CN107144251A - The automatic force application apparatus and method measured for air supporting rotor gyro dynamic pressure motor gap - Google Patents
The automatic force application apparatus and method measured for air supporting rotor gyro dynamic pressure motor gap Download PDFInfo
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- CN107144251A CN107144251A CN201710445213.9A CN201710445213A CN107144251A CN 107144251 A CN107144251 A CN 107144251A CN 201710445213 A CN201710445213 A CN 201710445213A CN 107144251 A CN107144251 A CN 107144251A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 65
- 238000005259 measurement Methods 0.000 claims description 17
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- 230000005484 gravity Effects 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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Abstract
The automatic force application apparatus and method measured for air supporting rotor gyro dynamic pressure motor gap, belongs to space flight inertia device precise detection technology field.The automatic force application apparatus includes three-axis accurate displacement platform, control loop, force snesor installing plate, dynamic pressure motor, left and right sides fixing device, flat board, middle clamping device；Three-axis accurate displacement platform is arranged on flat board, three precision displacement platforms are vertical two-by-two in the movement direction, Descartes's rectangular coordinate system is constituted, both sides fixing device is used in clamping device in the middle of fixed, middle clamping device by closing clamping of the gripping finger body realization to dynamic pressure motor.The automatic force application apparatus is used for the method for measuring air supporting rotor gyro dynamic pressure motor gap, including two ends are fixed and middle clamping, automatic aligning, automatic force.The present invention can realize the continuous controllable loading of power, and realize based on the present apparatus automatic aligning of measured piece.
Description
Technical field
The present invention relates to space flight inertia device precise detection technology field, more particularly to for air supporting rotor gyro dynamic pressure
The automatic force and aligning technology of motor gap measurement.
Background technology
The structure of dynamic pressure air float gyro motor is different from general small-power drive motor and restrained gyroscope motor, flies at it
There is the gap of a very little between the inside spherical cavity of colyliform rotor and the spheroid of fixed shell, belong to typical yielding device.
Dynamic pressure (suspending power) can be produced when rotor makees high-speed motion under the driving of motor, in gap, rotor is departed from spheroid and connects
Touch.The dynamic pressure produced in suitable gap can cause rotor under deadweight or acceleration overload effect, to keep stable in space.
Actual gap length, should be determined according to vibration of parts machining and rigging error and rotor etc..Therefore, between dynamic pressure motor
The measurement of gap is of great importance to precision and stability when improving dynamic pressure motor operations.
The measuring method of yielding device minim gap more popularized now is：Make the two parts production that there is gap
Raw relative motion, by measuring relative motion size and then obtaining measured gap.In this method, it is necessary first to certain force dress
Put, rotor block and stator module is produced relative motion.Because measurand (dynamic pressure motor) is yielding, and rotor block and stator
The relative shift of component is smaller (μm level), it is difficult to use the force mechanisms such as traditional hydraulic pressure, air pressure and screwfeed.At present,
In the measurement to Flexible Deforming Parts, the conventional mode for hooking weight (counterweight) builds force application apparatus, such as paper Kevin
Radil,DellaCorte,Chris.“The Role of Radial Clearance on the Performance of
Foil Air Bearings ", Tribology Transactions, v 45, n 4, the Shen such as p 485-490,2002. and Huang De
Patent " a kind of dome-type dynamic pressure motor bearing gap measuring apparatus and method " Chinese invention patent, publication number please：
CN105203018A, publication date：On December 30th, 2015.In addition, Wang Jingfeng, gyro machine hydrodynamic gas-lubricated bearing gap error
Analysis is exerted a force, one end is measured piece, separately Chinese inertial technology journal, in December, 2015 with improving in using lever principle
One end is used as force application apparatus for the mode of weight.
From the foregoing, utilizing the weight of weight in itself the force application apparatus of existing measurement Flexible Deforming Parts minim gap more
Power, principle is simple, and it is convenient to realize.But in actual applications, applying power can be caused discontinuous when changing, increasing and decreasing weight.Simultaneously
Due to the uncertainty of point of application position, gauge head axis and force direction may be caused misaligned, cause the inaccurate of measurement result
Really.Exemplified by hooking counterweight：Due to the uncertainty of lanyard and rotor block contact position, easily cause the inclination of rotor block, such as
Shown in Fig. 1 (a)/(b), gap width is measured for d3, deviates actual value d1.In addition, the force process automates journey by being accomplished manually
Degree is low, is not suitable for rapid batch measurement.
The content of the invention
To overcome the defect of existing force application apparatus, invent a kind of for measuring air supporting rotor gyro dynamic pressure motor gap
Automatic force application apparatus, it is possible to achieve the continuous controllable loading of power, and realize based on the present apparatus automatic aligning of measured piece.
Technical scheme is as follows：
A kind of automatic force application apparatus measured for air supporting rotor gyro dynamic pressure motor gap, including three-axis accurate displacement
Platform, control loop, force snesor installing plate 12, dynamic pressure motor 8, left side fixing device, right side fixing device, flat board 1, centre
Clamping device.
It is accurate that described three-axis accurate displacement platform includes Z axis precision displacement platform 2, Y-axis precision displacement platform 3 and X-axis
Displacement platform 13；Z axis precision displacement platform 2 is fixedly mounted on flat board 1, and X-axis precision displacement platform 13 is arranged on the accurate position of Z axis
Above the end for moving platform 2, one end of Y-axis precision displacement platform 3 is fixed on above the end of X-axis precision displacement platform 13, and three
Individual precision displacement platform is vertical two-by-two in the movement direction, constitutes Descartes's rectangular coordinate system.
Described control loop includes triaxial force sensor 11, signal amplifier, data collecting card, triaxial force sensor mistake
Carry protection circuit, abnormity protection circuit, motion control card, stepper motor driver, precision displacement platform.Described force snesor
Installing plate 12 is fixed on the Y-axis precision displacement platform 3 of three-axis accurate displacement platform, and triaxial force sensor 11 is installed to power sensing
On device installing plate 12；
Described triaxial force sensor 11 is to be attached by wire with signal amplifier；Described data collecting card is logical
Cross wire respectively with signal amplifier and pc client to be connected, triaxial force sensor 11 is by signal amplifier by the number collected
According to triaxial force sensor overload protecting circuit and data collecting card is sent to respectively, pc client is uploaded to through data collecting card, respectively
Module is connected by wire；Pc client, abnormity protection circuit and triaxial force sensor overload protecting circuit are passed the signal along to
Motion control card, motion control card is by controlling stepper motor driver adjustment precision displacement platform to move, and each module is by leading
Line is connected.
Described middle clamping device includes gripping finger body 9 and cylinder 10.The lower end of cylinder 10 is arranged on triaxial force sensor 11
On；The lower end of gripping finger body 9 is fixedly connected with the slide unit screw of the upper end of cylinder 10；Realized by closing gripping finger body 9 to dynamic pressure motor 8
Clamp.
Described left side fixing device is identical with right side fixture structure, and two fixing devices are symmetrically placed；Wrap respectively
Include two pedestals 14, two columns 4, crossbeam 5, shaft ends and cover 6 and screw 7.Two described pedestals 14 are fixed by screws in
On flat board 1, pedestal 14 is located at the both sides of Z axis precision displacement platform 2.Column 4 is fastened on pedestal 14 by screw, 5 sets of crossbeam
It is connected between two columns 4, and is fixed by screw；Shaft end set 6 is through the hole in the middle of crossbeam, and two shaft end sets 6 are concentric,
The axis of elongation for fixing the rotor block two ends of dynamic pressure motor 8, the axis of elongation at the rotor block two ends of dynamic pressure motor 8 is inserted into both sides and consolidated respectively
In the shaft end set 6 for determining device, and fixed and tightened by screw, before screw-driving, the position of shaft end set is relative to crossbeam can be with
Mobile, for ensureing that gripping finger body 9 is located at the center of dynamic pressure motor 8.Described dynamic pressure motor 8 is by rotor block and stator pack
Part is constituted, and there are two axis of elongation at stator module two ends.
Described automatic force application apparatus is used for the method for measuring air supporting rotor gyro dynamic pressure motor gap, including two ends are consolidated
Fixed and middle clamping, automatic aligning, automatic forcing step.
Wherein carrying out the principle of aligning is：Exemplified by measuring radial clearance, measured piece should be at Fig. 2 (a) when measurement starts
Shown normal position, applying radial load F makes rotor block move and be contacted with stator module, such as shown in Fig. 2 (b), now measures
To radial clearance d1；Random position deviation is likely to occur after measured piece is clamped, shown in such as Fig. 2 (c), now applies radial load
After F, stator module is d2 with shown in rotor block contact condition such as Fig. 2 (d), measuring obtained radial clearance, deviates actual value.
Therefore, before measuring, it should to measured piece position adjustment (aligning), be at normal initial position.
Specific forcing step is as follows：
The first step, two ends are fixed and middle clamping
The two ends axis of elongation of the stator module of dynamic pressure motor 8 is inserted to the shaft end set 6 of both sides fixing device respectively, and uses spiral shell
Nail tightens fixation；Mobile shaft end set 6, makes gripping finger body 9 in the centre position of the rotor block of dynamic pressure motor 8, and uses screw-driving, real
The two ends of existing stator module are fixed；Gripping finger body 9 is closed, the clamping of the rotor block of dynamic pressure motor 8 is realized.
Second step, automatic aligning
To Y-direction aligning, a power is preset in pc client first, gripping finger body 9 is driven by three-axis accurate displacement platform
Moved to Y positive directions, and then drive the rotor block movement of dynamic pressure motor 8, when dynamic pressure motor 8 rotor block in the Y direction with dynamic pressure
Contact force can be produced during the stator module contact of motor 8, when the power that triaxial force sensor 11 is measured is equal to pre set force, displacement is put down
Platform is moved to Y negative directions, until measuring an equal amount of contact force.Record guide rail limit of sports record position, intermediate position twice
The as center of Y-direction.Described power size is 2N.
To Z-direction aligning, it is necessary to first be reset to triaxial force sensor, the influence of clamping device and measured piece gravity is eliminated,
Other processes are consistent with foregoing Y-direction aligning process.After aligning works, it is ensured that stator module axle center and rotor block axle
The heart is overlapped.
3rd step, automatic force
Axial direction (X-direction) is exerted a force automatically：It is similar with aligning process, one pre set force is set in pc client first, made
For threshold value；Three-axis accurate displacement platform drives the rotor block of dynamic pressure motor 8 to move in X direction, when dynamic pressure motor 8 rotor block with
The stator module of dynamic pressure motor 8 produces contact force when X-direction is contacted.Data collecting card gathers the measurement of triaxial force sensor 11
Signal, is compared with pre set force, realizes negative feedback control, until meeting pre set force condition, precision displacement platform stops movement,
And keep current force size.The size of described pre set force is determined according to measurement task.
It is consistent with the process that exerted a force to X-direction to the automatic force process of Y-direction.
The present invention has following gain effect：(1) in addition to feeding, measurement process can realize Automated condtrol by program, carry
High measurement efficiency simultaneously avoids artificial participate in and produces error.(2) in measuring, force size connects in force snesor range ability
It is continuous, controllable.(3) there is self-aligning function, and closed-loop control can be realized.
Brief description of the drawings
Fig. 1 is that gauge head axis and the misaligned error of force direction produce schematic diagram；(a) it is position when not exerting a force；(b)
For the position after force；
Fig. 2 is automatic aligning reason schematic diagram；(a) it is ideal position after clamping；(b) be aligning after to dynamic pressure motor rotor
The position of body force；(c) dynamic pressure motor rotor body abnormal condition position distribution after clamping；(d) it is dynamic pressure after non-aligning force
The position of motor rotor body.
Fig. 3 is the internal structure schematic diagram of measured piece；
Fig. 4 is the appearance schematic diagram of measured piece；
Fig. 5 is the structural representation of apparatus of the present invention；
In figure：1 flat board；2Z axle precision displacement platforms；3Y axle precision displacement platforms；4 columns；5 crossbeams；6 shaft ends cover；7 spiral shells
Nail；8 dynamic pressure motors；9 gripping finger bodies；10 cylinders；11 triaxial force sensors；12 force snesor installing plates；13X axles accurate displacement is put down
Platform；14 pedestals.
Fig. 6 is control loop block diagram.
Embodiment
A kind of automatic force application apparatus measured for air supporting rotor gyro dynamic pressure motor gap, including three-axis accurate displacement
Platform, control loop, force snesor installing plate 12, dynamic pressure motor 8, left side fixing device, right side fixing device, flat board 1, centre
Clamping device.
It is accurate that described three-axis accurate displacement platform includes Z axis precision displacement platform 2, Y-axis precision displacement platform 3 and X-axis
Displacement platform 13；Z axis precision displacement platform 2 is fixedly mounted on flat board 1, and X-axis precision displacement platform 13 is fixedly mounted on flat board 1
On, and with being connected above the end of Z axis precision displacement platform 2；One end of Y-axis precision displacement platform 3 and X-axis precision displacement platform
13 end is connected and is fixed on the upper surface of X-axis precision displacement platform 13.Above three precision displacement platform is in the direction of motion
On it is vertical two-by-two, constitute Descartes's rectangular coordinate system.
Described control loop includes triaxial force sensor 11, signal amplifier, data collecting card, triaxial force sensor mistake
Carry protection circuit, abnormity protection circuit, motion control card, stepper motor driver, precision displacement platform.Described force snesor
Installing plate 12 is fixed on the Y-axis precision displacement platform 3 of three-axis accurate displacement platform, and triaxial force sensor 11 is installed to power sensing
On device installing plate 12；
Described triaxial force sensor 11 is to be attached by wire with signal amplifier；Described data collecting card is logical
Cross wire respectively with signal amplifier and pc client to be connected, triaxial force sensor 11 is by signal amplifier by the number collected
According to triaxial force sensor overload protecting circuit and data collecting card is sent to respectively, pc client is uploaded to through data collecting card, respectively
Module is connected by wire；Pc client, abnormity protection circuit and triaxial force sensor overload protecting circuit are passed the signal along to
Motion control card, motion control card is by controlling stepper motor driver adjustment precision displacement platform to move, and each module is by leading
Line is connected.
Described middle clamping device includes gripping finger body 9 and cylinder 10.The lower end of cylinder 10 is sensed by screw and three-axis force
Device 11 is connected；The lower end of gripping finger body 9 passes through screw and the slide unit mode connects for screw of the upper end of cylinder 10；By closing the realization pair of gripping finger body 9
The clamping of dynamic pressure motor 8.
Described left side fixing device is identical with right side fixture structure, and two fixing devices are symmetrically placed；Wrap respectively
Include two pedestals 14, two columns 4, crossbeam 5, shaft ends and cover 6 and screw 7.Two described pedestals 14 are fixed by screws in
On flat board 1, pedestal 14 is located at the both sides of Z axis precision displacement platform 2.Column 4 is fastened on pedestal 14 by screw, 5 sets of crossbeam
It is connected between two columns 4, and is fixed by screw；Shaft end set 6 is through the hole in the middle of crossbeam, and two shaft end sets 6 are concentric,
The axis of elongation for fixing the rotor block two ends of dynamic pressure motor 8, the axis of elongation at the rotor block two ends of dynamic pressure motor 8 is inserted into both sides and consolidated respectively
In the shaft end set 6 for determining device, and fixed and tightened by screw, before screw-driving, the position of shaft end set is relative to crossbeam can be with
Mobile, for ensureing that gripping finger body 9 is located at the center of dynamic pressure motor 8.Described dynamic pressure motor 8 is by rotor block and stator pack
Part is constituted, and there are two axis of elongation at stator module two ends.
Described automatic force application apparatus is used for the method for measuring air supporting rotor gyro dynamic pressure motor gap, including two ends are consolidated
Fixed and middle clamping, automatic aligning, automatic forcing step.
Wherein carrying out the principle of aligning is：Exemplified by measuring radial clearance, measured piece should be at Fig. 2 (a) when measurement starts
Shown normal position, applying radial load F makes rotor block move and be contacted with stator module, such as shown in Fig. 2 (b), now measures
To radial clearance d1；Random position deviation is likely to occur after measured piece is clamped, shown in such as Fig. 2 (c), now applies radial load
After F, stator module is d2 with shown in rotor block contact condition such as Fig. 2 (d), measuring obtained radial clearance, deviates actual value.
Therefore, before measuring, it should to measured piece position adjustment (aligning), be at normal initial position.
Specific forcing step is as follows：
The first step, two ends are fixed and middle clamping
The two ends axis of elongation of the stator module of dynamic pressure motor 8 is inserted to the shaft end set 6 of both sides fixing device respectively, and uses spiral shell
Nail tightens fixation；Mobile shaft end set 6, makes gripping finger body 9 in the centre position of the rotor block of dynamic pressure motor 8, and uses screw-driving, real
The two ends of existing stator module are fixed；Gripping finger body 9 is closed, the clamping of the rotor block of dynamic pressure motor 8 is realized.
Second step, automatic aligning
To Y-direction aligning, one pre set force is set in pc client first, gripping finger is driven by three-axis accurate displacement platform
Body 9 is moved to Y positive directions, and then drives the rotor block movement of dynamic pressure motor 8, when the rotor block of dynamic pressure motor 8 is in the Y direction with moving
Contact force can be produced during the stator module contact of pressure motor 8, when the power that triaxial force sensor 11 is measured is equal to pre set force, displacement
Platform is moved to Y negative directions, until measuring an equal amount of contact force.Record guide rail limit of sports record position, its interposition twice
Put as the center of Y-direction.Described pre set force size is 2N.
To Z-direction aligning, it is necessary to first be reset to triaxial force sensor, the influence of clamping device and measured piece gravity is eliminated,
Other processes are consistent with foregoing Y-direction aligning process.After aligning works, it is ensured that stator module axle center and rotor block axle
The heart is overlapped.
3rd step, automatic force
Axial direction (X-direction) is exerted a force automatically：It is similar with aligning process, a power is preset in pc client first, threshold is used as
Value, three-axis accurate displacement platform drives the rotor block of dynamic pressure motor 8 to move in X direction, rotor block and dynamic pressure when dynamic pressure motor 8
The stator module of motor 8 can produce contact force when X-direction is contacted.Data collecting card gathers the measurement of triaxial force sensor 11
Signal, is compared with pre set force, realizes negative feedback control, until meeting preparatory condition, precision displacement platform stops, and keeps
Current force size.When measurement task changes and needs to change force size, pre set force, measurement are changed by programme-control
System is not required to hardware adjustment.
It is consistent with the process that exerted a force to X-direction to the automatic force process of Y-direction.
Claims (2)
1. a kind of automatic force application apparatus measured for air supporting rotor gyro dynamic pressure motor gap, it is characterised in that described
The automatic force application apparatus of automatic force application apparatus includes three-axis accurate displacement platform, control loop, force snesor installing plate (12), dynamic pressure
Motor (8), left side fixing device, right side fixing device, flat board (1), middle clamping device；
It is accurate that described three-axis accurate displacement platform includes Z axis precision displacement platform (2), Y-axis precision displacement platform (3) and X-axis
Displacement platform (13)；Z axis precision displacement platform (2) is fixedly mounted on flat board (1), and X-axis precision displacement platform (13) is arranged on Z
Above the end of axle precision displacement platform (2), one end of Y-axis precision displacement platform (3) is fixed on X-axis precision displacement platform (13)
End above, three precision displacement platforms are vertical two-by-two in the movement direction, constitute Descartes's rectangular coordinate system；
Described control loop includes triaxial force sensor (11), signal amplifier, data collecting card, triaxial force sensor overload
Protection circuit, abnormity protection circuit, motion control card, stepper motor driver, precision displacement platform；
Described triaxial force sensor (11) is installed on force snesor installing plate (12), and force snesor installing plate (12) is fixed to
On the Y-axis precision displacement platform (3) of three-axis accurate displacement platform；Triaxial force sensor (11) is connected by wire and signal amplifier
Connect；Described data collecting card is connected with signal amplifier and pc client respectively by wire；Triaxial force sensor (11) leads to
Cross signal amplifier and the data collected are sent to triaxial force sensor overload protecting circuit and data collecting card respectively, through data
Capture card uploads to pc client；Pc client, abnormity protection circuit and triaxial force sensor overload protecting circuit pass signal
Motion control card is delivered to, motion control card is by controlling stepper motor driver adjustment precision displacement platform to move；
Described middle clamping device includes gripping finger body (9) and cylinder (10)；Cylinder (10) lower end is arranged on triaxial force sensor
(11) on；Gripping finger body (9) lower end is fixedly connected with the slide unit screw of cylinder (10) upper end；By closing gripping finger body (9) realization pair
The clamping of dynamic pressure motor (8)；
Described left side fixing device is identical with right side fixture structure, and two fixing devices are symmetrically placed, respectively including two
Individual pedestal (14), two columns (4), crossbeam (5), shaft ends cover (6) and screw (7)；Two described pedestals (14) are fixed on
On flat board (1), pedestal (14) is located at the both sides of Z axis precision displacement platform (2)；Column 4 is fixed on pedestal (14), crossbeam (5)
It is socketed between two columns (4), and is fixed by screw；Shaft end set (6) covers through the hole in the middle of crossbeam, two shaft ends
(6) with one heart, for fixing the axis of elongation at dynamic pressure motor (8) rotor block two ends, the axis of elongation point at dynamic pressure motor (8) rotor block two ends
The shaft end set (6) for not being inserted into both sides fixing device is inner, and is tightened by screw (7) fixation, before screw-driving, the position of shaft end set
It can be moved relative to crossbeam, for ensureing that gripping finger body (9) is located at the center of dynamic pressure motor (8).
2. the side of air supporting rotor gyro dynamic pressure motor gap is measured using the automatic force application apparatus described in claim 1
Method, it is characterised in that following steps：
The first step, two ends are fixed and middle clamping
The shaft end that the two ends axis of elongation of the stator module of dynamic pressure motor (8) is inserted into both sides fixing device respectively covers (6), and uses spiral shell
Nail (7) tightens fixation；Mobile shaft end set (6), makes gripping finger body (9) in the centre position of the rotor block of dynamic pressure motor (8), and use spiral shell
Nail is tightened, and realizes that the two ends of stator module are fixed；Gripping finger body (9) is closed, the clamping of the rotor block of dynamic pressure motor (8) is realized；
Second step, automatic aligning
To Y-direction aligning：A power is preset in pc client first, gripping finger body (9) is driven to Y by three-axis accurate displacement platform
Positive direction move, and then drive dynamic pressure motor (8) rotor block movement, when dynamic pressure motor (8) rotor block in the Y direction with dynamic pressure
Contact force can be produced during the stator module contact of motor (8), when the power that triaxial force sensor (11) is measured is equal to pre set force, position
Move platform to move to Y negative directions, until measuring an equal amount of contact force；Record guide rail limit of sports record position twice, in the middle of it
Position is the center of Y-direction；
To Z-direction aligning：Triaxial force sensor is zeroed out, the influence of clamping device and measured piece gravity, other mistakes is eliminated
Journey is consistent with above-mentioned Y-direction aligning process；After aligning works, it is ensured that the stator module axle center of dynamic pressure motor (8) and rotor
Body axis coinciding；
3rd step, automatic force
To the automatic force of X-direction：It is similar with aligning process, one pre set force is set in pc client first, threshold value is used as；Three axles
Precision displacement platform drives the rotor block of dynamic pressure motor (8) to move in X direction, when rotor block and the dynamic pressure horse of dynamic pressure motor (8)
Stator module up to (8) produces contact force when X-direction is contacted；The measurement letter of data collecting card collection triaxial force sensor (11)
Number, it is compared with pre set force, realizes negative feedback control, until meeting pre set force condition, precision displacement platform stops movement, and
Keep current force size；The size of described pre set force is determined according to measurement task；
It is consistent with the process that exerted a force to X-direction to the automatic force process of Y-direction.
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| CN201710445213.9A CN107144251B (en) | 2017-06-15 | 2017-06-15 | Automatic force application apparatus and method for the measurement of air bearing rotor gyro dynamic pressure motor gap |
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| CN201710445213.9A CN107144251B (en) | 2017-06-15 | 2017-06-15 | Automatic force application apparatus and method for the measurement of air bearing rotor gyro dynamic pressure motor gap |
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| CN109870091A (en) * | 2017-12-05 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of servo-operated mechanism bent output shaft clearance test method |
| CN111504531A (en) * | 2020-05-12 | 2020-08-07 | 杭州沃镭智能科技股份有限公司 | Motor torque measuring device |
| CN111780657A (en) * | 2020-05-21 | 2020-10-16 | 北京航天控制仪器研究所 | Automatic measuring device and measuring method for clearance of indexable motor |
| CN111947588A (en) * | 2020-09-08 | 2020-11-17 | 无锡威孚高科技集团股份有限公司 | Nominal gap measuring structure for gas foil bearing |
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