CN107966496A - A kind of positioning control system - Google Patents
A kind of positioning control system Download PDFInfo
- Publication number
- CN107966496A CN107966496A CN201711174676.2A CN201711174676A CN107966496A CN 107966496 A CN107966496 A CN 107966496A CN 201711174676 A CN201711174676 A CN 201711174676A CN 107966496 A CN107966496 A CN 107966496A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- unit
- control system
- control
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/04—Wave modes and trajectories
- G01N2291/044—Internal reflections (echoes), e.g. on walls or defects
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of positioning control system.The positioning control system is used to control the scanning means in electromagnetic acoustic detecting system.The positioning control system is instructed by input unit input control, control unit forms control signal according to control instruction, driving unit is controlled to form drive signal, acted for Driving Stepping Motor, the present invention can accurately control sweep speed and the scanning direction of scanning head by control unit control stepper motor, scanning track is determined, so as to fulfill the positioning to scanning head.
Description
Technical field
The present embodiments relate to the technical field of control system, more particularly to a kind of positioning control system.
Background technology
Electromagnetic acoustic technology can without couplant and without to test specimen pre-process in the case of to high temperature, high speed,
Test specimen under the mal-conditions such as rough surface carries out non-contact detecting, and electromagnetic acoustic technology is by detecting ultrasonic wave in fault location
Reflection, transmission and scattering carry out nondestructive inspection to defect.
The important component when scanning means of electromagnetic acoustic is nondestructive inspection, the movement locus of scanning means is flaw detection
The conclusive influence factor of on-line checking during the stage.In the prior art, passed through using 3 stepper motors as power source
The scanning head of electromagnet ultrasonic changer is controlled in the whole aluminum alloy plate materials of aluminum alloy sheet material surface fold-line-shaped motion detection, still
Scanning track can not be accurately controlled, therefore can not also position scanning head.Or the transmitting probe of electromagnet ultrasonic changer is consolidated
Be scheduled on aluminium sheet, receiving transducer is moved by the drive of stepper motor in x, y direction, to surface of aluminum plate particle surface corrugated outside
Outer distribution of amplitudes and the surface wave half-angle of spread are checked above displacement, surface wave acoustic axis line.This technical solution equally can not
Accurate control scanning track, it is impossible to the detection being accurately positioned.
The content of the invention
The embodiment of the present invention provides a kind of positioning control system, is instructed by input unit input control, control unit root
Acted according to control instruction control driving unit Driving Stepping Motor, can accurately control sweep speed and the scanning side of scanning head
To definite scanning track, so as to fulfill the positioning to scanning head.
In a first aspect, an embodiment of the present invention provides a kind of positioning control system, for controlling electromagnetic acoustic detecting system
In scanning means, which includes：Input unit, control unit, driving unit, stepper motor and scanning are visited
Head；
The input unit, for forming control instruction；
Described control unit, including initialization module and control instruction processing module；The initialization module and power supply electricity
Connection, for initializing the stepper motor；The control instruction processing module is realized with the input unit and is electrically connected, and is used for
The control instruction that the input unit is formed is received, and forms control signal；
The driving unit, realizes with the control instruction processing module and is electrically connected, for receiving the control signal, and
The control signal is converted into driving to the drive signal of the operation of the stepper motor；
The stepper motor includes at least the first stepper motor and the second stepper motor, is realized respectively with the driving unit
It is electrically connected；First stepper motor is used for the movement for controlling the scanning head to realize first direction, the second stepping electricity
Machine is used for the movement for controlling the scanning head to realize second direction, until having performed the control instruction, realizes and is swept to described
Retouch the positioning of probe；Wherein, the first direction and the second direction are orthogonal.
Further, the positioning control system, further includes：
Detection unit, the detection unit are electrically connected with the stepper motor, for detecting the operation of the stepper motor
State；
Display unit, the display unit are electrically connected with the detection unit, for showing the stepping detected electricity
The operating status of machine.
Further, the input unit is 4 × 4 matrix keyboard.
Further, before the input unit forms control instruction, further include：
The initialization module initializes described control unit.
Further, the stepper motor is run according to ladder raising speed rule.
Further, the stepper motor is visited the convert rotational motion of the stepper motor for the scanning by leading screw
The linear motion of head.
Further, the scanning head is additionally included in the movement of third direction.
Further, the scanning head is adjusted manually in the movement of third direction by mechanical device.
Further, the third direction is vertical with the plane where the first direction and the second direction.
The embodiment of the present invention is instructed by input unit input control, and control unit forms control letter according to control instruction
Number, control driving unit forms drive signal, is acted for Driving Stepping Motor, can accurately control the scanning speed of scanning head
Degree and scanning direction, determine scanning track, so as to fulfill the positioning to scanning head.
Brief description of the drawings
Fig. 1 is a kind of module map of positioning control system provided in an embodiment of the present invention.
Fig. 2 is the module connection figure of control unit provided in an embodiment of the present invention.
Fig. 3 is the module map of another positioning control system provided in an embodiment of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
It illustrate only part related to the present invention rather than entire infrastructure in description, attached drawing.
Fig. 1 is a kind of module map of positioning control system provided in an embodiment of the present invention, and Fig. 2 provides for the embodiment of the present invention
Control unit module connection figure.The scanning means that the present embodiment is applicable in control electromagnetic acoustic detecting system is used for electricity
The situation of magnetic ultrasound detection, as depicted in figs. 1 and 2, the positioning control system specifically include input unit 110, control unit
120th, driving unit 130, stepper motor 140 and scanning head 150；
Input unit 110, for forming control instruction；
Control unit 120, including initialization module 121 and control instruction processing module 122；Initialization module 121 and electricity
Source unit 160 is electrically connected, for initializing 140 state of stepper motor；Control instruction processing module 122 is real with input unit 110
Now it is electrically connected, for receiving the control instruction of the formation of input unit 110, and forms control signal；
Driving unit 130, realizes with control instruction processing module 122 and is electrically connected, for receiving control signal, and will control
Signal is converted into the drive signal of the operation of Driving Stepping Motor 140；
Stepper motor 140 includes at least the first stepper motor and the second stepper motor, realizes electricity with driving unit 130 respectively
Connection；First stepper motor is used for the movement for controlling scanning head 150 to realize first direction, and the second stepper motor is swept for control
Retouch probe 150 and realize the movement of second direction, until having performed control instruction, realize the positioning to scanning head；Wherein, first
Direction and second direction are orthogonal.
Input unit 110, which forms control instruction, a variety of implementations, such as keyboard, voice etc..By taking keyboard as an example, because of control
Instruction processed have it is a variety of, such as need control stepper motor 140 run step number, need switch stepper motor 140 motor pattern,
Determine rotating forward or reversion, startup stepper motor 140 or stopping stepper motor 140 and the control stepping electricity of stepper motor 140
Machine 140 accelerates or slows down.In order to which input unit 110 can form different control instructions, input unit 110 can select 4
× 4 matrix keyboard.Keypad function can be planned as follows：0-9 is number key, is used in a positioning mode, is walked for inputting
Stepper motor 140 needs the step number run, and completes the positioning of scanning head 150；Motor pattern switch key, power supply is to control unit
After 120 power supplies, 140 default motions pattern of stepper motor is uniform speed scanning pattern, presses this key rear stepper motor 140 and enters positioning
Pattern, two kinds of motor patterns are switched over by this key；Forward/reverse key, presses this key, and the steering of stepper motor 140 changes；
Start key, after the motor pattern of stepper motor 140 and all definite state of forward and backward, presses this key stepper motor 140
Into working status；Stop key, presses this key 140 stop motion of stepper motor；Accelerator key, increases the rotating speed of stepper motor 140；
Deceleration key, reduces the rotating speed of stepper motor 140.
It should be noted that above-mentioned keyboard is a kind of example, it's not limited to that for input unit 110, as long as can be real
The device for now forming input control instruction belongs to protection scope of the present invention.
To positioning control system after the power is turned on, the initialization module 121 of control unit 120 carries out control unit 120 initially
Change, form the uniform speed scanning pattern of the control signal, i.e. stepper motor 140 of initialization stepper motor 140, press start key, shape
Into enabled instruction, control signal is formed by the control instruction processing module 122 of control unit 120 and is sent to driving unit 130,
Control signal is converted into drive signal by driving unit 130, and Driving Stepping Motor 140 enters uniform speed scanning pattern, at this time can be with
The control instruction for the sweep speed for adjusting scanning head 150 is formed by accelerator key or deceleration key, or passes through forward and backward key-shaped
Into the control instruction for the traffic direction for adjusting scanning head 150, pass through 122 shape of control instruction processing module of control unit 120
Into control signal, 130 Driving Stepping Motor 140 of driving unit carries out the transformation action of dependent instruction.
When pressing motor pattern switch key after the power is turned on, the control instruction of formation is added by the control instruction of control unit 120
Work module 122 forms the control signal of the motor pattern of switching stepper motor 140, and the drive signal that driving unit 130 is formed drives
The operational mode of dynamic stepper motor 140 is converted into station-keeping mode from uniform speed scanning pattern.In such a mode, number key can be passed through
Input stepper motor 140 needs the step number run, forms the control instruction for the step number that stepper motor 140 is run, by rotate forward/it is anti-
Turn key sets the direction of motion of stepper motor 140, forms direction control command, presses start key, is formed and starts control instruction, step
Stepper motor 140 has run the step number of setting, and stepper motor 140 is automatically stopped afterwards, completes the positioning of scanning head 150, and waits
Treat next control instruction.In the operational process of stepper motor 140, accelerator key or deceleration key control stepper motor can be passed through
140 speed of service, can also by stop key control stepper motor 140 before being automatically stopped directly it is out of service.Stepping electricity
The expression that rotates and reverse of machine 140 is moved forward or backwards unidirectional.At least two stepper motors 140 are illustrated respectively in
The movement of first direction and second direction.It is x directions that first direction can be set herein, and second direction is y directions, x directions and y
Direction is orthogonal.
Scanning head 150 is realized and is positioned, the straight line by scanning head 150 from initial position to target location can be passed through
Distance is converted into the step number of stepper motor 140, when by the operation step number of digital key assignments stepper motor 140, you can completes
Positioning to scanning head 150.
The technical solution of the present embodiment, is instructed, control unit is formed according to control instruction by input unit input control
Control signal, control driving unit form drive signal, are acted for Driving Stepping Motor, can accurately control scanning head
Sweep speed and scanning direction, determine scanning track, so as to fulfill the positioning to scanning head.
Based on the above technical solutions, control unit 120 preferably can be microcontroller.Microcontroller includes 16 deposits
Device, includes flag bit in register, flag bit is 0 or 1.When flag bit is defaulted as 0, press start key, stepper motor 140 into
Enter uniform speed scanning pattern, when flag bit is 1, stepper motor 140 is operated in station-keeping mode, can pass through digital key assignments stepping
The operation step number of motor 140.
The rotating speed and sweep speed of stepper motor 140 are directly proportional, and the rotating speed of stepper motor 140 and the pulse frequency that receives
Rate is directly proportional, and the relation of rotating speed and pulse frequency is：
Wherein, v is the rotating speed of stepper motor 140；θSIt is the cloth elongation under 140 half step operating status of stepper motor, works as step
The model 86HS15060A4, θ of stepper motor 140S=0.9 °；F is pulse frequency.
From formula, the rotating speed of stepper motor 140 is directly proportional to pulse frequency, changes the rotating speed of stepper motor 140 only
The pulse frequency of microcontroller output need to be changed.The pulse frequency for changing microcontroller output can be by varying 16 bit registers
Counting initial value, so as to change the time into timer interruption function, the output of single-chip I/O mouth is in height in interrupt function
Ceaselessly switch between low level, output duty cycle is 50% square wave, and stepper motor 140 often receives a pulse, stepping
Motor 140 just rotates a fixed angle by the direction of setting.The pulse received can be that high level is effective.In microcontroller
The operation principle of 16 bit registers is common knowledge, and details are not described herein again.
The technical solution of the present embodiment, the pulse frequency by varying the 16 bit registers output in microcontroller change stepping
The rotary speed of motor, it is possible to achieve stepper motor travels at the uniform speed, it is achieved thereby that the uniform motion of control scanning head, energy
Enough the unifying identifier flaw size when carrying out electromagnetic acoustic detection and completion Threshold Alerts, it is achieved thereby that electromagnetic acoustic detection
Automation, significantly shortens the flaw detection time, improves operating efficiency, contributes to electromagnetic acoustic scanning means fast and accurately to aluminium alloy
Workpiece is into line trace scanning, real-time recording detection data.
On the basis of above-described embodiment, stepper motor 140 is run according to ladder raising speed rule.To realize stepper motor
140 fast positioning, can use and accelerate-at the uniform velocity-method slowed down, therefore it is required that stepper motor 140 is in acceleration and deceleration rank
The time of section is short, and the time to be traveled at the uniform speed with higher speed will be grown, and to reduce error caused by positioning, it is necessary to
Avoid that step-out and overshoot occurs as far as possible, therefore, stepper motor 140 can meet above-mentioned requirements using ladder raising speed rule.Example
Property, stepper motor 140 is started with 800Hz, and 5 steps are walked under boost phase, each pulse frequency, when frequency increases to 2200Hz
When, stepper motor 140 starts uniform motion, and the step number that uniform motion is run is that the step number of digital key input subtracts acceleration and deceleration
Step number after the step number that stage is walked, then reduces speed now, same accelerator of slowing down on the contrary, stepper motor 140 with starting impulse frequency
Rate stops.
Fig. 3 is the module map of another positioning control system provided in an embodiment of the present invention, and the present embodiment is in above-mentioned each reality
On the basis of applying example, which further includes：
Detection unit 170, detection unit 170 are electrically connected with stepper motor 140, for detecting the operation of stepper motor 140
State；
Display unit 180, display unit 180 are electrically connected with detection unit 170, for showing the stepper motor detected
140 operating status.
Detection unit 170 can detect the speed of service and traffic direction of stepper motor 140, exemplary, detect stepping
The speed of service of motor 140 can select velocity sensor, and the direction of detection stepper motor 140 can be with choice direction sensor.
Display unit 180 can equally have the speed of service of display stepper motor 140 and the display device in direction, for example,
The speed of service of display stepper motor 140 can realize that the direction of display stepper motor 140 can be referred to LED light with charactron
Show.
It should be noted that detection unit and the device of display unit herein is only a kind of example, rather than is limited, its
The device that he can reach identical purpose is detection unit and one kind of display unit, belongs to protection scope of the present invention.
The technical solution of the present embodiment, the operating status of stepper motor is detected by detection unit, and passes through display unit
It has been shown that, the operating status of stepper motor, the operating status of more convenient monitoring stepper motor can be understood in real time.
On the basis of above-described embodiment, the convert rotational motion of stepper motor 140 is by stepper motor 140 by leading screw
The linear motion of scanning head 150.Two stepper motors 140 as scanning head 150 plane motion power source, wherein one
The convert rotational motion of stepper motor 140 is scanning head 150 in x side by the leading screw that is attached thereto by a stepper motor 140
To linear motion, the leading screw in another stepper motor 140 driving y directions moves along a straight line along on y directions.
By taking ball-screw as an example, ball-screw includes screw rod, nut, steel ball, pre- tabletting, reverser and dust excluder.Work as rolling
Ballscrew is connected with stepper motor 140, and ball-screw can be advised as active body, nut with the rotational angle of leading screw according to corresponding
The helical pitch of lattice changes into linear motion, and scanning head 150 is connected by nut seat with nut, so as to fulfill by stepper motor 140
Convert rotational motion be scanning head 150 linear motion.
On the basis of above-described embodiment, scanning head 150 is carried out manually in the movement of third direction by mechanical device
Adjust.Third direction is vertical with the plane where first direction and second direction.
If third direction is z directions, z directions are perpendicular to x/y plane.When electromagnetic acoustic detects, scanning head is generally required
Maintained a certain distance between 150 and detected workpiece, i.e. lift-off distance.The echo of electromagnetic acoustic is believed in the change of lift-off distance
Number reception have a great impact, therefore study influence of the lift-off distance to the reception of the echo-signal of electromagnetic acoustic
When need to change lift-off distance, that is, pass through the lift-off distance that mechanical device adjust manually z directions.
The technical solution of the present embodiment, carries out adjusting carrying between scanning head and measured workpiece manually by mechanical device
Separation from, it is possible to achieve in space to the positioning of scanning head, achieveed the purpose that the scanning track for controlling scanning head, together
When can detect influence of the change to defects detection of lift-off distance.
Note that it above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
It can include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. positioning control system, for controlling the scanning means in electromagnetic acoustic detecting system, it is characterised in that including： Input unit, control unit, driving unit, stepper motor and scanning head；The input unit, for forming control instruction；Described control unit, including initialization module and control instruction processing module；The initialization module and power supply unit electricity Connection, for initializing the stepper motor state；The control instruction processing module is electrically connected with input unit realization, The control instruction formed for receiving the input unit, and form control signal；The driving unit, realizes with the control instruction processing module and is electrically connected, for receiving the control signal, and by institute State the drive signal that control signal is converted into driving the operation of the stepper motor；The stepper motor includes at least the first stepper motor and the second stepper motor, realizes be electrically connected with the driving unit respectively Connect；First stepper motor is used for the movement for controlling the scanning head to realize first direction, and second stepper motor is used In controlling the scanning head to realize the movement of second direction, until having performed the control instruction, realize and the scanning is visited The positioning of head；Wherein, the first direction and the second direction are orthogonal.
- 2. positioning control system according to claim 1, it is characterised in that the positioning control system, further includes：Detection unit, the detection unit are electrically connected with the stepper motor, for detecting the operating status of the stepper motor；Display unit, the display unit are electrically connected with the detection unit, for showing the stepper motor detected Operating status.
- 3. positioning control system according to claim 1, it is characterised in that the input unit is 4 × 4 matrix key Disk.
- 4. positioning control system according to claim 1, it is characterised in that the input unit formed control instruction it Before, further include：The initialization module initializes described control unit.
- 5. positioning control system according to claim 1, it is characterised in that the stepper motor is according to ladder raising speed rule Operation.
- 6. positioning control system according to claim 1, it is characterised in that the stepper motor is by leading screw by the step The convert rotational motion of stepper motor is the linear motion of the scanning head.
- 7. positioning control system according to claim 1, it is characterised in that the scanning head is additionally included in third direction Movement.
- 8. positioning control system according to claim 7, it is characterised in that movement of the scanning head in third direction Adjusted manually by mechanical device.
- 9. positioning control system according to claim 7, it is characterised in that the third direction and the first direction and Plane where the second direction is vertical.
- 10. positioning control system according to claim 1, it is characterised in that described control unit is microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174676.2A CN107966496A (en) | 2017-11-22 | 2017-11-22 | A kind of positioning control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174676.2A CN107966496A (en) | 2017-11-22 | 2017-11-22 | A kind of positioning control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107966496A true CN107966496A (en) | 2018-04-27 |
Family
ID=62000400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711174676.2A Withdrawn CN107966496A (en) | 2017-11-22 | 2017-11-22 | A kind of positioning control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107966496A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109596716A (en) * | 2018-11-21 | 2019-04-09 | 杭州鸿立机械有限公司 | Tracking adjusting device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5619423A (en) * | 1994-01-21 | 1997-04-08 | Scrantz; Leonard | System, method and apparatus for the ultrasonic inspection of liquid filled tubulars and vessels |
| US5714689A (en) * | 1994-06-09 | 1998-02-03 | The Babcock & Wilcox Company | Zig zag electromagnetic acoustic transducer scan |
| CN1542448A (en) * | 2003-11-07 | 2004-11-03 | 西安交通大学 | Ultrasonic imaging non-destructive detection method and detection system for appliance switch contact bonding quality |
| CN101354380A (en) * | 2007-07-23 | 2009-01-28 | 北京航空航天大学 | Vortex flow and electromagnetic ultrasonic combined type nondestructive detection method |
| CN202649179U (en) * | 2012-03-27 | 2013-01-02 | 烟台富润实业有限公司 | Control system used for ultrasonic detection of probe displacement |
| CN106547278A (en) * | 2016-10-18 | 2017-03-29 | 中国原子能科学研究院 | A kind of ion source beam diagnostics subtended angle measuring instrument control system |
-
2017
- 2017-11-22 CN CN201711174676.2A patent/CN107966496A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5619423A (en) * | 1994-01-21 | 1997-04-08 | Scrantz; Leonard | System, method and apparatus for the ultrasonic inspection of liquid filled tubulars and vessels |
| US5714689A (en) * | 1994-06-09 | 1998-02-03 | The Babcock & Wilcox Company | Zig zag electromagnetic acoustic transducer scan |
| CN1542448A (en) * | 2003-11-07 | 2004-11-03 | 西安交通大学 | Ultrasonic imaging non-destructive detection method and detection system for appliance switch contact bonding quality |
| CN101354380A (en) * | 2007-07-23 | 2009-01-28 | 北京航空航天大学 | Vortex flow and electromagnetic ultrasonic combined type nondestructive detection method |
| CN202649179U (en) * | 2012-03-27 | 2013-01-02 | 烟台富润实业有限公司 | Control system used for ultrasonic detection of probe displacement |
| CN106547278A (en) * | 2016-10-18 | 2017-03-29 | 中国原子能科学研究院 | A kind of ion source beam diagnostics subtended angle measuring instrument control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109596716A (en) * | 2018-11-21 | 2019-04-09 | 杭州鸿立机械有限公司 | Tracking adjusting device |
| CN109596716B (en) * | 2018-11-21 | 2021-10-01 | 杭州鸿立机械有限公司 | Tracking adjustment device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9651525B2 (en) | Method and apparatus for scanning an object | |
| CN104870140A (en) | Material processing low-inertia laser scanning end-effector manipulation | |
| CN106788010A (en) | The method of stepper motor kinematic system self-inspection back to zero | |
| JP4833617B2 (en) | Print medium transport apparatus and print medium transport method | |
| CN107966496A (en) | A kind of positioning control system | |
| CN1521503A (en) | Full digital phased array ultrasonic non-destructive detection system and method | |
| CN101244574A (en) | Rotation positioning method for turntable type fusing machine and mechanism thereof | |
| CN114137082B (en) | Automatic ultrasonic imaging detection method and system for six-axis mechanical arm | |
| CN109702743A (en) | Kinetic control system and step alarm method is lost for kinetic control system | |
| CN105619218A (en) | Laminated multi-head and multi-combination electric control system of polish-grinding machine | |
| CN103317153B (en) | A kind of horizontal combined numerically controlled lathe | |
| CN107081732B (en) | A kind of automation mark color method and device | |
| CN107782796A (en) | A kind of electromagnetic acoustic scanning means and its control system | |
| CN212496659U (en) | Automatic tool changing system | |
| CN103878599B (en) | Rotary table positioner and localization method | |
| CN207027492U (en) | The redundancy plane parallel mechanism control device of combination drive | |
| CN103941757A (en) | Potentiometer processing system and method | |
| TWI592629B (en) | Operating method of underwater thickness measuring apparatus | |
| CN107132275A (en) | One kind flaw detection robot | |
| US3700993A (en) | Apparatus for controlling relative motion between gage jaws on a contacting gage | |
| TWI708658B (en) | An automatic tool change system and a control method for same | |
| CN103983573B (en) | For the two-dimensional scan method of biochip scanner | |
| CN200993580Y (en) | Improved structure of X-ray diffraction instrument horizontal angle measuring instrument | |
| CN203426199U (en) | Straightening, measuring and control system for oil pumping rod | |
| JPH07181277A (en) | Driving device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180427 |
|
| WW01 | Invention patent application withdrawn after publication |