CN106524944B - Non-coaxial Circular gratings angle-measuring equipment and its angle-measuring method - Google Patents
Non-coaxial Circular gratings angle-measuring equipment and its angle-measuring method Download PDFInfo
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- CN106524944B CN106524944B CN201510573679.8A CN201510573679A CN106524944B CN 106524944 B CN106524944 B CN 106524944B CN 201510573679 A CN201510573679 A CN 201510573679A CN 106524944 B CN106524944 B CN 106524944B
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Abstract
The invention discloses a kind of non-coaxial Circular gratings angle-measuring equipment and its angle-measuring methods, and in particular to precision machinery field.The present invention includes grating angle measurement structure, it is connect at the top of the outer housing of the grating angle measurement structure with bidirectional sliding rail structure movement, the bidirectional sliding rail structure is connected by external support connecting rod and fixed frame and test table outer fixing portion split-phase, the grating angle measurement structure includes Circular gratings and reading head, and the bidirectional sliding rail structure is formed by connecting by two high-precision linear slide rail Vertical movements.In calibration, grating angle measurement structure is fixed on turntable the present invention, is rotated with test table.Test table rotates a circle, and reading head also rotates a circle with respect to Circular gratings, and the angular speed rotated is also equal.By measuring the rotation angle and angular speed of Circular gratings, to measure the orientation angles and angular speed of test table.
Description
Technical field
The present invention relates to precision machinery fields, and in particular to a kind of non-coaxial Circular gratings angle-measuring equipment and its angle-measuring method.
Background technique
In technical aspects such as NC rotary table, radar antenna test table, multiaxis Work turning table, inertia turntables, by
In the particularity of test table structure, mounting table is not fully overlapped with real axis of rotation, is difficult to find in table top and is turned
The centre of gyration of platform, and traditional angle measurement method standard and the concentricity of tested table top is more demanding, therefore is measuring
It is difficult to realize the coaxial requirement of turntable and standard in the process.
Summary of the invention
The technical problem to be solved by the present invention is to a kind of non-coaxial Circular gratings angle-measuring methods of offer proposed adoption to realize orientation
The measurement of angle.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of non-coaxial Circular gratings angle-measuring equipment,
It is characterized by comprising grating angle measurement structure, outer housing top and the bidirectional sliding rail knot of the grating angle measurement structure
Structure is flexibly connected, and the bidirectional sliding rail structure passes through external support connecting rod and fixed frame and test table outer fixing portion split-phase
Even, the grating angle measurement structure includes Circular gratings and reading head, and the bidirectional sliding rail structure is high-precision linear by two
Sliding rail Vertical movements are formed by connecting.
A further technical solution lies in, the grating angle measurement structure further include support central axis, ball bearing and
Pedestal, the Circular gratings are mounted on support central axis, and the outer housing is mounted on support central axis by ball bearing, institute
It states reading head to be mounted on outer housing, in the support central axis force fit fixed pedestal.
A further technical solution lies in have interval between the Circular gratings and reading head.
A further technical solution lies in the test table outer fixing portion is divided into the Auxiliary support on holder device
Seat.
A further technical solution lies in a kind of angle-measuring method using non-coaxial Circular gratings angle-measuring equipment, step is such as
Under:
1) test table and non-coaxial Circular gratings angle-measuring equipment are fixed on the Auxiliary support seat on holder device；
2) adjusting non-coaxial Circular gratings angle-measuring equipment makes grating angle measurement structure be located at the test table table top centre of gyration
Near position；
3) rotate grating angle measurement structure with test table, the slipper of bidirectional sliding rail structure is surveyed with grating angle
Measure the sliding of structure front and rear, left and right；
4) guarantee that with respect to the fixation of test table table top angle change does not occur for outer housing with reading head；
5) test table rotates a circle, by reading the rotation angle of reading head and angle on non-coaxial Circular gratings angle-measuring equipment
Speed measures the orientation angles and angular speed of test table.
A further technical solution lies in the holder device includes the fixation bracket connecting with connecting rod both ends, is located at
The second linear slide rail in connecting rod, the Auxiliary support seat being flexibly connected with the second linear slide rail line are connect with Auxiliary support seat
Test table.
A further technical solution lies in the fixed bracket uses triangular support configurations, and the fixed bracket includes three
Root support rod, the support rod open after with ground at 60 ° of angles.
A further technical solution lies in the fixed bracket further includes elevating mechanism and locking device, the support rod
Assembled by fixed link and Duo Gen extension bar, the locking device includes lock sleeve and locknut, the fixed link and lengthening
It is connected between bar and between the extension bar and extension bar by lock sleeve and locknut, the elevating mechanism can pass through hand
Handle adjusts height, and fixed cantilever tip is enable to pass through connecting rod and the grating angle measurement structure for being installed on test table table top
It is connected and fixed.
Further technical solution also resides in, and Auxiliary support seat bottom surface embeds spring and steel ball structure, the auxiliary
Support base and test table table top are point contact.
The beneficial effects of adopting the technical scheme are that the present invention calibration when, grating angle measurement structure
It is fixed on turntable, is rotated with test table.Since rail structure is fixed on outside platform, slipper can with before and after measurement structure,
It horizontally slips, but with respect to testboard fixed part angle change does not occur for outer housing with reading head, so that reading head is with outer
Shell produces relative rotation with Circular gratings, generates angle change, and the angle generated is equal with the angle that turntable turns over.Test turns
Platform rotates a circle, and reading head also rotates a circle with respect to Circular gratings, and the angular speed rotated is also equal.By the rotation for measuring Circular gratings
Gyration and angular speed, to measure the orientation angles and angular speed of test table.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1-3 is the non-coaxial Circular gratings angle-measuring equipment structural schematic diagram of the present invention；
Fig. 4 is the structural schematic diagram that holder device of the present invention is connect with test table；
Fig. 5 is the partial structure diagram that holder device of the present invention is connect with test table；
Fig. 6 is fixing rack structure schematic diagram of the present invention；
Wherein: 1, grating angle measurement structure；2, bidirectional sliding rail structure；3, linear slide rail；4, supporting linkage；5, circle light
Grid；6, reading head；7, ball bearing；8, central axis is supported；9, pedestal；10, outer housing；11, the second linear slide rail；12, it assists
Support base；13, test table；14, connecting rod；15, holder device；16, support rod；17, extension bar；18, locknut；19, it locks
Set；20, fixing sleeve；21, handle；22, elevating mechanism.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
As shown in Figs. 1-5, the present invention includes grating angle measurement structure 1, and the outer housing 10 of grating angle measurement structure 1 pushes up
Portion is flexibly connected with bidirectional sliding rail structure 2, and bidirectional sliding rail structure 2 passes through external support connecting rod 4 and fixed frame and test table
13 outer fixing portion split-phases connect, and grating angle measurement structure 1 includes Circular gratings 5 and reading head 6, and bidirectional sliding rail structure 2 is by two height
3 Vertical movements of linear slide rail of precision are formed by connecting.
Preferably, grating angle measurement structure 1 further includes support central axis 8, ball bearing 7 and pedestal 9, and Circular gratings 5 are pacified
On support central axis 8, outer housing 10 is mounted on support central axis 8 by ball bearing 7, and reading head 6 is mounted on shell
On body 10, support in 8 force fit fixed pedestal 9 of central axis.
Preferably, there is interval between Circular gratings 5 and reading head 6.
Preferably, 13 outer fixing portion of test table is divided into the Auxiliary support seat 12 on holder device 15.
Preferably, a kind of angle-measuring method using non-coaxial Circular gratings angle-measuring equipment, its step are as follows:
1) test table 13 and non-coaxial Circular gratings angle-measuring equipment are fixed on the Auxiliary support seat 12 on holder device 15
On；
2) adjusting non-coaxial Circular gratings angle-measuring equipment is located at grating angle measurement structure 1 in the revolution of 13 table top of test table
Near heart position；
3) rotate grating angle measurement structure 1 with test table 13, the slipper of bidirectional sliding rail structure 2 is with grating angle
It is slided around degree measurement structure 1；
4) guarantee that with respect to the fixation of 13 table top of test table angle change does not occur for outer housing 10 with reading head 6；
5) test table 13 rotates a circle, by the rotation angle for reading reading head 6 on non-coaxial Circular gratings angle-measuring equipment
And angular speed, measure the orientation angles and angular speed of test table 13.
Preferably, holder device 15 includes the fixation bracket connecting with 14 both ends of connecting rod, and in connecting rod 14
Bilinear sliding rail 11, the Auxiliary support seat 12 being flexibly connected with 11 line of the second linear slide rail, the survey being connect with Auxiliary support seat 12
Preliminary operation platform.
Preferably, fixed bracket uses triangular support configurations, and fixed bracket includes three support rods 16, and support rod 16 is opened
Afterwards with ground at 60 ° of angles.
Preferably, fixed bracket further includes elevating mechanism 22 and locking device, and support rod 16 is lengthened by fixed link and Duo Gen
Bar assembles, and locking device includes lock sleeve 19 and locknut 18, between fixed link and extension bar 17 and extension bar 17 with
It is connected between extension bar 17 by lock sleeve 19 and locknut 18, elevating mechanism 22 can adjust height by handle 21, make to fix
Cantilever tip can be connected and fixed by connecting rod 14 and the grating angle measurement structure 1 for being installed on 13 table top of test table.
Preferably, 12 bottom surface of Auxiliary support seat embeds spring and steel ball structure, Auxiliary support seat 12 with test table 13
Face is point contact.
The non-coaxial Circular gratings angle-measuring method of proposed adoption of the present invention measures test table, realizes continuous within the scope of 360 degree
Dynamic angle measurement.
By taking radar antenna test table as an example,
As shown in Figure 1-3, Circular gratings 5 and reading head 6 are assembled together by grating angle measurement structure 1 when designing, and energy
It produces relative rotation.Grating angle measurement structure 1 is fixed on 13 table top of test table close to centre of gyration position, minimizes light
The moving range of grid angle measurement structure 1.10 top of outer housing of grating angle measurement structure 1 and 2 activity of bidirectional sliding rail structure
Connection, bidirectional sliding rail structure 2 are vertically formed by connecting by two high-precision linear slide rails 3.Bidirectional sliding rail structure 2 passes through external branch
It supports connecting rod 4 and fixed frame and 13 outer fixing portion split-phase of test table connects.
When calibration, grating angle measurement structure 1 is fixed on 13 outer fixing portion of test table point, with 13 turns of test table
It is dynamic.Since bidirectional sliding rail structure 2 is fixed on outside platform, slipper can be slided with grating angle measurement structure front and rear, left and right, but outer
With respect to 13 fixed part of test table angle change does not occur for shell 10 with reading head 6, so that reading head 6 is with outer housing 10
It produces relative rotation with Circular gratings 5, generates angle change, the angle generated is equal with the angle that test table 13 turns over.It surveys
Preliminary operation platform 13 rotates a circle, and reading head 6 also rotates a circle with respect to Circular gratings 5, and the angular speed rotated is also equal.Justified by measurement
The rotation angle and angular speed of grating 5, to measure the orientation angles and angular speed of test table 13.
Using non-coaxial Circular gratings angle-measuring method, obtained according to its principle analysis influence azimuth determination accuracy it is main because
Be known as: linear slide rail installation gap in the precision of Circular gratings 5, bidirectional sliding rail structure 2, linear slide rail deflection.Diameter 200mm
The limits of error of Circular gratings are ± 1 ", the requirement relative to this project azimuth ± 0.01 ° accuracy of measurement can be ignored
Disregard.The shadow of the deflection azimuthal accuracy of measurement of linear slide rail installation gap and linear slide rail in bidirectional sliding rail structure 2
Sound is analyzed as follows:
As shown in Figs. 1-2,13 table top of test table drives grating angle measurement structure 1 to rotate around a certain center of circle, angle
Measurement structure 1 is influenced by tangential force F, is decomposed into F1And F2The component of both direction, power F1Make 1 edge of grating angle measurement structure
Vertical linearity sliding rail upward sliding, power F2Move horizontally vertical linearity sliding rail along horizontal linearity sliding rail, to guarantee reading head 6
Opposite 13 stage body fixed part of test table does not relatively rotate.Grating angle measurement structure 1 and vertical linearity sliding rail are installed
The rigid of gap, vertical linearity sliding rail and horizontal linearity sliding rail installation gap and vertical linearity sliding rail decides grating angle
The accuracy of measurement of measurement structure 1 is spent, installing influence of the gap to measurement result can be calculate by the following formula:
Δl1--- grating angle measurement structure and vertical linearity sliding rail install gap；
Δl2--- vertical linearity sliding rail and vertical linearity sliding rail install gap；
Δl3--- guide rail deflection caused by vertical linearity sliding rail rigid；
D --- Circular gratings diameter
Linear slide rail Force Calculation formula:
F=μ × (W+P)+S (2)
F --- frictional force (N)
S --- oil-scrapping sheet resistance (N)
μ --- friction coefficient (coefficient of friction of linear slide rail is about 0.01)
P --- precompression (N)
W --- motion vertical direction load (N)
According to Newton's third law, tangential force F is two linear slide rail damping force Fs1And F2Resultant force, the resistance of linear slide rail
Buddhist nun's power is negligible relative to the maximum endurance of linear slide rail, therefore linear slide rail is rotated through in grating angle measurement structure
Substantially deformation occurs in journey, i.e. Δ l3=0.
High-precision linear sliding rail installs gap at 5 μm, such as uses diameter for the Circular gratings of 200mm, then installation gap pair
The influence of measurement result is calculated by formula (1):
Bidirectional linear sliding rail is to meet 0.01 ° of accuracy of measurement degree requirement.
Circular gratings 5 are mounted on support central axis 8 by grating angle measurement structure 1 (as shown in Figure 3) by round nut,
Outer housing 10 is mounted on support central axis 8 by 2 high-precision centripetal ball bearings 7.To guarantee that overall structure can be opposite
Steady flexible rotating is intended selecting 4 grades of high-precision bearings.After assembling grating angle measurement structure 1 by technique guarantee, axis hole is same
Axis, shell and support central axis 8 relatively rotate steadily, reduce the swing between support central axis 8 and outer housing 10, and reading head 6 is pacified
On outer housing 10, so that Circular gratings 5 and reading head 6 is kept suitable distance, and be directed at grating reading head 6, make Circular gratings 5 and
Gap controls in valid reading distance range in relative rotational motion between grating reading head 6, keeps accuracy of reading reliable.Branch
It supports in 8 force fit fixed pedestal 9 of central axis, enables the relatively steady flexible rotating of overall structure.
In addition, fixed bracket is to azimuth determination unit in this calibrating installation according to non-coaxial Circular gratings angle-measuring method principle
Play fixed supporting role, design, set up whether rationally, will affect azimuthal measurement result, therefore to support bracket fastened
Design and erected on site become difficult point of the invention.
As shown in figure 4, holder device 15 is high using the strength of materials, composable the stretching of the composite winding material production of light weight
The fixation bracket of contracting gusseted is preferred plan.
Fixed bracket is made of elevating mechanism 22, support rod 16, locking device.Support rod 16 is lengthened by fixed link and Duo Gen
Bar 17 assembles, and locking device includes lock sleeve 19 and locknut 18, between fixed link and extension bar 17 and extension bar 17 with
It is connected between extension bar 17 by lock sleeve 19 and locknut 18, elevating mechanism 22 can adjust height by handle 21, make to fix
Cantilever tip can be connected and fixed by connecting rod 14 and the grating angle measurement structure 1 for being installed on 13 table top of test table.
With ground at the fixation bracket of 60 ° of angles, root after using triangular support configurations, support rod 16 to open when field calibration
It selects length made of respective numbers composite material for the extension bar 17 of 1m according to table surface height, elevating mechanism is adjusted by handle 21
22 height enables fixed cantilever tip to connect by connecting rod 14 with the orientation angles measuring unit for being installed on table top to be used in combination
Round nut is locked, plays the role of fixed angle measuring unit.
Common radar antenna test table daylight opening DLO 2~3m of ground, according to calculating by taking the composite material support bar of 1m as an example,
Every supporting leg needs 4, and fixed support needs 24 altogether.In addition after table surface height is more than 2~3m, not only support rod quantity needs to increase
Add, it is also necessary to increase assistant reinforcement muscle guarantee support bracket fastened stabilization in measurement process, a whole set of calibrating installation is support bracket fastened
Composite material support bar about needs 62.It is simply required to meet fixed bracket erected on site easy to carry simultaneously, also needs to pass through
Mechanical structure analysis rationally designs support bracket fastened assembling stretching structure, and can also use laser at the scene as needed
Tracker test, analysis, carry out structural adjustment.
Second linear slide rail, 11 both ends need to be connected by connecting rod 14 with fixed bracket, due to the second linear slide rail 11
Self weight reason may be such that connecting rod 14 is deformed, and influence the stability of holder device 15, and then influence measurement result, design
Flexible Auxiliary support seat 12,12 bottom surface of Auxiliary support seat embed spring and steel ball structure (as shown in Figure 5), make Auxiliary support seat 12
Point contact is formed with radar antenna test table table top, while can be free to slide, linear slide rail is offset by reactive spring force
Self weight, the connecting rod 14 for reducing generation deform.
Due to the particularity of radar antenna test table structure, mounting table is not fully weighed with real axis of rotation
It closes, is difficult to find the centre of gyration of turntable in table top, and the concentricity of traditional angle measurement method standard and tested table top
It is more demanding, thus in measurement process be difficult to realize turntable and standard coaxial requirement.Therefore non-coaxial Circular gratings are used
Angle-measuring method realizes the measurements of orientation angles.This method is mainly derived from grating angle to the influence amount of measurement result accuracy
The factors such as measurement structure processing and assembly degree, bidirectional sliding rail structure installation gap, linear slide rail intensity.
In addition, bidirectional sliding rail structure 2 follows table top is servo-actuated to play an important role grating angle measurement structure 1.Its middle line
Property sliding rail 3 be used for straight reciprocating motion occasion, possess high nominal load, while certain torque can be undertaken, can be in high load
In the case where realize high-precision linear motion.The especially gap very little of stiction and kinetic force of friction, even if in microfeed
When the phenomenon that there will not be slipping, analytic ability is best with reproducibility, therefore micron-sized positioning accuracy may be implemented.It is quasi-
Using high-precision linear sliding rail, the linear slide rail that precompressed post gap is 2 μm is calculated according to formula (1), and sliding rail gap is able to satisfy measurement
Accuracy requirement.
For the influence of these factors of the reduction of more great dynamics, can also be utilized respectively as needed in laboratory and scene
Multiteeth indexing table and laser tracker test, analysis, carry out structural adjustment and data correction, until measuring unit meets radar day
The calibration requirements of line test table.
The present invention illustrates the non-coaxial Circular gratings angle-measuring method of proposed adoption and turns to radar antenna test from theory into action
Platform measures, and realizes continuous dynamic angle measurement within the scope of 360 degree.It solves and is difficult to find the centre of gyration of turntable in table top
The problem of, solve the problems, such as that traditional angle measurement method standard relies on and the requirement of the concentricity of tested table top.In addition, this
Invention is also applied to NC rotary table, radar antenna test table, multiaxis Work turning table, inertia turntable etc. and needs to survey
Try the technical aspect of test table orientation angles and angular speed.
Claims (9)
1. a kind of non-coaxial Circular gratings angle-measuring equipment, it is characterised in that: including grating angle measurement structure, the grating angle is surveyed
Measure structure outer housing at the top of connect with bidirectional sliding rail structure movement, the bidirectional sliding rail structure pass through external support connecting rod with
Fixed frame and test table outer fixing portion split-phase connect, and the grating angle measurement structure includes Circular gratings and reading head, described double
It is formed by connecting to rail structure by two high-precision linear slide rail Vertical movements；The grating angle measurement structure turns with test
With respect to the fixation of test table table top angle change does not occur for platform rotation, outer housing with reading head.
2. non-coaxial Circular gratings angle-measuring equipment according to claim 1, it is characterised in that: the grating angle measurement structure
It further include support central axis, ball bearing and pedestal, the Circular gratings are mounted on support central axis, and the outer housing passes through rolling
Pearl bearing is mounted on support central axis, and the reading head is mounted on outer housing, and the support central axis force fit is fixed
In pedestal.
3. non-coaxial Circular gratings angle-measuring equipment according to claim 1 or 2, it is characterised in that: the Circular gratings and reading
There is interval between head.
4. non-coaxial Circular gratings angle-measuring equipment according to claim 1, it is characterised in that: fixed outside the test table
Part is the Auxiliary support seat on holder device.
5. a kind of angle-measuring method of non-coaxial Circular gratings angle-measuring equipment described in any one of -4 claims according to claim 1,
It is characterized by: its step are as follows:
1) test table and non-coaxial Circular gratings angle-measuring equipment are fixed on the Auxiliary support seat on holder device；
2) adjusting non-coaxial Circular gratings angle-measuring equipment makes grating angle measurement structure be located at test table table top centre of gyration position
Near；
3) rotate grating angle measurement structure with test table, the slipper of bidirectional sliding rail structure is measured with grating angle to be tied
Sliding around structure；
4) guarantee that with respect to the fixation of test table table top angle change does not occur for outer housing with reading head；
5) test table rotates a circle, by reading the rotation angle of reading head and angle speed on non-coaxial Circular gratings angle-measuring equipment
Degree, measures the orientation angles and angular speed of test table.
6. a kind of angle-measuring method of non-coaxial Circular gratings angle-measuring equipment according to claim 5, it is characterised in that: the branch
Rack device includes the fixation bracket connecting with connecting rod both ends, and the second linear slide rail in connecting rod is linear sliding with second
The Auxiliary support seat of path flexible connection, the test table being connect with Auxiliary support seat.
7. a kind of angle-measuring method of non-coaxial Circular gratings angle-measuring equipment according to claim 6, it is characterised in that: described solid
Fixed rack uses triangular support configurations, and the fixed bracket includes three support rods, with ground at 60 ° after the support rod opening
Angle.
8. a kind of angle-measuring method of non-coaxial Circular gratings angle-measuring equipment according to claim 7, it is characterised in that: described solid
Fixed rack further includes elevating mechanism and locking device, and the support rod is assembled by fixed link and Duo Gen extension bar, the lock
Tight device includes lock sleeve and locknut, is led between the fixed link and extension bar and between the extension bar and extension bar
It crosses lock sleeve and locknut is connected, the elevating mechanism can adjust height by handle, and fixed cantilever tip is enable to pass through connection
Bar is connected and fixed with the grating angle measurement structure for being installed on test table table top.
9. a kind of angle-measuring method of non-coaxial Circular gratings angle-measuring equipment according to claim 5, it is characterised in that: described auxiliary
Support base bottom surface is helped to embed spring and steel ball structure, the Auxiliary support seat and test table table top are point contact.
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| CN201510573679.8A CN106524944B (en) | 2015-09-10 | 2015-09-10 | Non-coaxial Circular gratings angle-measuring equipment and its angle-measuring method |
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| CN201510573679.8A CN106524944B (en) | 2015-09-10 | 2015-09-10 | Non-coaxial Circular gratings angle-measuring equipment and its angle-measuring method |
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| CN107907959B (en) * | 2017-11-24 | 2020-11-24 | 黑龙江哈工华粹智能装备有限公司 | Ultra-precise six-degree-of-freedom five-axis adjusting device for optical adjustment and detection |
| WO2019119227A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Position detection method and device, rotary radar system, and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4013566A1 (en) * | 1990-04-27 | 1991-11-07 | Heidenhain Gmbh Dr Johannes | Photoelectric angle-measuring device esp. for machine tool |
| CN2670902Y (en) * | 2003-12-15 | 2005-01-12 | 西安理工大学 | Rotary kinematic angle displacement precision tester |
| CN202329575U (en) * | 2011-11-15 | 2012-07-11 | 贵阳新天光电科技有限公司 | Floating type circular-grating reading head |
| CN202382724U (en) * | 2011-12-30 | 2012-08-15 | 北京中科恒业中自技术有限公司 | Angle measuring instrument |
| CN202547589U (en) * | 2012-03-23 | 2012-11-21 | 合肥工业大学 | Precise ball hinge gap measuring instrument |
| CN203323699U (en) * | 2013-06-19 | 2013-12-04 | 四川普什宁江机床有限公司 | Annular surface worm rod pair detection device |
| CN204101578U (en) * | 2014-03-25 | 2015-01-14 | 重庆大学 | Inertia turntable angular speed calibrating installation |
| CN204302300U (en) * | 2014-12-29 | 2015-04-29 | 贵州航天计量测试技术研究所 | A kind of for radio frequency simulation turntable angular speed calibrating installation detecting element mount pad |
| CN104864239B (en) * | 2015-06-09 | 2016-08-31 | 中国人民解放军武汉军械士官学校 | A kind of Multifunctional tripod for electro-optical equipment test instrunment |
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