CN106383007A - Revolving body axial mass center flexible measuring apparatus based on spiral elevators - Google Patents
Revolving body axial mass center flexible measuring apparatus based on spiral elevators Download PDFInfo
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- CN106383007A CN106383007A CN201611023744.0A CN201611023744A CN106383007A CN 106383007 A CN106383007 A CN 106383007A CN 201611023744 A CN201611023744 A CN 201611023744A CN 106383007 A CN106383007 A CN 106383007A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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- A Measuring Device Byusing Mechanical Method (AREA)
- Weight Measurement For Supplying Or Discharging Of Specified Amounts Of Material (AREA)
Abstract
The invention discloses a revolving body axial mass center flexible measuring apparatus based on spiral elevators, and mainly solves the problem that a conventional revolving body axial mass center measuring apparatus is complex in structure, low in precision and cost and poor in applicability. The revolving body axial mass center flexible measuring apparatus comprises a measuring device base plate (1), measuring device brackets (2), spiral elevators (3), a weighing bracket (7) and weighing posts (8). Three measuring device brackets are arranged on the measuring device base plate (1) along the length direction, and a spiral elevator (3) is installed on the central axis of the inner bottom surface of each measuring device bracket (2). The three spiral elevators support one weighing bracket (7) through respective leading screws, two slidable weighing posts (8) are installed on the weighing bracket, and the two weighing posts can support a revolving body to complete axial mass center measurement. The apparatus has the advantages of high precision, compact structure, good adaptability and easy integration in the interior of a production line, and can be used for the measurement of the axial mass center of revolving bodies of different specifications.
Description
Technical field
The invention belongs to observation and control technology field, and in particular to rotator shaft is to measuring flexibility of mass centre device, can be used for assembling
In production line.
Background technology
In the assembling line that some modernize, it usually needs measure the barycenter of some revolving bodies position in the axial direction
Put, and this measurement result is of great significance to the dynamic characteristic of revolving body and means of transportation tool.And need big at some
In the assembling process in the field produced in batches and transportation safety the is required such as equipment such as guided missile, rocket, needing to try one's best to mitigate fills
Join the fussy degree of process, reduce the lifting to parts as far as possible, and improve the flexibility of assembling line so as to go for
The assembling of Multiple Type parts.
Consider the impact of the factors such as workman's demand, efficiency of assembling, cost, the measurement apparatus of design revolving body barycenter should
Meet the following requirements：First, in order to reduce the loss of equipment precision in measurement process, this equipment should have higher rigidity
And stability；2nd, in order to improve the automaticity of this measuring apparatus, its centroid measurement process should automatically complete；3rd, in order to
Meet the versatility of equipment, the revolving body that this equipment can be directed to different size does corresponding adjustment；4th, equipment should be controlled as far as possible
Cost, reduce device complexity.
At present, domestic You Duojia mechanism all proposes the equipment being related to centroid measurement, and it meets matter to a certain extent
The heart measures the requirement of function.As adopted multi-point support circumgyration traditional revolving body centroid measurement equipment, being treated using fixture more
Survey part to be fixed on measuring table, this measuring table is held up by some pressure transducers.During work, measuring table is in elevator
In the presence of structure, UUT is held up, record the reading of each sensor and barycenter place vertical line is solved by principle of moment balance
Position in workpiece coordinate system.After part to be measured is rotated a certain angle, record another barycenter institute according to aforesaid way
In vertical line in the position of workpiece coordinate system, the above-mentioned intersection point recording two vertical lines as treats the position of survey time turns barycenter.It is surveyed
The centroid position obtaining is the locus treating survey time turns barycenter, but in the assembling for most of revolving bodies such as guided missile, past
Toward only needing to record its barycenter position in the axial direction, therefore, traditional measurement process is relatively cumbersome, and mechanism is complicated, huge
Greatly, automaticity is low, does not have versatility.
For reducing the complexity of Weighing mechanism, improve compactedness and the reliability of measuring mechanism, domestic You Duojia mechanism
Propose multiple solutions.If Authorization Notice No. is the Chinese patent application of CN 203606075, disclose a kind of large scale
Large-tonnage cylindrical shape or cylindrical work axial direction centroid measurement instrument.This utility model includes ground surface platform, curved edge, flat board electricity
Sub- scale.Two flat panel electronic scales are arranged in parallel in ground surface platform, and are each provided with a level on two flat panel electronic scales and prop up
Hold frock, described two curved edges are arranged on the periphery of workpiece for measurement, each curved edge and a horizontal supporting work
Pretend correspondence, described curved edge is coordinated with horizontal supporting frock, curved edge is corresponding with horizontal supporting frock.By above-mentioned
Device can measure the position of cylindrical workpiece axial direction barycenter to be measured.But, the said equipment needs the size according to spacecraft to be measured
The position of specification arranging electronic scale, does not have the function of adjust automatically, and automaticity is low, using inconvenience.And to supporting work
The arrangement of dress needs a dead lift to adjust, and this process has certain randomness, and therefore precision is relatively low.
In order to solve the problems, such as that in measurement process, automaticity is low and precision is relatively low, domestic You Duojia mechanism proposes
Multiple solutions.As the Chinese patent application of Publication No. CN 104075845A, disclose a kind of irregular profile guided missile matter
Heart measurement apparatus, this measurement apparatus adopts sloping platform formula measuring method, the electric pushrod below adjustment weighing platform, makes platform
Positioned at level and inclination two states, measure the pressure of each fulcrum under both states by LOAD CELLS, put down by stress
Weighing apparatus principle and principle of moment balance can obtain quality and the centroid position of tested body.The program utilizes electric pushrod adjust automatically
The spacing of weighing bracket, solves the problems, such as that measurement process automaticity is low to a certain extent, and can record to be measured leading
Play the locus of barycenter, but this device structure is relative complex, needs to be separately set in outside production line, guided missile needs to be hung
It is attached on measuring table, and realize the adjust automatically of device using multiple stage servomotor, relatively costly.
Content of the invention
It is an object of the invention to proposing a kind of rotator shaft based on spiral lift to measuring flexibility of mass centre device, with
Solve the problems, such as above-mentioned rotator shaft to center mass measuring device complex structure, precision be low, high cost, poor for applicability.
The technical thought of the present invention is：Can be thereon along slide anteroposterior by holding up two using a bracket of weighing
Column of weighing realizes different length is treated with the function of weighing of survey time turns, solves the problems, such as that weighing device is poor for applicability；By adopting
Realize shoring with the symmetrical great trust frame of three groups of spiral lifts, it is to avoid because the weight of the longer revolving body carrier structure that makes to weigh produces
Larger diastrophic problem, solves the problems, such as that weighing device precision is low；Three groups of spiral liftings are connected by one group of stiff shaft
Machine, and the lifting of symmetrical great trust frame is realized using a motor, solve weighing device high cost and baroque problem.
According to above-mentioned thinking, the rotator shaft based on spiral lift for the present invention to measuring flexibility of mass centre device, including surveying
Amount device base plate 1, measurement apparatus support 2, elevator 3, lifting motor 4, T-shaped diverter 5, power transmission shaft 6 it is characterised in that：
Described measurement apparatus support 2, is set to three, i.e. 2a, 2b, 2c, and is sequentially fixed at survey with identical interval respectively
On amount device base plate 1 upper surface axis；
Described elevator 3, using three spiral lifts, i.e. 3a, 3b, 3c, and is correspondingly arranged at described three measurement dresses
Put the centre position of internal stent bottom surface, and keep the worm shaft position of three spiral lifts on same straight line；
Described T-shaped diverter 5, between the first spiral lift 3a and the second spiral lift 3b, its input with
Lifting motor 4 connects, two outfans pass through respectively power transmission shaft 6 respectively with the first spiral lift 3a and the second spiral lift
The worm shaft of 3b connects；3rd spiral lift 3c is connected with the second spiral lift 3b by power transmission shaft 6；
Three described spiral lifts 3 are added to be provided with bracket 7 of weighing, and the upper surface that this weighs bracket 7 is provided with two groups
Weigh column 8.
Preferably, the axis of described spiral lift 3 vertical direction is provided with leading screw 9, i.e. the first spiral lift
3a is provided with the first leading screw 9a, and the second spiral lift 3b is provided with the second leading screw 9b, and the 3rd spiral lift 3c is provided with
Three leading screw 9c.
Preferably, described bracket 7 of weighing includes：71, two groups of line slideways 73 of carriage frame and straight line module 74；This support
Frame framework 71 is provided with three lifting nuts 72 along axis direction, and carriage frame 71 passes through three lifting nuts 72 respectively with three
Root leading screw 9a, 9b, 9c are connected；This two groups totally 4 line slideways 73 be symmetrically arranged on carriage frame 71 along its length
Top surface two ends；It is symmetrically disposed in the middle of carriage frame 71 before and after this two sets of straight line module 74, every suit straight line module 74
Input is mounted on a column mobile motor 75, and often the top of set straight line module 74 is provided with module slide block 76.
Preferably, described column 8 of weighing includes column body 81 and cutting edge 84 of weighing；The bottom surface both sides of this column body 81 are left
The right side is symmetrically provided with some groups of guide rail slide blocks 82, and two column bodies 81 are respectively erected in two groups of straight lines by guide rail slide block 82 and lead
On rail 73；Module slide block 76 corresponding with its homonymy connects respectively for the bottom surface of two column bodies 81；The upper end of each column body 81
LOAD CELLS 83 is installed, this LOAD CELLS 83 is provided with cutting edge 84 of weighing.
The present invention compared with prior art, has advantages below：
Firstth, the present invention is due to, on the premise of meeting use demand, only completing to treat the survey time using a servomotor
The lifting action of swivel is so that package unit compact conformation and manufacturing cost is relatively low, and so that the overall structure of device is also able to
Simplify；Simultaneously because the present invention is using liftable bracket of weighing, assembling line or the inside of transhipment carrier can be integrated in,
Thus allowing user can treat survey time turns barycenter in assembling process or in transportation to measure, without
Special centroid measurement link, simplifies the flow process of measurement.
Secondth, the present invention automatically adjusts two spacing weighed between column using straight line module, with existing employing fixture
The special centroid measurement equipment of clamping bay section is compared, and can be weighed the distance between column with adjust automatically, to be applied to different length
The measurement of degree revolving body, makes a set of production line have productions, measure the ability of plurality of specifications revolving body, automaticity is more simultaneously
High.
3rd, the present invention adopts three groups and above spiral lift as support, and passes through transmission between spiral lift
System is attached, and the synchronicity that weighing device rises is good and bending deformation quantity of weighing platform is less, is conducive to raising barycenter
The precision of measurement, simultaneously because lifting, using the spiral lift of multiple nut movements, bracket of weighing, can reduce lifting platform
Elemental height simultaneously improves the stroke of bracket of weighing so that structure is compacter on the premise of limits device total height.
Brief description
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the carrier structure figure of weighing in the present invention；
Fig. 3 is the pillar construction figure of weighing in the present invention；
Fig. 4 is weigh in the present invention bracket rise and the view drawn in.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in further detail：
With reference to Fig. 1, the present invention includes measurement apparatus base plate 1, measurement apparatus support 2, spiral lift 3, lifting motor 4, T
Type diverter 5, power transmission shaft 6, bracket 7 of weighing, weigh column 8 and leading screw 9.Measurement apparatus support 2 is set to three, the wherein first survey
Amount appliance stand 2a is fixed on the axis of device base plate 1 upper surface front end, and the second measurement apparatus support 2b is fixed on
On the axis in device base plate 1 upper surface centre position, the 3rd measurement apparatus support 2c is fixed on device base plate 1 upper surface tail
End axis on, and the second measurement apparatus support 2b respectively with the first measurement apparatus support 2a and the 3rd measurement apparatus support 2c
The distance between equal.Spiral lift 3 is set to three, and the wherein first spiral lift 3a is arranged on the first measurement apparatus support
The centre position of 2a inner bottom surface, the second spiral lift 3b is arranged on the interposition of the second measurement apparatus support 2b inner bottom surface
Put, the 3rd spiral lift 3c is arranged on the centre position of the 3rd measurement apparatus support 2c inner bottom surface, and the first spiral lifting
Machine 3a, the second spiral lift 3b, this three of the 3rd spiral lift 3c worm shaft position on same straight line.Leading screw 9
It is arranged on the axis of corresponding spiral lift, that is, the first spiral lift 3a is provided with the first leading screw 9a, the second spiral liter
Fall machine 3b is provided with the second leading screw 9b, and the 3rd spiral lift 3c is provided with the 3rd leading screw 9c, and the top of each leading screw is polished rod,
It is inserted in the circular hole at residing measurement apparatus support 2 top, and can be rotated about axis wherein.
Described T-shaped diverter 5, between the first spiral lift 3a and the second spiral lift 3b, its input with
Lifting motor 4 connects, two outfans pass through respectively power transmission shaft 6 respectively with the first spiral lift 3a and the second spiral lift
The worm shaft of 3b connects；3rd spiral lift 3c is connected with the second spiral lift 3b by power transmission shaft 6.By lifting motor 4
Be installed between two spiral lifts by T-shaped diverter 5, reduce transmission between spiral lift 3 and lifting motor 4 away from
From, the loss of significance being brought when decreasing by power transmission shaft 6 generation elastic torsion, improve three spiral lifts 3a, 3b,
The synchronicity of 3c motion.Lifting motor 4 drives three spiral lift synchronous rotaries by power transmission shaft 6, thus driving support of weighing
Frame 7 in the vertical direction or move downward.
With reference to Fig. 2, described bracket 7 of weighing includes carriage frame 71, lifting nut 72, line slideway 73, straight line module 74.
Column mobile motor 75 and module slide block 76；Carriage frame 71 is formed by two parallel square tubes solderings, leaves between side cross tube
Gap, this carriage frame 71 bottom surface is provided with three lifting nuts 72 along axis direction, these three lifting nuts respectively with three
Leading screw 9a, 9b, 9c connect, and carriage frame 71 is erected at three leading screw 9a by lifting nut 72, on 9b, 9c, due to support
Frame framework 71 longer dimension, takes plural leading screw can be prevented effectively from carriage frame 71 as support and is treating survey time turns weight
The problem bending in the presence of power.Carriage frame 71 upper surface rear and front end is symmetrically provided with two along its length
Set totally 4 line slideways 73, in order to install former and later two columns 8 of weighing.Before and after in the space at carriage frame 71 middle part symmetrically
Two sets of straight line modules 74 are installed, the module slide block 76 of this straight line module 74 can move along the length direction of line slideway 73.Often
The input of a set of straight line module 74 is mounted on a column mobile motor 75, this column mobile motor 75 can by with its phase
Corresponding straight line module 74 drives column 8 of weighing to move along the length direction of bracket 71, thus realizing treating the survey time to different length
The measurement of swivel.
With reference to Fig. 3, described column 8 of weighing includes column body 81, guide rail slide block 82, LOAD CELLS 83 and cutting edge of weighing
84.Wherein, column body 81 bottom surface is abreast provided with some groups of guide rail slide blocks 82, and two column bodies 81 pass through 82 points of guide rail slide block
It is not erected on two groups of line slideways 73 of before and after, and be connected with module slide block 76 below.By above-mentioned line slideway 73, lead
Rail slide block 82, column 8 of weighing can move along carriage length direction on bracket 7 weighing.Each column body and guide rail slide block 82
It is connected with the module slide block 76 of correspondence position below while connection, can be driven by this kind of structural upright mobile motor 75
Column 8 of weighing moves along line slideway 73.Each column body 81 upper end is provided with LOAD CELLS 83, and LOAD CELLS 83 is installed
Weigh cutting edge 84.This cutting edge 84 top surface of weighing is cambered surface, and its radius is equal to and treats survey time turns radius, in order to treat survey time turns
Positioned.This cutting edge 84 of weighing passes through flexible connection and is installed on LOAD CELLS 83 upper end and keeps and LOAD CELLS 83
Uniform contact, staff can change the cutting edge 84 of weighing of different size according to the diameter that difference treats survey time turns, is set with improving
Standby versatility.By cutting edge 84 of weighing, treat that the load of survey time turns may act on LOAD CELLS 83, and be weighed biography
Sensor 83 records.
When carrying out weighing measurement, industrial control computer is first according to the survey time turns for the treatment of being stored in interior data storehouse
Dimensions adjustment two weighs the spacing between column 8 so that treating that survey time turns barycenter is weighed between column 8 positioned at two, meanwhile,
Weighed the position of column by the measuring and calculating of the encoder that is fixed on column mobile motor 75 respectively record two；Staff according to
Treat survey time turns diameter change different size weigh cutting edge 84 so that weigh cutting edge 84 upper surface can with treat survey time turns
Outer circumference surface is fitted completely；Then, will treat that survey time turns move in measurement apparatus by the rail brackets system on production line
Side, lifting motor 4 passes through T-shaped diverter 4 and power transmission shaft 6 simultaneously drives three spiral lift 3a, and 3b, 3c rotate, positioned at silk
Thick stick 9a, three on 9b, 9c lifting nut 72 is synchronous to be risen, so that bracket 7 level of weighing rises, positioned at bracket 7 of weighing
On two columns 8 of weighing will treat that survey time turns are lifted, shown in such as Fig. 4 (a)；Then, the biography of weighing below cutting edge of weighing
The pressure signal that sensor 83 is recorded is sent in industrial control computer by transmitter, and is converted to and treats survey time turns respectively
Act on that column is weighed in front and weighs weight component F on column in rear1And F2；Computer passes through the principle meter of equalising torque
Calculate the position treating survey time turns barycenter under stage coordinates system, computing formula is as follows：
Wherein, F1And F2Respectively treat that survey time turns act on the gravity that column is weighed in front and rear is weighed on column and divide
Amount, L is two to weigh the distance between column, and x is the distance to anterior pillar of weighing for the barycenter.
Staff treats survey time turns to what pillar was weighed in front portion apart from x according to the barycenter calculating using rule
Axial centroid position be identified.And in off working state, bracket 7 of weighing reduces so that cutting edge of weighing is retracted to assembling
Under table top, now package unit does not interfere with the carrying out of production activity on production line, such as shown in Fig. 4 (b).
Because great majority are all more long and narrow for the production linear dimension of revolving body equipment assembling, therefore, it is integrated in this species
The center mass measuring device of type production line should also be as thering is the size matching with it, and embodiments of the present invention can be by its cloth
It is placed in the inside of above-mentioned sleeve configuration assembling line, to reach the purpose integrated with production line.
The preferred embodiment of above description and examples, the only present invention, not to constitute any limitation of the invention it is clear that
For those skilled in the art, after having understood present invention and implementation principle, all may be based on the present invention's
In the case of principle and structure, carry out the various corrections in form and in details and change, but these are based on inventive concept
Correction and change still within the claim of the present invention and protection domain.
Claims (6)
1. a kind of rotator shaft based on spiral lift, to measuring flexibility of mass centre device, including measurement apparatus base plate (1), measures
Appliance stand (2), elevator (3), lifting motor (4), T-shaped diverter (5), power transmission shaft (6) it is characterised in that：
Described measurement apparatus support (2), is set to three, i.e. (2a, 2b, 2c), and is sequentially fixed at survey with identical interval respectively
On amount device base plate (1) upper surface axis；
Described elevator (3), using three spiral lifts, i.e. (3a, 3b, 3c), and is correspondingly arranged at described three measurement dresses
Put the centre position of internal stent bottom surface, and keep the worm shaft position of three spiral lifts on same straight line；
Described T-shaped diverter (5), between the first spiral lift (3a) and the second spiral lift (3b), its input
Be connected with lifting motor (4), two outfans pass through respectively power transmission shaft (6) respectively with the first spiral lift (3a) and the second spiral shell
The worm shaft of rotation elevator (3b) connects；3rd spiral lift (3c) passes through power transmission shaft (6) and the second spiral lift (3b)
It is connected；
Three described spiral lifts (3) are added to be provided with bracket of weighing (7), and the upper surface of this bracket of weighing (7) is provided with two
Group is weighed column (8).
2. device according to claim 1 it is characterised in that：The axis of spiral lift (3) vertical direction is provided with
Leading screw (9), that is, the first spiral lift (3a) be provided with the first leading screw (9a), the second spiral lift (3b) is provided with second
Thick stick (9b), the 3rd spiral lift (3c) is provided with the 3rd leading screw (9c).
3. device according to claim 1 and 2 it is characterised in that：Bracket (7) of weighing includes：Carriage frame (71), two groups
Line slideway (73) and straight line module (74)；
Described carriage frame (71) is provided with three lifting nuts (72) along axis direction, and carriage frame (71) is risen by three
Fall nut (72) is connected with three leading screws (9a, 9b, 9c) respectively；
Two groups totally 4 line slideways (73) be symmetrically arranged on the top surface two ends of carriage frame (71) along its length；
It is symmetrically disposed in the middle of carriage frame (71) before and after two sets of straight line modules (74), the input of every suit straight line module (74)
End is mounted on a column mobile motor (75), and often the top of set straight line module (74) is provided with module slide block (76).
4. the device according to claim 1 or 3 it is characterised in that：Column (8) of weighing includes column body (81) and sword of weighing
Mouth (84)；
The bottom surface both sides of described column body (81) are symmetrically provided with some groups of guide rail slide blocks (82), two column bodies (81)
It is respectively erected on two groups of line slideways (73) by guide rail slide block (82)；The bottom surface of two column bodies (81) respectively with its homonymy
Corresponding module slide block (76) connects；The upper end of each column body (81) is provided with LOAD CELLS (83), this LOAD CELLS
(83) cutting edge of weighing (84) is installed on.
5. device according to claim 3 it is characterised in that：Carriage frame (71) is by two parallel rectangular steel tube head and the tail
It is connected and is spliced, between side cross tube, leave gap, straight line module (74) is installed in the gap.
6. device according to claim 4 it is characterised in that：Cutting edge (84) top surface of weighing is cambered surface, and its radius is equal to and treats
The radius of survey time turns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023744.0A CN106383007B (en) | 2016-11-14 | 2016-11-14 | Based on the rotator shaft of spiral lift to measuring flexibility of mass centre device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023744.0A CN106383007B (en) | 2016-11-14 | 2016-11-14 | Based on the rotator shaft of spiral lift to measuring flexibility of mass centre device |
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| CN106383007A true CN106383007A (en) | 2017-02-08 |
| CN106383007B CN106383007B (en) | 2019-06-21 |
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| CN109916557A (en) * | 2019-04-09 | 2019-06-21 | 清华大学深圳研究生院 | A kind of structure measurement device |
| KR102066970B1 (en) * | 2018-09-18 | 2020-01-16 | 주식회사 한화 | Rocket assembly station with automatic measuring center of mass |
| CN110834737A (en) * | 2019-10-25 | 2020-02-25 | 江西洪都航空工业集团有限责任公司 | Multifunctional bullet carrying vehicle with variable bracket |
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| CN114777998A (en) * | 2022-06-20 | 2022-07-22 | 东方空间技术(山东)有限公司 | Centroid measuring device and centroid measuring system |
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| CN108458772A (en) * | 2018-06-04 | 2018-08-28 | 彩虹无人机科技有限公司 | The measuring table and method of a kind of guided missile quality and axial barycenter |
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| KR102066970B1 (en) * | 2018-09-18 | 2020-01-16 | 주식회사 한화 | Rocket assembly station with automatic measuring center of mass |
| CN109916557A (en) * | 2019-04-09 | 2019-06-21 | 清华大学深圳研究生院 | A kind of structure measurement device |
| CN110834737A (en) * | 2019-10-25 | 2020-02-25 | 江西洪都航空工业集团有限责任公司 | Multifunctional bullet carrying vehicle with variable bracket |
| CN112720391A (en) * | 2020-12-21 | 2021-04-30 | 中国航空工业集团公司北京航空精密机械研究所 | Attitude adjustment three-axis turntable for large-scale space satellite product test |
| CN113182840A (en) * | 2021-07-01 | 2021-07-30 | 星河动力(北京)空间科技有限公司 | Multifunctional rocket butt joint frame vehicle |
| CN113182840B (en) * | 2021-07-01 | 2021-10-01 | 星河动力(北京)空间科技有限公司 | Centering and ranging method for multifunctional rocket butt joint trolley |
| CN114777998A (en) * | 2022-06-20 | 2022-07-22 | 东方空间技术(山东)有限公司 | Centroid measuring device and centroid measuring system |
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