CN116182701A - Full-automatic detection system and method for static and dynamic characteristics of substrate - Google Patents
Full-automatic detection system and method for static and dynamic characteristics of substrateDownload PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及基体检测技术领域，尤其涉及一种基体静动态特性全自动检测系统及方法。The invention relates to the technical field of substrate detection, in particular to an automatic detection system and method for the static and dynamic characteristics of a substrate.
背景技术Background technique
目前圆锯片的直径、厚度、平面度等几何尺寸与公差、表面粗糙度、齿顶和端面对安装孔径轴线的径向圆跳动和端面圆跳动公差等静态技术指标及其检测方法已经趋于完善，但由于圆锯片动态特性指标的引入，现有圆锯片检测方法不能满足更高的检测要求。At present, the static technical indicators and detection methods of circular saw blades such as diameter, thickness, flatness and other geometric dimensions and tolerances, surface roughness, radial circular runout and end face circular runout tolerance of the tooth top and end face to the axis of the installation aperture have become more and more advanced. However, due to the introduction of dynamic characteristic indicators of circular saw blades, the existing detection methods of circular saw blades cannot meet higher detection requirements.
例如：CN211060865U公开了一种圆锯片端面的平面度检测设备，包括底板，固设于底板上的固定架，固设于固定架上的导轨，滑移于导轨上的滑块，固设于滑块的至少两个激光位移传感器，位于导轨下方的电机，以及固设于电机上的磁性件；通过在圆锯片的直径上设置两个激光位移传感器，可以测量圆锯片的两个圆周到激光位移传感器的距离数据，两个激光位移传感器获取的数据不同，则判断圆锯片的平面度不符合要求。上述检测设备仅能检测平面度，不能检测其他静态特性，例如端面圆跳动、径向圆跳动；而且不能检测横向振动等动态特性。For example: CN211060865U discloses a flatness detection device for the end face of a circular saw blade, including a base plate, a fixing frame fixed on the base plate, a guide rail fixed on the fixing frame, a slider sliding on the guide rail, and a At least two laser displacement sensors of the slider, a motor located under the guide rail, and a magnetic part fixed on the motor; by setting two laser displacement sensors on the diameter of the circular saw blade, the two circumferences of the circular saw blade can be measured If the distance data to the laser displacement sensor is different from the data obtained by the two laser displacement sensors, it is judged that the flatness of the circular saw blade does not meet the requirements. The above-mentioned detection equipment can only detect flatness, and cannot detect other static characteristics, such as end face circular runout, radial circular runout; and cannot detect dynamic characteristics such as lateral vibration.
发明内容Contents of the invention
针对现有技术存在的不足，本发明的目的是提供一种基体静动态特性全自动检测系统及方法，能够测量待检测基体的静态特性和动态特性，具体几何特征包括端面圆跳动、径向圆跳动、平面度及厚度等，提高检测效率。In view of the deficiencies in the prior art, the purpose of the present invention is to provide a fully automatic detection system and method for the static and dynamic characteristics of the substrate, which can measure the static and dynamic characteristics of the substrate to be detected, and the specific geometric characteristics include end face circle runout, radial circle Runout, flatness and thickness, etc., to improve detection efficiency.
为了实现上述目的，本发明是通过如下的技术方案来实现：In order to achieve the above object, the present invention is achieved through the following technical solutions:
第一方面，本发明的实施例提供了一种基体静动态特性全自动检测系统，包括U型滑轨，所述U型滑轨安装于水平直线运动模组，U型滑轨的开口端朝向待检测基体；U型滑轨滑动连接激光位移传感器，在待检测基体旋转过程中激光位移传感器改变位置以获取多个采样点。In the first aspect, an embodiment of the present invention provides a fully automatic detection system for the static and dynamic characteristics of a substrate, including a U-shaped slide rail, the U-shaped slide rail is installed on a horizontal linear motion module, and the open end of the U-shaped slide rail faces The substrate to be detected; the U-shaped slide rail is slidably connected to the laser displacement sensor, and the laser displacement sensor changes position during the rotation of the substrate to be detected to obtain multiple sampling points.
作为进一步的实现方式，所述激光位移传感器由导轨电机驱动以沿U型滑轨移动，待检测基体安装于驱动主轴，驱动主轴连接主轴电机；所述导轨电机、主轴电机分别连接控制系统。As a further implementation, the laser displacement sensor is driven by a rail motor to move along the U-shaped slide rail, the substrate to be detected is installed on the driving spindle, and the driving spindle is connected to the spindle motor; the rail motor and the spindle motor are respectively connected to the control system.
作为进一步的实现方式，所述激光位移传感器的检测头朝向待检测基体表面，用于采集待检测基体的径向参数。As a further implementation manner, the detection head of the laser displacement sensor faces the surface of the substrate to be detected, and is used for collecting radial parameters of the substrate to be detected.
作为进一步的实现方式，所述激光位移传感器每测完一次待检测基体的径向参数，主轴电机递进一个检测单位。As a further implementation manner, each time the laser displacement sensor finishes measuring the radial parameters of the substrate to be detected, the spindle motor advances by one detection unit.
作为进一步的实现方式，所述驱动主轴安装编码器，编码器连接控制系统。As a further implementation manner, an encoder is installed on the drive spindle, and the encoder is connected to a control system.
作为进一步的实现方式，所述水平直线运动模组安装于机架，且水平直线运动模组设置方向与驱动主轴轴向垂直。As a further implementation, the horizontal linear motion module is installed on the frame, and the installation direction of the horizontal linear motion module is perpendicular to the axis of the drive spindle.
作为进一步的实现方式，所述水平直线运动模组包括水平滑台、水平直线滑轨，水平滑台滑动连接于水平直线滑轨上侧；As a further implementation, the horizontal linear motion module includes a horizontal slide table and a horizontal linear slide rail, and the horizontal slide table is slidably connected to the upper side of the horizontal linear slide rail;
所述U型滑轨安装于水平滑台，水平滑台连接驱动机构，所述驱动机构连接控制系统。The U-shaped slide rail is installed on a horizontal slide table, and the horizontal slide table is connected with a driving mechanism, and the driving mechanism is connected with a control system.
第二方面，本发明的实施例还提供了一种基体静动态特性全自动检测方法，采用所述的检测系统，在待检测基体旋转过程中，激光位移传感器沿U型滑轨移动，依次经过多个检测位置；In the second aspect, the embodiments of the present invention also provide a fully automatic detection method for the static and dynamic characteristics of the substrate. Using the detection system, during the rotation of the substrate to be detected, the laser displacement sensor moves along the U-shaped slide rail, passing through the Multiple detection locations;
激光位移传感器通过高频采点得到待检测基体的三维轮廓；经坐标转换、数据拟合后得到待检测基体的三维实体；根据待检测基体平面度标准标记出静动态特性不合适位置。The laser displacement sensor obtains the three-dimensional contour of the substrate to be detected by collecting points at high frequency; obtains the three-dimensional entity of the substrate to be detected after coordinate conversion and data fitting; marks the inappropriate position of the static and dynamic characteristics according to the flatness standard of the substrate to be detected.
作为进一步的实现方式，所述待检测基体每旋转一周，激光位移传感器沿U型滑轨方向移动一个单位测量精度；通过高频采点，得到待检测基体表面各半径分布下的端面圆跳动；As a further implementation, the laser displacement sensor moves along the direction of the U-shaped slide rail for one unit of measurement accuracy every time the substrate to be detected rotates once; through high-frequency sampling points, the end face circular runout under the distribution of radii on the surface of the substrate to be detected is obtained;
通过坐标叠加，绘制出待检测基体的三维表面形貌，得到整体端面跳动公差。Through the superposition of coordinates, the three-dimensional surface topography of the substrate to be detected is drawn, and the runout tolerance of the overall end surface is obtained.
作为进一步的实现方式，所述待检测基体慢速转动同时激光位移传感器沿U型滑轨移动；计算机在三维模式下计算出待检测基体每一直径方向各上下偏差曲线的拟合直线；As a further implementation, the substrate to be detected rotates at a slow speed while the laser displacement sensor moves along the U-shaped slide rail; the computer calculates the fitting straight lines of the upper and lower deviation curves in each diameter direction of the substrate to be detected in a three-dimensional mode;
并将与偏差曲线合并的拟合直线斜率优化为零，用于抵消驱动主轴轴线的直线度误差；将所有计算加工后的拟合直线合并为新的圆面，此时得到的整体上下偏差曲面即为待检测基体的平面度。And optimize the slope of the fitted line merged with the deviation curve to zero, which is used to offset the straightness error of the drive spindle axis; merge all the calculated and processed fitted lines into a new circular surface, and the overall upper and lower deviation surfaces obtained at this time That is, the flatness of the substrate to be detected.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
(1)本发明的激光位移传感器安装于U型滑轨，U型滑轨安装于水平直线运动模组，在待检测基体回转过程中，激光位移传感器以一定速度围绕待检测基体沿U型滑轨移动，可以对待检测基体前后表面进行非接触测量，然后通过坐标转换获得待检测基体表面的大体轮廓，最后经过优化拟合算法得到圆锯片基体表面的三维形貌，其次依据圆锯片端面跳动和平面度国家标准标记出不合格的极坐标位置，实现圆锯片端面跳动的高效化智能化检测。(1) The laser displacement sensor of the present invention is installed on a U-shaped slide rail, and the U-shaped slide rail is installed on a horizontal linear motion module. During the rotation process of the substrate to be detected, the laser displacement sensor surrounds the substrate to be detected and slides along the U shape at a certain speed. Rail movement can be used for non-contact measurement of the front and rear surfaces of the substrate to be detected, and then the general contour of the substrate surface to be detected can be obtained through coordinate transformation. Finally, the three-dimensional shape of the substrate surface of the circular saw blade can be obtained through an optimized fitting algorithm. The national standards for runout and flatness mark the unqualified polar coordinate positions to realize efficient and intelligent detection of runout on the end face of circular saw blades.
(2)本发明由驱动主轴带动圆锯片旋转，圆锯片旋转转数通过编码器采集，圆锯片慢速转动，同时激光位移传感器沿水平直线滑轨移动，使测量轨迹遍布圆锯片基体的整个平面，在三维模式下通过计算机计算出圆锯片每一直径方向各上下偏差曲线的拟合直线，并将得出的与偏差曲线合并的拟合直线的斜率优化为零，用于抵消驱动主轴轴线的直线度误差。(2) In the present invention, the circular saw blade is driven to rotate by the driving spindle, and the rotation speed of the circular saw blade is collected by the encoder, and the circular saw blade rotates at a slow speed. At the same time, the laser displacement sensor moves along the horizontal linear slide rail, so that the measurement track is spread all over the circular saw blade For the entire plane of the base body, in the three-dimensional mode, the fitting straight line of the upper and lower deviation curves in each diameter direction of the circular saw blade is calculated by the computer, and the slope of the obtained fitting straight line combined with the deviation curve is optimized to zero, which is used for Counteracts straightness errors in the axis of the drive spindle.
(3)本发明由驱动主轴带动圆锯片高速旋转，用升降送料台将待切材料向圆锯片进给；由激光位移传感器沿U型滑轨移动测量圆锯片不同半径分布的横向振动，并且当一面检测完成后激光位移传感器将沿U型滑轨至另一侧，以检测待检测基体的横向振动。(3) The present invention drives the circular saw blade to rotate at high speed by the drive spindle, and feeds the material to be cut to the circular saw blade with the lifting feeding table; the laser displacement sensor moves along the U-shaped slide rail to measure the lateral vibration of the circular saw blade with different radius distributions , and when the detection of one side is completed, the laser displacement sensor will move to the other side along the U-shaped slide rail to detect the lateral vibration of the substrate to be detected.
附图说明Description of drawings
构成本发明的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention.
图1是本发明根据一个或多个实施方式的整体结构示意图；Fig. 1 is a schematic diagram of the overall structure of the present invention according to one or more embodiments;
图2是本发明根据一个或多个实施方式的检测装置主视图；Fig. 2 is a front view of a detection device according to one or more embodiments of the present invention;
图3是本发明根据一个或多个实施方式的检测装置俯视图；Fig. 3 is a top view of a detection device according to one or more embodiments of the present invention;
图4是本发明根据一个或多个实施方式的U型滑轨立体图；Fig. 4 is a perspective view of a U-shaped slide rail according to one or more embodiments of the present invention;
图5是本发明根据一个或多个实施方式的U型滑轨侧视图；Fig. 5 is a side view of a U-shaped slide rail according to one or more embodiments of the present invention;
图6是本发明根据一个或多个实施方式的平面度检测三维形貌路线示意图。Fig. 6 is a schematic diagram of a three-dimensional topography route for flatness detection according to one or more embodiments of the present invention.
其中，1、待检测基体，2、驱动主轴，3、机架，4、水平直线运动模组，41、水平滑台，42、驱动机构，43、水平直线滑轨，5、检测组件，51、激光位移传感器，511、第一检测位置，512、第二检测位置，513、第三检测位置，514、U型滑轨，515、固定件，6、控制柜，7、显示器，8、报警装置。Among them, 1. Substrate to be detected, 2. Driving spindle, 3. Rack, 4. Horizontal linear motion module, 41. Horizontal slide table, 42. Driving mechanism, 43. Horizontal linear slide rail, 5. Detection component, 51 , laser displacement sensor, 511, first detection position, 512, second detection position, 513, third detection position, 514, U-shaped slide rail, 515, fixing piece, 6, control cabinet, 7, display, 8, alarm device.
具体实施方式Detailed ways
实施例一：Embodiment one:
本实施例提供了一种基体静动态特性全自动检测系统，如图1-图3所示，包括机架3、驱动主轴2、检测组件5、水平直线运动模组4和控制系统(控制柜6)，驱动主轴2、检测组件5和水平直线运动模组4均安装于机架3，且与控制柜6相连；控制柜6带有显示器7和报警装置8。This embodiment provides a fully automatic detection system for the static and dynamic characteristics of the substrate, as shown in Figures 1-3, including a
在本实施例中，机架3采用铸铁材质，能够使平台具有很好的抗振性与强度。In this embodiment, the
具体的，驱动主轴2连接主轴电机，待检测基体1安装于驱动主轴2，通过主轴电机带动驱动主轴2和待检测基体1旋转。如图3所示，待检测基体1位于机架3外侧；在本实施例中，以圆锯片作为待检测基体1。Specifically, the
驱动主轴2安装有编码器，通过编码器采集圆锯片旋转圈数。The
水平直线运动模组4设置于驱动主轴2一侧，且水平直线运动模组4的延伸方向与驱动主轴2的轴向垂直。如图3所示，水平直线运动模组4包括水平滑台41、水平直线滑轨43，水平滑台41滑动连接于水平直线滑轨43，二者可通过丝杠螺母机构驱动。The horizontal
检测组件5包括激光位移传感器51、U型滑轨514，U型滑轨514固定于水平滑台41，能够实现U型滑轨514的横向运动。The detection component 5 includes a
U型滑轨514的开口端朝向圆锯片，通过U型滑轨514沿水平直线滑轨43移动，能够使安装于U型滑轨514的激光位移传感器51获得更多的采样点。激光位移传感器51滑动连接于U型滑轨514，通过激光位移传感器51位于U型滑轨514的不同位置，实现多点采样。The open end of the U-shaped
如图4和图5所示，U型滑轨514上设置三处采用点，即第一检测位置511、第二检测位置512、第三检测位置513，第二检测位置512位于U型滑轨514的拐角处，第一检测位置511和第三检测位置513相对设置。As shown in Figure 4 and Figure 5, three adopting points are set on the
U型滑轨514通过固定件515与水平滑台41连接，水平滑台可以为L型板件。The
激光位移传感器51与U型滑轨514的相对移动通过驱动机构42实现，驱动机构42包括驱动平台、导轨电机、与导轨电机相连的链轮链条机构，驱动平台安装在导轨上通过驱动电机在导轨上移动，通过导轨电机驱动的链轮链条机构带动激光位移传感器51沿U型滑轨514移动。The relative movement of the
激光位移传感器51的检测头朝向待检测基体1表面，用于采集待检测基体1的径向参数；激光位移传感器51、编码器、导轨电机、主轴电机分别连接控制系统。The detection head of the
导轨电机与主轴电机的相对转动关系是由控制系统设定激光位移传感器51的运动速度，当激光位移传感器51每测完一次圆锯片上的径向参数，主轴电机递进一个检测单位，使圆锯片转动一个单位。最后将得到形如函数f(ri，θi，hi，t)的数据，ri、θi为平面上的极坐标，hi是相应坐标下平面参数如平面度或端面跳动等，t为时间。The relative rotation relationship between the rail motor and the main shaft motor is set by the control system to set the motion speed of the
将数据导入主机后即可得到待测圆锯片的三维表面形貌图，将得到的函数与相应的如平面度及端面跳动的国家标准进行对比，当发现参数hi超过许用值时则在三维图像上的相应位置打上标记，视为不合格。After the data is imported into the host, the three-dimensional surface topography of the circular saw blade to be tested can be obtained, and the obtained function is compared with the corresponding national standards such as flatness and end runout. When the parameter hi is found to exceed the allowable value, then Mark the corresponding position on the three-dimensional image and consider it unqualified.
对于切割时双面横向振动横检测所得的三维图像，由于缺少相应的国家标准，则需要与测得的静态参数如端面跳动和平面度等进行重合比对，并以相应加工条件下的最大切缝厚度为其上限值。For the three-dimensional images obtained by double-sided lateral vibration detection during cutting, due to the lack of corresponding national standards, it is necessary to compare them with the measured static parameters such as end runout and flatness, and use the maximum cutting Seam thickness is its upper limit.
本实施例检测系统检测待检测基体1端面跳动的原理为：The detection system of this embodiment detects the beating principle of the end surface of the
激光位传感器51在U型滑轨上进行滑动，圆锯片通过主轴电机2驱动旋转，在此过程中激光位移传感器51设置为较高的采样频率，圆锯片每旋转一周，激光位移传感器51沿U型滑轨514方向移动一个单位测量精度，通过高频采点，能够得到圆锯片基体表面各半径分布下的端面圆跳动。The
然后，通过坐标叠加，绘制出圆锯片的三维表面形貌，得到整体端面跳动公差，再依据圆锯片端面跳动国家标准标记出圆锯片表面形貌不合适的位置，实现圆锯片端面跳动的高效化智能化检测。Then, through coordinate superposition, the three-dimensional surface topography of the circular saw blade is drawn, and the runout tolerance of the overall end face is obtained, and then the position where the surface topography of the circular saw blade is inappropriate is marked according to the national standard for the end face runout of the circular saw blade, and the end face of the circular saw blade is realized. Efficient and intelligent detection of beating.
检测待检测基体1平面度的原理为：The principle of detecting the flatness of the
由驱动主轴2带动圆锯片旋转，圆锯片旋转转数通过编码器采集，圆锯片缓慢速度(一般20r/mi n以下为慢速)转动，同时激光位移传感器51沿U型滑轨移动，使测量轨迹遍布圆锯片基体的整个平面，如图6示意图所示，在三维模式下通过计算机计算出圆锯片每一直径方向各上下偏差曲线的拟合直线，并将得出的与偏差曲线合并的拟合直线的斜率优化为零，用于抵消驱动主轴轴线的直线度误差。The circular saw blade is driven by the driving
将所有计算加工后的拟合直线合并为新的圆面，此时得到的整体上下偏差曲面即为受测锯片的平面度。Merge all the calculated and processed fitting straight lines into a new circular surface, and the overall upper and lower deviation surface obtained at this time is the flatness of the saw blade under test.
检测待检测基体1横向振动的原理为：The principle of detecting the lateral vibration of the
由驱动主轴2带动圆锯片高转速工作，用升降送料台将待切材料向圆锯片进给。由激光位移传感器51沿U型滑轨514移动测量圆锯片不同半径分布的横向振动，并且当一面检测完成后激光位移传感器51将沿U型滑轨514至另一侧，重复检测步骤。The circular saw blade is driven by the driving
对于切割时双面横向振动横检测所得的三维图像，由于缺少相应的国家标准，则需要与测得的静态参数如端面跳动和平面度等进行重合对比，以找出影响圆锯片加工时的动态稳定性的因素，并通过对两面各自的横向振动作比较以检测出圆锯片基体在相应转速下的变形情况，为圆锯片的加工生产提出一些指导，也可为不同材料下基体在高速旋转下振动时的抗变形能力进行检测与对比。For the three-dimensional image obtained by double-sided lateral vibration detection during cutting, due to the lack of corresponding national standards, it is necessary to compare it with the measured static parameters such as end runout and flatness to find out the factors that affect the processing of circular saw blades. The factors of dynamic stability, and by comparing the lateral vibrations of the two sides to detect the deformation of the circular saw blade base at the corresponding speed, put forward some guidance for the processing and production of circular saw blades, and can also be used for different materials. The anti-deformation ability of vibration under high-speed rotation is tested and compared.
实施例二：Embodiment two:
本实施例提供了一种基体静动态特性全自动检测方法，采用实施例一所述的检测系统，静动态特性的检测过程为：通过激光位移传感器51在U型滑轨514上进行滑动，依次经过第一检测位置511、第二检测位置512和第三检测位置513，圆锯片通过驱动主轴2进行旋转，在此过程中激光位移传感器51设置为较高的采样频率，通过高频采点，能够得到圆锯片表面的大体三维轮廓。采样频率与转速对应，通常是几毫秒取一个点的横向跳动。This embodiment provides a fully automatic detection method for the static and dynamic characteristics of the substrate. Using the detection system described in
然后，激光位移传感器51检测到的位移值(X0,Y0)，通过如下坐标转换为(X′0,Y′0)：Then, the displacement value (X0 , Y0 ) detected by the
其中，θ表示转角；通过坐标转换后，如图6所示，绘制出圆锯片的三维表面形貌，其次依据拟合算法得到圆锯片的三维实体，再依据圆锯片平面度国家标准标记出圆锯片静动态特性不合适位置，实现圆锯片的高效化智能化检测。Among them, θ represents the rotation angle; after coordinate transformation, as shown in Figure 6, the three-dimensional surface topography of the circular saw blade is drawn, and then the three-dimensional entity of the circular saw blade is obtained according to the fitting algorithm, and then according to the national standard for the flatness of the circular saw blade Mark the unsuitable position of the static and dynamic characteristics of the circular saw blade to realize efficient and intelligent detection of the circular saw blade.
另外，如图3-图5所示，U型滑轨514能够在水平直线滑轨43上进行移动，能够使得激光传感器51测量装置移动位移与圆锯片径向保证重合，以测量出圆锯片的相关参数。In addition, as shown in Figures 3-5, the
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.
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| WO2024250404A1 (en)* | 2023-06-06 | 2024-12-12 | 浙江颐顿机电有限公司 | Comprehensive test apparatus for circular saw |
| CN119737855A (en)* | 2024-12-18 | 2025-04-01 | 张家港华捷电子有限公司 | Circular saw blade swing detection device and method |
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| CN108981587A (en)* | 2018-05-17 | 2018-12-11 | 深圳市信宇人科技股份有限公司 | A kind of thickness measurement with laser system and measurement method |
| CN114714241A (en)* | 2022-03-24 | 2022-07-08 | 大连理工大学 | High-precision gear involute template micro-feed pure rolling grinding device and using method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024250404A1 (en)* | 2023-06-06 | 2024-12-12 | 浙江颐顿机电有限公司 | Comprehensive test apparatus for circular saw |
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