of the inspection object (P) such as pipe, the liquid bag 31 is easily variable and stably close, so that acrylic is cut to match the curvature shape of the inspection object (P) as before.
  • the inspection object (P) such as pipe
  • the liquid bag 31 is easily variable and stably close, so that acrylic is cut to match the curvature shape of the inspection object (P) as before.
  • the ultrasonic probe 20 coupled to the liquid bag 31 by the supporting unit 40 is provided.
  • the incident angle A of the ultrasonic probe 20 as described above is easily adjusted by easily adjusting the stretching state of the liquid bag 31.
  • the incident angle A of the ultrasonic probe 20 as described above is easily adjusted by easily adjusting the stretching state of the liquid bag 31.
  • the present invention by building the inspection system 10 provided with the wedge 30 including the liquid bag 31 as described above, the quality of the signal as the ability to transmit and receive the ultrasonic wave by the liquid bag 31 is increased This is excellent and at the same time there is an advantage that can provide an inspection system 10 excellent in the ability to detect defects.
  • the present invention is provided to combine the pulser / receiver board 23 and the digitizer board 24 on the backplane 21, a plurality of connection slots 22 are formed, the pulsar / receiver board 23 and the digitizer board 24 may be added or separated on the backplane 21 as needed to easily change the number of channels of the ultrasonic pulser 11, the ultrasonic reserver 12, and the digitizer 13 to secure wide channel expandability.
  • the present invention is provided to combine the pulser / receiver board 23 and the digitizer board 24 on the backplane 21, a plurality of connection slots 22 are formed, the pulsar / receiver board 23 and the digitizer board 24 may be added or separated on the backplane 21 as needed to easily change the number of channels of the ultrasonic pulser 11, the ultrasonic reserver 12, and the digitizer 13 to secure wide channel expandability.
  • FIG. 1 is a perspective view showing one embodiment of the present invention
  • FIG. 2 is an exploded perspective view according to an embodiment of the present invention
  • Figure 3 is a front view showing an operating state according to an embodiment of the present invention
  • FIG. 4 is a perspective view showing another embodiment of the present invention.
  • FIG. 5 is a front view showing an operating state according to another embodiment of the present invention.
  • FIG. 6 is a block diagram illustrating a system according to an embodiment of the present invention.
  • FIG. 7 is a perspective view showing main parts of a system according to an embodiment of the present invention.
  • the flexible variable angle wedge 30 is a liquid bag (31) filled with a liquid material (W) including water and the supporting unit 40 to support the liquid bag (31) It is made so that it can be installed to be inclined at an angle to the ultrasonic transducer 20 on the upper one side.
  • the liquid bag 30 is sealed in a state filled with a liquid material (W) such as water in the bag member 31 manufactured to have a block shape having a predetermined volume, the bottom has a predetermined area on the bottom A surface 33 is formed, and side surfaces 35 extending at a predetermined height are formed on both sides of the bottom surface 33, and an incident surface on which the ultrasonic probe 20 is positioned above the side surface 35 ( 34 is formed, and the incidence surface 34 is formed to extend in a curved form upward from one end of the bottom surface 33 to have a predetermined area.
  • W liquid material
  • the bag member 32 of the liquid bag 31 is made of a flexible material such as soft silicon so that the shape of the bottom surface 33 is elastic to correspond to the surface shape of the inspection object P such as a pipe. In addition to being deformable, the state in close contact with the surface of the inspected object P can be easily maintained.
  • the supporting unit 40 is to maintain the shape of the liquid bag 31 or the position of the ultrasonic transducer 20 is constant, the support frame portion 41 for supporting both sides of the liquid bag 31 And a fastening frame portion 42 formed at an upper end of the support frame portion 41 so as to couple the ultrasonic probe 20 to each other.
  • the support frame portion 41 extends in a substantially horizontal direction with respect to the bottom surface 33 near the lower end of the liquid bag 31 is fixed frame to support the both sides of the liquid bag 31 ( 43) and the pivot frame 45 may be rotatably coupled by a hinge 44 to one side of each of the fixed frames 43 to extend upwardly inclined.
  • the fastening frame portion 42 is formed in a predetermined area on the upper end of the rotation frame 45 to correspond to the incident surface 34 of the liquid back 31, a substantially rectangular through-hole 47 is formed It is provided as a border frame 46 to be installed in close contact on the incident surface 34 in the state in which the ultrasonic transducer 20 is inserted into the through hole 47.
  • the liquid bag 31 and the supporting unit 40 may be coupled to each other by an adhesive or the like, or a protrusion 37 or a groove 48 may be further formed, and the supporting unit 40 or the liquid bag may be further formed.
  • Side 31 of the angle plate 49 to easily adjust the angle of the rotation frame 45 or a latch wheel (not shown) for maintaining the adjustment state of the rotation frame 45 is to be provided It can be natural.
  • Flexible variable angle wedge 30 of the present invention according to the configuration as described above is fixed when the bottom surface 33 of the liquid bag 31 in close contact with the surface of the inspection object P, such as piping In order to correspond to the curvature of the object (P), the bottom surface of the liquid bag is in close contact with the variable state can be easily in contact with the curvature of various standards.
  • the liquid bag 31 of the present invention may be made of a material such as silicon, so that the adhesion to the adhesion surface can be maintained firmly, and a separate adhesion gel is used to maintain the adhesion of the bottom surface 33 as in the prior art. Since the adhesion can be maintained even in the state where the water is buried on the bottom surface 33 without preparation, it is possible to provide convenience in installation.
  • the present invention by adjusting the rotating frame 45 of the supporting unit 40, the ultrasonic transducer 20 at any position of the incident surface 34 ),
  • the incident angle (A) of the ultrasonic wave can be easily adjusted to facilitate inspection in various environments, and the incident surface 34 may randomly select the ultrasonic probe 20 within a range of about 90 degrees.
  • the circular arc surface corresponding to the rotation radius of the rotation frame 45 is formed to extend continuously about the hinge 44 so as to be positioned at an angle of.
  • the incidence surface 34 is formed to be wider within a predetermined angle range to install a transducer at a position adjusted by the supporting unit 40. In another embodiment, the incidence surface 34 is approximately ultrasonic. After limiting the area to the extent to which the probe 20 can be installed, the fastening frame part 42 may be provided in a fixed state, which will be described below with reference to FIGS. 4 and 5.
  • the incidence surface 34 is formed on the bag member 32 itself so that the ultrasonic transducer 20 can be installed.
  • the incidence surface 34 is formed on the incidence surface 34.
  • the fastening frame portion 42 is installed in close contact with the wrinkle portion 36 is formed on the upper and lower sides of the incident surface (34).
  • the position of the incident surface 34 to which the fastening frame 42 is fixed is an arbitrary angle.
  • the bag member 32 itself is easily stretched in the up and down direction by the wrinkles 36, it is convenient to move the position of the incident surface 34.
  • FIGS. 6 and 7 illustrate an inspection system using the flexible variable angle wedge 30 according to various embodiments as follows.
  • the inspection system 10 of the present invention the wedge 30 as described above is coupled to the surface of the inspection object (P), such as a pipe, the wedge 30 is the inspection object (P)
  • the inspection object such as a pipe
  • the wedge 30 is the inspection object (P)
  • the inspection conditions such as a plurality can be combined in the circumferential direction.
  • Each of the wedges 30 allows the ultrasonic wave to be incident on the inspected object P side and at the same time receives a signal returned from the inspected object P.
  • the ultrasonic probe 20 On each of the wedges, the ultrasonic probe 20 is provided.
  • the ultrasonic pulser 11 and the ultrasonic receiver 12 which are coupled to generate or receive ultrasonic waves are connected.
  • the ultrasonic pulser 11 generates an ultrasonic pulse corresponding to a predetermined frequency, and the ultrasonic wave generated by the ultrasonic probe 20 connected thereto is inspected by a constant incident angle A through the wedge 30. Will propagate into me.
  • the ultrasonic receiver 12 receives the ultrasonic wave generated by the ultrasonic pulser 11 from the defect portion of the test object P and amplifies and filters the received signal.
  • the signal received by the ultrasonic receiver 12 takes the form of an analog electrical signal and converts it into a digital signal by the digitizer 13, and collects, analyzes and displays the digital signal by the control analysis device 15. The presence or absence of the defect of the object P, or the like is estimated.
  • control analysis device 15 is the control device 16 and the control device 16 configured to control the overall operation of the device such as the ultrasonic pulser 11, the ultrasonic receiver 12, the digitizer 13, etc. It may be made of a signal processing and display device 17 and the like connected to a communication method such as Ethernet to enable the execution or termination of the test or the signal processing / analysis and the analysis result to be displayed on the screen.
  • a plurality of boards in the form of circuit boards are mounted on the control device 16 side of the control analysis device 15, which includes a backplane 21 having a plurality of connection slots 22 formed therein. And a pulsator / receiver board 23, a digitizer board 24, and a CPU board detachably coupled to the connection slot 22 of the backplane 21.
  • the pulser / receiver board 23 and the digitizer board 24 are plugged onto the connection slot 22 in the form of a single board connected to each other, and the wedge at the end side of the pulser / receiver board 23.
  • a connector 25 capable of fastening the ultrasonic cable 27 connected to the ultrasonic probe 20 coupled to the 30 may be formed.
  • the connector 25 forms one channel as the ultrasonic cable 27 connected to the transmitting / receiving ultrasonic transducer 20 is connected.
  • the present invention relates to the pulser / receiver board 23 and the digitizer board 24. ) Is coupled to or separated from the connection slots 22 of the backplane 21, thereby providing convenience in expanding or reducing the number of channels.

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Abstract

La présente invention a trait à un coin à angle variable flexible destiné à une inspection d'onde ultrasonore et un système d'inspection d'onde guidée par ultrasons utilisant ledit coin à angle variable flexible, ce qui permet de faciliter la fabrication et l'installation d'un dispositif en raison d'une configuration simple, tout en augmentant la fiabilité de l'inspection. La présente invention concerne un coin à angle variable flexible destiné à une inspection d'onde ultrasonore, auquel une sonde à ultrasons (20) est fixée au moyen d'un sac de liquide (31) constitué d'un matériau souple rempli d'un matériau liquide (W) comprenant de l'eau et d'une unité de support (40) accouplée à cette dernière, de sorte que le coin à angle variable flexible puisse être utilisé en ajustant facilement un angle d'incidence d'une onde ultrasonore, et un système d'inspection d'onde guidée par ultrasons utilisant ledit coin à angle variable flexible.
PCT/KR2016/010205 2016-09-05 2016-09-09 Coin à angle variable flexible destiné à une inspection d'onde ultrasonore, et système d'inspection d'onde guidée par ultrasons utilisant ledit coin à angle variable flexible Ceased WO2018043788A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2016-0113814 2016-09-05
KR1020160113814A KR20180026904A (ko) 2016-09-05 2016-09-05 초음파 검사용 플렉시블 가변각 웨지 및 이를 이용한 유도초음파 검사시스템

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WO2018043788A1 true WO2018043788A1 (fr) 2018-03-08

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WO (1) WO2018043788A1 (fr)

Cited By (8)

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CN110286158A (zh) * 2019-07-17 2019-09-27 西安热工研究院有限公司 一种可调节入射角度的超声波斜探头
WO2020041891A1 (fr) * 2018-08-30 2020-03-05 Atomic Energy Of Canada Limited / Énergie Atomique Du Canada Limitée Test non destructif ultrasonore ou acoustique à ondes continues
CN111380839A (zh) * 2020-04-27 2020-07-07 上海工程技术大学 一种基于液体囊角度调节的spr传感器装置
CN111474247A (zh) * 2020-05-26 2020-07-31 山东丰汇工程检测有限公司 一种晶片阵列角度可调式相控阵超声波探头及其组装和检测方法
CN111983019A (zh) * 2020-08-10 2020-11-24 国网江苏省电力有限公司电力科学研究院 一种用于电缆终端铅封缺陷检测的相控阵检测装置及方法
CN113533535A (zh) * 2021-08-19 2021-10-22 西安热工研究院有限公司 一种可变更探头的分体式多角度超声斜探头
CN114176642A (zh) * 2021-12-29 2022-03-15 深圳大学 一种血管内偏转角度测试装置
CN115128168A (zh) * 2022-06-24 2022-09-30 艾因蒂克科技(上海)有限公司 一种可调节角度的楔块

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CN111678630B (zh) * 2020-06-18 2021-08-06 哈尔滨工业大学（深圳） 基于超声导波应力敏感度分析的钢绞线单轴应力检测方法
KR102748988B1 (ko) * 2021-11-25 2025-01-02 서울대학교산학협력단 초음파 투과 장치 및 파동 제어 방법
CN116735721B (zh) * 2023-08-15 2023-11-07 浙江大学 一种用于超声检测的柔性耦合楔块及其应用方法

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020041891A1 (fr) * 2018-08-30 2020-03-05 Atomic Energy Of Canada Limited / Énergie Atomique Du Canada Limitée Test non destructif ultrasonore ou acoustique à ondes continues
US12270889B2 (en) 2018-08-30 2025-04-08 Atomic Energy Of Canada Limited/Ènergie Atomique Du Canada Limitèe Continuous wave ultrasound or acoustic non-destructive testing
CN110286158A (zh) * 2019-07-17 2019-09-27 西安热工研究院有限公司 一种可调节入射角度的超声波斜探头
CN111380839A (zh) * 2020-04-27 2020-07-07 上海工程技术大学 一种基于液体囊角度调节的spr传感器装置
CN111474247A (zh) * 2020-05-26 2020-07-31 山东丰汇工程检测有限公司 一种晶片阵列角度可调式相控阵超声波探头及其组装和检测方法
CN111983019A (zh) * 2020-08-10 2020-11-24 国网江苏省电力有限公司电力科学研究院 一种用于电缆终端铅封缺陷检测的相控阵检测装置及方法
CN113533535A (zh) * 2021-08-19 2021-10-22 西安热工研究院有限公司 一种可变更探头的分体式多角度超声斜探头
CN114176642A (zh) * 2021-12-29 2022-03-15 深圳大学 一种血管内偏转角度测试装置
CN115128168A (zh) * 2022-06-24 2022-09-30 艾因蒂克科技(上海)有限公司 一种可调节角度的楔块
CN115128168B (zh) * 2022-06-24 2023-09-26 艾因蒂克科技(上海)有限公司 一种可调节角度的楔块

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