CN107144251B - Automatic force application apparatus and method for the measurement of air bearing rotor gyro dynamic pressure motor gap - Google Patents
Automatic force application apparatus and method for the measurement of air bearing rotor gyro dynamic pressure motor gap Download PDFInfo
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- CN107144251B CN107144251B CN201710445213.9A CN201710445213A CN107144251B CN 107144251 B CN107144251 B CN 107144251B CN 201710445213 A CN201710445213 A CN 201710445213A CN 107144251 B CN107144251 B CN 107144251B
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- 238000005259 measurement Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
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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
For the automatic force application apparatus and method of the measurement of air bearing rotor gyro dynamic pressure motor gap, belong to space flight inertia device precise detection technology field.The automatic force application apparatus includes three-axis accurate displacement platform, control loop, force snesor mounting plate, dynamic pressure motor, the fixed device in the left and right sides, plate, intermediate clamping device；Three-axis accurate displacement platform is mounted on plate, three precision displacement platforms are vertical two-by-two in the movement direction, cartesian cartesian coordinate system is constituted, the fixed device in two sides realizes the clamping to dynamic pressure motor for fixing intermediate clamping device by closure gripping finger body in intermediate clamping device.The method that the automatic force application apparatus is used to measure air bearing rotor gyro dynamic pressure motor gap, including both ends are fixed and intermediate clamping, automatic aligning, automatic force.The continuous controllable load of power may be implemented in the present invention, and the automatic aligning of measured piece is realized based on the present apparatus.
Description
Technical field
The present invention relates to space flight inertia device precise detection technology fields, in particular to are used for the dynamic pressure of air bearing rotor gyro
The automatic force and aligning technology of motor gap measurement.
Background technique
The structure of dynamic pressure air float gyro motor is different from general small-power drive motor and restrained gyroscope motor, winged at it
There is the gap of a very little between the inside spherical cavity of colyliform rotor and the sphere of fixed shell, belongs to typical easily-deformable device.
Dynamic pressure (suspending power) can be generated when rotor makees high-speed motion driven by a moto, in gap, connect rotor with sphere disengaging
Touching.The dynamic pressure generated in suitable gap can make rotor under self weight or acceleration overload effect, keep stablizing in space.
Actual gap size 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 measurement method of more universal easily-deformable device minim gap is now: making that there are the productions of the two of gap components
Raw relative motion, obtains measured gap and then measuring relative motion size.In this method, it is necessary first to certain force dress
It sets, rotor block and stator module is made to generate relative motion.Since measurand (dynamic pressure motor) is easily-deformable, and rotor block and stator
The relative shift of component is smaller (μm grade), it is difficult to use the force mechanisms such as traditional hydraulic, air pressure and screwfeed.Currently,
In the measurement to Flexible Deforming Parts, the common mode for hooking weight (counterweight) constructs 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 Shens 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 please, publication number:
CN105203018A, publication date: on December 30th, 2015.In addition, Wang Jingfeng, gyro machine hydrodynamic gas-lubricated bearing gap error
It analysis and improves, Chinese inertial technology journal, is exerted a force in December, 2015, using lever principle, one end is measured piece, separately
One end is the mode of weight as force application apparatus.
It can be seen from the above, the force application apparatus of existing measurement Flexible Deforming Parts minim gap utilizes the weight of weight itself more
Power, principle is simple, and it is convenient to realize.But it is discontinuous in practical applications, to will cause applied force in replacement, increase and decrease weight.Simultaneously
Due to the uncertainty of point of application position, it may cause gauge head axis and force direction be not overlapped, lead to the inaccurate of measurement result
Really.For hooking counterweight: due to the uncertainty of lanyard and rotor block contact position, easily causing the inclination of rotor block, such as
Shown in Fig. 1 (a)/(b), measuring gap width is d3, deviates true value d1.In addition, the force process automates journey by being accomplished manually
Spend low, unsuitable rapid batch measurement.
Summary of the invention
For the defect for overcoming existing force application apparatus, invent a kind of for measuring air bearing rotor gyro dynamic pressure motor gap
Automatic force application apparatus, may be implemented the continuous controllable load of power, and the automatic aligning of measured piece is realized based on the present apparatus.
Technical scheme is as follows:
A kind of automatic force application apparatus for the measurement of air bearing rotor gyro dynamic pressure motor gap, including three-axis accurate displacement
Platform, control loop, force snesor mounting plate 12, dynamic pressure motor 8, the fixed device in left side, the fixed device in right side, plate 1, centre
Clamping device.
The three-axis accurate displacement platform includes that Z axis precision displacement platform 2, Y-axis precision displacement platform 3 and X-axis are accurate
Displacement platform 13；Z axis precision displacement platform 2 is fixedly mounted on plate 1, and X-axis precision displacement platform 13 is mounted on Z axis precision position
It moves above the end of 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
A precision displacement platform is vertical two-by-two in the movement direction, constitutes cartesian cartesian coordinate system.
The 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.The force snesor
Mounting 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 mounting plate 12；
The triaxial force sensor 11 is attached by conducting wire and signal amplifier；The data collecting card is logical
It crosses conducting wire to be connected with signal amplifier and pc client respectively, triaxial force sensor 11 passes through signal amplifier for collected number
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 conducting wire；Pc client, abnormity protection circuit and triaxial force sensor overload protecting circuit pass the signal along to
Motion control card, motion control card is mobile by control stepper motor driver adjustment precision displacement platform, and each module is by leading
Line connection.
The intermediate clamping device includes gripping finger body 9 and cylinder 10.10 lower end of cylinder is mounted on triaxial force sensor 11
On；9 lower end of gripping finger body is fixedly connected with the slide unit screw of 10 upper end of cylinder；It is realized by closure gripping finger body 9 to dynamic pressure motor 8
It clamps.
The fixed device in the left side is identical with right side fixture structure, and two fixed devices are symmetrically placed；It wraps respectively
Include two pedestals, 14, two columns 4, crossbeam 5, shaft end set 6 and screw 7.Two pedestals 14 are fixed by screws in
On plate 1, pedestal 14 is located at the two sides of Z axis precision displacement platform 2.Column 4 is fastened on pedestal 14 by screw, and 5 sets of crossbeam
It connects between two columns 4, and is fixed by screw；Shaft end set 6 passes through the hole among crossbeam, and two shaft end sets 6 are concentric,
For fixing the axis of elongation at 8 rotor block both ends of dynamic pressure motor, it is solid that the axis of elongation at 8 rotor block both ends of dynamic pressure motor is inserted into two sides respectively
It in the shaft end set 6 for determining device, and is tightened by screw fixation, before screw-driving, the position of shaft end set is relative to crossbeam can be with
Mobile, for guaranteeing that gripping finger body 9 is located at the center of dynamic pressure motor 8.The dynamic pressure motor 8 is by rotor block and stator pack
Part is constituted, and there are two the axis of elongation at stator module both ends.
The method that the automatic force application apparatus is used to measure air bearing rotor gyro dynamic pressure motor gap, including both ends are solid
Fixed and intermediate clamping, automatic aligning, automatic forcing step.
The principle for wherein carrying out aligning is: for measuring radial clearance, measured piece should be at Fig. 2 (a) when measurement starts
Shown normal position, applying radial force F keeps rotor block mobile and contacts with stator module, as shown in Fig. 2 (b), measures at this time
To radial clearance d1；It is likely to occur random position deviation after measured piece clamps, as shown in Fig. 2 (c), applies radial force at this time
After F, stator module and rotor block contact condition such as Fig. 2 (d) are shown, and the radial clearance measured is d2, deviate actual value.
Therefore, before measuring, it should (aligning) be adjusted to measured piece position, be at normal initial position.
Specific forcing step is as follows:
The first step, both ends are fixed and intermediate clamping
The both ends axis of elongation of the stator module of dynamic pressure motor 8 is inserted into the shaft end set 6 of the fixed device in two sides respectively, and uses spiral shell
Nail tightens fixation；Shifting axle end cap 6 makes gripping finger body 9 in the middle position of the rotor block of dynamic pressure motor 8, and with screw-driving, real
The both ends of existing stator module are fixed；It is closed gripping finger body 9, realizes the clamping of the rotor block of dynamic pressure motor 8.
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
It is mobile to Y positive direction, and then drive the rotor block of dynamic pressure motor 8 mobile, when dynamic pressure motor 8 rotor block in the Y direction with dynamic pressure
Contact force can be generated when the stator module contact of motor 8, when the power that triaxial force sensor 11 measures is equal to pre set force, displacement is flat
Platform is mobile to Y negative direction, until measuring an equal amount of contact force.It is recorded twice guide rail limit of sports record position, intermediate position
The as center of Y-direction.The power size is 2N.
To Z-direction aligning, needs first to reset triaxial force sensor, eliminates the influence of clamping device and measured piece gravity,
Other processes are consistent with aforementioned Y-direction aligning process.After aligning works, it is ensured that stator module axle center and rotor block axis
The heart is overlapped.
Third step, it is automatic to exert a force
It exerts a force automatically to axial direction (X-direction): it is similar with aligning process, one pre set force is set in pc client first, is made
For threshold value；Three-axis accurate displacement platform drive dynamic pressure motor 8 rotor block move in X direction, when dynamic pressure motor 8 rotor block with
The stator module of dynamic pressure motor 8 generates contact force when X-direction contacts.The measurement of data collecting card acquisition 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 the pre set force is determined according to measurement task.
The process that exerts a force automatically to Y-direction is consistent with to X-direction force process.
The present invention has following gain effect: (1) in addition to feeding, measurement process can realize automation control by program, mention
High measurement efficiency simultaneously avoids artificial participate in and generates error.(2) in measurement, force size connects in force snesor range ability
It is continuous, controllable.(3) there is self-aligning function, and closed-loop control may be implemented.
Detailed description of the invention
Fig. 1 is gauge head axis and the error generation schematic diagram that force direction is not overlapped；It (a) is position when not exerting a force；(b)
For the position after force；
Fig. 2 is automatic aligning reason schematic diagram；It (a) is ideal position after clamping；(b) for after aligning to dynamic pressure motor rotor
The position of body force；(c) dynamic pressure motor rotor body abnormal condition position distribution after clamping；It (d) is dynamic pressure after non-aligning force
The position of motor rotor body.
Fig. 3 is the schematic diagram of internal structure of measured piece；
Fig. 4 is the appearance schematic diagram of measured piece；
Fig. 5 is the structural schematic diagram of apparatus of the present invention；
In figure: 1 plate；2Z axis precision displacement platform；3Y axis precision displacement platform；4 columns；5 crossbeams；6 shaft ends set；7 spiral shells
Nail；8 dynamic pressure motors；9 gripping finger bodies；10 cylinders；11 triaxial force sensors；12 force snesor mounting plates；13X axis accurate displacement is flat
Platform；14 pedestals.
Fig. 6 is control loop block diagram.
Specific embodiment
A kind of automatic force application apparatus for the measurement of air bearing rotor gyro dynamic pressure motor gap, including three-axis accurate displacement
Platform, control loop, force snesor mounting plate 12, dynamic pressure motor 8, the fixed device in left side, the fixed device in right side, plate 1, centre
Clamping device.
The three-axis accurate displacement platform includes that Z axis precision displacement platform 2, Y-axis precision displacement platform 3 and X-axis are accurate
Displacement platform 13；Z axis precision displacement platform 2 is fixedly mounted on plate 1, and X-axis precision displacement platform 13 is fixedly mounted on plate 1
On, and connect with the end of Z axis precision displacement platform 2 top；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 cartesian cartesian coordinate system.
The 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.The force snesor
Mounting 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 mounting plate 12；
The triaxial force sensor 11 is attached by conducting wire and signal amplifier；The data collecting card is logical
It crosses conducting wire to be connected with signal amplifier and pc client respectively, triaxial force sensor 11 passes through signal amplifier for collected number
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 conducting wire；Pc client, abnormity protection circuit and triaxial force sensor overload protecting circuit pass the signal along to
Motion control card, motion control card is mobile by control stepper motor driver adjustment precision displacement platform, and each module is by leading
Line connection.
The intermediate clamping device includes gripping finger body 9 and cylinder 10.10 lower end of cylinder is sensed by screw and three-axis force
Device 11 is connected；9 lower end of gripping finger body is connect by screw with the slide unit screw of 10 upper end of cylinder；Pass through the closure realization pair of gripping finger body 9
The clamping of dynamic pressure motor 8.
The fixed device in the left side is identical with right side fixture structure, and two fixed devices are symmetrically placed；It wraps respectively
Include two pedestals, 14, two columns 4, crossbeam 5, shaft end set 6 and screw 7.Two pedestals 14 are fixed by screws in
On plate 1, pedestal 14 is located at the two sides of Z axis precision displacement platform 2.Column 4 is fastened on pedestal 14 by screw, and 5 sets of crossbeam
It connects between two columns 4, and is fixed by screw；Shaft end set 6 passes through the hole among crossbeam, and two shaft end sets 6 are concentric,
For fixing the axis of elongation at 8 rotor block both ends of dynamic pressure motor, it is solid that the axis of elongation at 8 rotor block both ends of dynamic pressure motor is inserted into two sides respectively
It in the shaft end set 6 for determining device, and is tightened by screw fixation, before screw-driving, the position of shaft end set is relative to crossbeam can be with
Mobile, for guaranteeing that gripping finger body 9 is located at the center of dynamic pressure motor 8.The dynamic pressure motor 8 is by rotor block and stator pack
Part is constituted, and there are two the axis of elongation at stator module both ends.
The method that the automatic force application apparatus is used to measure air bearing rotor gyro dynamic pressure motor gap, including both ends are solid
Fixed and intermediate clamping, automatic aligning, automatic forcing step.
The principle for wherein carrying out aligning is: for measuring radial clearance, measured piece should be at Fig. 2 (a) when measurement starts
Shown normal position, applying radial force F keeps rotor block mobile and contacts with stator module, as shown in Fig. 2 (b), measures at this time
To radial clearance d1；It is likely to occur random position deviation after measured piece clamps, as shown in Fig. 2 (c), applies radial force at this time
After F, stator module and rotor block contact condition such as Fig. 2 (d) are shown, and the radial clearance measured is d2, deviate actual value.
Therefore, before measuring, it should (aligning) be adjusted to measured piece position, be at normal initial position.
Specific forcing step is as follows:
The first step, both ends are fixed and intermediate clamping
The both ends axis of elongation of the stator module of dynamic pressure motor 8 is inserted into the shaft end set 6 of the fixed device in two sides respectively, and uses spiral shell
Nail tightens fixation；Shifting axle end cap 6 makes gripping finger body 9 in the middle position of the rotor block of dynamic pressure motor 8, and with screw-driving, real
The both ends of existing stator module are fixed；It is closed gripping finger body 9, realizes the clamping of the rotor block of dynamic pressure motor 8.
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 mobile to Y positive direction, and then drives the rotor block of dynamic pressure motor 8 mobile, when dynamic pressure motor 8 rotor block in the Y direction with it is dynamic
Contact force can be generated when the stator module contact of pressure motor 8, when the power that triaxial force sensor 11 measures is equal to pre set force, displacement
Platform is mobile to Y negative direction, until measuring an equal amount of contact force.It is recorded twice guide rail limit of sports record position, wherein meta position
It sets as the center of Y-direction.The pre set force size is 2N.
To Z-direction aligning, needs first to reset triaxial force sensor, eliminates the influence of clamping device and measured piece gravity,
Other processes are consistent with aforementioned Y-direction aligning process.After aligning works, it is ensured that stator module axle center and rotor block axis
The heart is overlapped.
Third step, it is automatic to exert a force
It exerts a force automatically to axial direction (X-direction): it is similar with aligning process, a power is preset in pc client first, as threshold
Value, three-axis accurate displacement platform drive 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 generate contact force when X-direction contacts.The measurement of data collecting card acquisition triaxial force sensor 11
Signal is compared with pre set force, realizes negative feedback control, until meeting preset 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 process control
System is not required to hardware adjustment.
The process that exerts a force automatically to Y-direction is consistent with to X-direction force process.
Claims (2)
1. a kind of automatic force application apparatus for the measurement of air bearing rotor gyro dynamic pressure motor gap, which is characterized in that described
Automatic force application apparatus includes three-axis accurate displacement platform, control loop, force snesor mounting plate (12), dynamic pressure motor (8), left side
Fixed device, the fixed device in right side, plate (1), intermediate clamping device；
The three-axis accurate displacement platform includes that Z axis precision displacement platform (2), Y-axis precision displacement platform (3) and X-axis are accurate
Displacement platform (13)；Z axis precision displacement platform (2) is fixedly mounted on plate (1), and X-axis precision displacement platform (13) is mounted on Z
Above the end of axis 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 cartesian cartesian coordinate system；
The control loop includes triaxial force sensor (11), signal amplifier, data collecting card, triaxial force sensor overload
Protect circuit, abnormity protection circuit, motion control card, stepper motor driver, precision displacement platform；
The triaxial force sensor (11) is installed on force snesor mounting plate (12), and force snesor mounting 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 conducting wire and signal amplifier
It connects；The data collecting card is connect with signal amplifier and pc client respectively by conducting wire；Triaxial force sensor (11) is logical
It crosses signal amplifier and collected data is 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
It is delivered to motion control card, motion control card is mobile by control stepper motor driver adjustment precision displacement platform；
The intermediate clamping device includes gripping finger body (9) and cylinder (10)；Cylinder (10) lower end is mounted 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；Pass through closure gripping finger body (9) realization pair
The clamping of dynamic pressure motor (8)；
The fixed device in the left side is identical with right side fixture structure, and two fixed devices are symmetrically placed, respectively include two
A pedestal (14), two columns (4), crossbeam (5), shaft end set (6) and screw (7)；Two pedestals (14) are fixed on
On plate (1), pedestal (14) is located at the two 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 covers the hole of (6) among crossbeam, two shaft ends sets
(6) with one heart, for fixing the axis of elongation at dynamic pressure motor (8) rotor block both ends, the axis of elongation point at dynamic pressure motor (8) rotor block both ends
The shaft end set (6) for not being inserted into the fixed device in two sides 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 guaranteeing that gripping finger body (9) is located at the center of dynamic pressure motor (8).
2. measuring the side of air bearing rotor gyro dynamic pressure motor gap using automatic force application apparatus described in claim 1
Method, it is characterised in that following steps:
The first step, both ends are fixed and intermediate clamping
The both ends axis of elongation of the stator module of dynamic pressure motor (8) is inserted into the shaft end set (6) of the fixed device in two sides respectively, and uses spiral shell
Nail (7) tightens fixation；Shifting axle end cap (6) makes gripping finger body (9) in the middle position of the rotor block of dynamic pressure motor (8), and uses spiral shell
Nail is tightened, and realizes that the both ends of stator module are fixed；It is closed gripping finger body (9), realizes the clamping of the rotor block of dynamic pressure motor (8)；
Second step, automatic aligning
To Y-direction aligning: a pre set force is arranged in pc client first, drives gripping finger body by three-axis accurate displacement platform
(9) mobile to Y positive direction, and then drive the rotor block of dynamic pressure motor (8) mobile, when dynamic pressure motor (8) rotor block in the Y direction
Contact force can be generated when contacting with the stator module of dynamic pressure motor (8), is preset when the power that triaxial force sensor (11) measures is equal to
When power, displacement platform is mobile to Y negative direction, until measuring an equal amount of contact force；It is recorded twice guide rail limit of sports record position,
Intermediate position is the center of Y-direction；
To Z-direction aligning: being zeroed out to triaxial force sensor, eliminate the influence of clamping device and measured piece gravity, other mistakes
Journey is consistent with above-mentioned Y-direction aligning process；After aligning works, guarantee stator module axle center and the rotor of dynamic pressure motor (8)
Body axle center is overlapped；
Third step, it is automatic to exert a force
It exerts a force automatically to X-direction: it is similar with aligning process, one pre set force is set in pc client first, as threshold value；Three axis
Precision displacement platform drives the rotor block of dynamic pressure motor (8) to move in X direction, rotor block and dynamic pressure horse when dynamic pressure motor (8)
Stator module up to (8) generates contact force when X-direction contacts；Data collecting card acquires the measurement letter of 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 the pre set force is determined according to measurement task；
The process that exerts a force automatically to Y-direction is consistent with to X-direction force process.
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| CN109108596B (en) * | 2018-08-22 | 2019-08-09 | 大连理工大学 | Accurate axle hole matching component automatic assembling apparatus and method |
| CN111504531B (en) * | 2020-05-12 | 2021-02-19 | 杭州沃镭智能科技股份有限公司 | Motor torque measuring device |
| CN111780657B (en) * | 2020-05-21 | 2022-01-04 | 北京航天控制仪器研究所 | Automatic measuring device and measuring method for clearance of indexable motor |
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| JP2013046545A (en) * | 2011-08-26 | 2013-03-04 | Fuji Electric Co Ltd | Air gap measuring apparatus and air gap measuring method |
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