CN110986902B - Movable zenith instrument - Google Patents
Movable zenith instrument Download PDFInfo
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- CN110986902B CN110986902B CN201911195387.XA CN201911195387A CN110986902B CN 110986902 B CN110986902 B CN 110986902B CN 201911195387 A CN201911195387 A CN 201911195387A CN 110986902 B CN110986902 B CN 110986902B
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- 238000001228 spectrum Methods 0.000 claims abstract description 16
- 230000001681 protective effect Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 36
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000003287 optical effect Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000011056 performance test Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 230000003595 spectral effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
The invention discloses a movable zenith instrument which comprises a protective cover, an object carrying workbench, a device fixing table, a numerical control mechanical arm component, a dual-spectrum target source component, a control cabinet and an operation display platform, wherein the object carrying workbench is arranged in the protective cover, the device fixing table is arranged in the protective cover and close to the object carrying workbench, the numerical control mechanical arm component is arranged on the device fixing table, the dual-spectrum target source component is arranged on the numerical control mechanical arm component, the control cabinet is arranged on the outer side of the protective cover, and the operation display platform is arranged on the outer side of the protective cover and is electrically connected with the control cabinet. The invention relates to the technical field of engineering measurement, and particularly provides a movable zenith instrument which uses an operation display platform to control light outlets of infrared rays and visible rays to form a hemispherical motion track around an object stage and is used for testing tracking performance parameters of ball optical tracking equipment.
Description
Technical Field
The invention relates to the technical field of engineering measurement, in particular to a movable zenith instrument.
Background
Zenith instruments are instruments used for precisely measuring latitude and latitude changes. The instrument is used for measuring astronomical latitude by observing the difference between the zenith distances of the satellite pairs by the Tailerett method.
Along with the development of science and technology, the application of zenith instrument is more and more extensive, and traditional zenith instrument is fixed position measurement, can't realize the all-round dynamic accurate measurement to the object.
Disclosure of Invention
In order to solve the existing problems, the invention provides the movable zenith instrument which uses the light outlet of the operation display platform to control infrared rays and visible rays to form a hemispherical motion track around the objective table and is used for testing the tracking performance parameters of the ball optical tracking equipment.
The technical scheme adopted by the invention is as follows: the invention relates to a movable zenith instrument which comprises a protective cover, an object carrying workbench, a device fixing table, a numerical control mechanical arm component, a dual-spectrum target source component, a control cabinet and an operation display platform, wherein the object carrying workbench is arranged in the protective cover; the numerical control mechanical arm assembly comprises a first driving shaft, a second driving shaft, a third driving shaft, a fourth driving shaft, a fifth driving shaft, a sixth driving shaft, a first shaft driving motor, a second shaft driving motor, a third shaft driving motor, a fourth shaft driving motor, a fifth shaft driving motor, a sixth shaft driving motor, a driving plate, a transmission rod, a fourth shaft motor bracket and a swinging driving piece, wherein the first driving shaft is rotatably arranged on the device fixing table, the first shaft driving motor is arranged in the device fixing table, the first driving shaft is connected with the output end of the first shaft driving motor, the driving plate is arranged on the first driving shaft and can be slidably arranged on the device fixing table, the second driving shaft is rotatably arranged on the driving plate, the second shaft driving motor is arranged on the driving plate, the second driving shaft is connected with the output end of the second shaft driving motor, one end of the transmission rod is arranged on the second driving shaft, and the third driving shaft is rotatably arranged at the other end of the transmission rod, the driving shaft III is arranged at the other end of the transmission rod, the driving shaft III is connected with the output end of the driving shaft III, the shaft IV motor bracket is arranged on the driving shaft III, the driving shaft IV is rotatably arranged on the shaft IV motor bracket, the shaft IV driving motor is arranged on the shaft IV motor bracket, the driving shaft IV is connected with the output end of the shaft IV driving motor, the driving shaft V is rotatably arranged at the other end of the driving shaft IV, the swing driving part is arranged on the driving shaft V, the shaft IV driving motor is arranged on the swing driving part, one end of the driving shaft V penetrates through the swing driving part to be connected with the output end of the shaft IV driving motor, the driving shaft VI is rotatably arranged on the swing driving part, the shaft VI driving motor is arranged on the swing driving part, the driving shaft VI is connected with the output end of the shaft VI driving motor, and the bispectrum target source component is arranged on the driving shaft VI, the first shaft driving motor rotates to drive the driving plate to rotate through the driving shaft, the second shaft driving motor rotates to drive the transmission rod to swing around the second driving shaft through the second driving shaft, the third shaft driving motor rotates to drive the fourth shaft motor bracket to swing around the third driving shaft through the third driving shaft, the fourth shaft driving motor rotates to drive the swing driving piece to swing around the fourth driving shaft through the fourth driving shaft, the fifth shaft driving motor rotates to drive the swing driving piece to swing around the fifth driving shaft through the fifth driving shaft, and the sixth shaft driving motor rotates to drive the target source assembly with double spectral bands to swing around the sixth driving shaft through the sixth driving shaft.
Further, the dual-spectrum target source component comprises a target source main body, a collimator, an inner concave reflecting surface, a straight reflecting surface, an infrared light source, a visible light source, a fixing plate, a rotary driving shaft, a rotary driving piece and a rotary driving motor, wherein the target source main body is arranged on a driving shaft six, the collimator is arranged in the target source main body, the inner concave reflecting surface is arranged on the inner wall of one side of the collimator far away from a light outlet, a light source placing cavity is arranged in the target source main body, the fixing plate is arranged on the side wall of the light source placing cavity, the rotary driving shaft is rotatably arranged on the fixing plate, the middle part of the rotary driving piece is arranged on the rotary driving shaft, the infrared light source and the visible light source are symmetrically arranged at two ends of the rotary driving piece, a first hole is arranged on the fixing plate, a second transmission hole is arranged on the collimator, and the second transmission hole is arranged above the second transmission hole, the straight reflecting surface is obliquely arranged on the inner wall of the collimator and above the transmission hole II, the rotary driving motor is arranged on the fixed plate, and the rotary driving shaft is connected with the output end of the rotary driving motor.
Furthermore, displacement sensors are arranged on the first driving shaft, the second driving shaft, the third driving shaft, the fourth driving shaft, the fifth driving shaft, the sixth driving shaft and the rotary driving shaft, and the displacement sensors are used for feeding back the rotation angles of the first driving shaft, the second driving shaft, the third driving shaft, the fourth driving shaft, the fifth driving shaft, the sixth driving shaft and the rotary driving shaft, and performing accurate control and positioning.
Furthermore, the diameter of the concave reflecting surface is equal to the stroke of light rays emitted from the infrared light source or the visible light source to the concave reflecting surface through the straight reflecting surface, and the light rays of the point light source are reflected into parallel light rays through the concave reflecting surface.
Furthermore, the width from the first transmission hole to the rotary driving shaft is equal to the width between the infrared light source and the visible light source and the rotary driving shaft, the rotary driving motor rotates to drive the infrared light source or the visible light source to rotate to the position below the first transmission hole through the rotary driving shaft and the rotary driving piece, light emitted by the infrared light source or the visible light source positioned below the first transmission hole penetrates through the first transmission hole and the second transmission hole to irradiate onto the flat reflecting surface, then the light is reflected to the inner concave reflecting surface by the flat reflecting surface and then reflected into parallel light by the inner concave reflecting surface to be emitted out of the collimator.
Further, the operation display platform is electrically connected with the first shaft driving motor, the second shaft driving motor, the third shaft driving motor, the fourth shaft driving motor, the fifth shaft driving motor, the sixth shaft driving motor, the rotary driving motor, the infrared light source and the visible light source, the first shaft driving motor, the second shaft driving motor, the third shaft driving motor, the fourth shaft driving motor, the fifth shaft driving motor, the sixth shaft driving motor, the rotary driving motor, the infrared light source and the visible light source are controlled to start and stop by special control software arranged in the operation display platform, and under the control of the operation display platform, the numerical control mechanical arm component drives a light outlet of a collimator in the dual-spectrum target source component to form a hemispherical motion track around the object carrying workbench to form a zenith target source moving around the center of a sphere.
Furthermore, the control cabinet is electrically connected with the first shaft driving motor, the second shaft driving motor, the third shaft driving motor, the fourth shaft driving motor, the fifth shaft driving motor, the sixth shaft driving motor, the rotary driving motor, the infrared light source and the visible light source.
The invention with the structure has the following beneficial effects: the combined motion of the movable zenith instrument realizes that the light outlet always points to the set sphere center, and the movable zenith instrument can carry a target source to move according to the set sphere radius, motion trail, motion speed and motion acceleration to form a movable zenith target source; the active range of the dual-spectrum target source component is as follows: when the pitch angle is 0 degrees, the moving range of the azimuth angle is 0-300 degrees, when the pitch angle is more than 30 degrees, the moving range of the azimuth angle is 0-360 degrees, and the moving range of the pitch angle is 0-180 degrees; the track, the movement speed, the acceleration, the size, the brightness and the like of the dual-spectrum target source assembly can be set by operating the display platform, and the dual-spectrum target source assembly is provided for the tested ball optical tracking equipment to carry out tracking performance test, particularly over-the-top tracking performance test; under the control of special control software in the operation display platform, the movable zenith target source can work in a static mode and a dynamic mode to be switched; the infrared light source and the visible light source can be used for realizing double-spectrum testing of the optical tracking equipment for the balls to be tested.
Drawings
FIG. 1 is a schematic view of the overall structure of an active zenith instrument of the present invention;
FIG. 2 is a schematic structural diagram of a numerical control mechanical arm assembly of a movable zenith instrument according to the invention;
fig. 3 is a cross-sectional view of a dual-spectral target source assembly of an active zenith instrument according to the present invention.
Wherein, 1, a protective cover, 2, an object stage, 3, a device fixing stage, 4, a numerical control mechanical arm component, 5, a dual-spectrum target source component, 6, a control cabinet, 7, an operation display platform, 8, a first driving shaft, 9, a second driving shaft, 10, a third driving shaft, 11, a fourth driving shaft, 12, a fifth driving shaft, 13, a sixth driving shaft, 14, a first driving shaft, 15, a second driving shaft, 16, a third driving shaft, 17, a fourth driving shaft, 18, a fifth driving motor, 19, a sixth driving shaft, 20, a driving plate, 21, a driving rod, 22, a fourth motor bracket, 23, a swing driving piece, 24, a target source main body, 25, a collimator, 26, an inner concave reflecting surface, 27, a straight reflecting surface, 28, an infrared light source, 29, a visible light source, 30, a fixing plate, 31, a rotary driving shaft, 32, a rotary driving piece, 33 and a rotary driving motor, 34. the displacement sensor 35, the first projection hole 36, the second transmission hole 37 and the light source placing cavity.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1-3, the movable zenith instrument of the present invention comprises a protective cover 1, an object stage 2, a device fixing stage 3, a numerically controlled mechanical arm assembly 4, a dual-spectrum target source assembly 5, a control cabinet 6 and an operation display platform 7, wherein the object stage 2 is disposed in the protective cover 1, the device fixing stage 3 is disposed in the protective cover 1 and close to the object stage 2, the numerically controlled mechanical arm assembly 4 is disposed on the device fixing stage 3, the dual-spectrum target source assembly 5 is disposed on the numerically controlled mechanical arm assembly 4, the control cabinet 6 is disposed outside the protective cover 1, and the operation display platform 7 is disposed outside the protective cover 1 and electrically connected to the control cabinet 6; the numerical control mechanical arm assembly 4 comprises a first driving shaft 8, a second driving shaft 9, a third driving shaft 10, a fourth driving shaft 11, a fifth driving shaft 12, a sixth driving shaft 13, a first shaft driving motor 14, a second shaft driving motor 15, a third shaft driving motor 16, a fourth shaft driving motor 17, a fifth shaft driving motor 18, a sixth shaft driving motor 19, a driving plate 20, a transmission rod 21, a fourth shaft driving motor support 22 and a swinging driving piece 23, wherein the first driving shaft 8 is rotatably arranged on the device fixing table 3, the first shaft driving motor 14 is arranged in the device fixing table 3, the first driving shaft 8 is connected with the output end of the first shaft driving motor 14, the driving plate 20 is arranged on the first driving shaft 8 and can be slidably arranged on the device fixing table 3, the second driving shaft 9 is rotatably arranged on the driving plate 20, the second shaft driving motor 15 is arranged on the driving plate 20, and the second driving shaft 9 is connected with the output end of the second shaft driving motor 15, one end of the driving rod 21 is arranged on the second driving shaft 9, the third driving shaft 10 is rotatably arranged at the other end of the driving rod 21, the third driving shaft 16 is arranged at the other end of the driving rod 21, the third driving shaft 10 is connected with the output end of the third driving shaft 16, the fourth driving shaft 22 is arranged on the third driving shaft 10, the fourth driving shaft 11 is rotatably arranged on the fourth driving shaft 22, the fourth driving shaft 17 is arranged on the fourth driving shaft 22, the fourth driving shaft 11 is connected with the output end of the fourth driving shaft 17, the fifth driving shaft 12 is rotatably arranged at the other end of the fourth driving shaft 11, the fifth driving shaft 23 is arranged on the fifth driving shaft 12, the fifth driving shaft 18 is arranged on the swing driving member 23, one end of the fifth driving shaft 12 penetrates through the swing driving member 23 to be connected with the output end of the fifth driving shaft 18, and the sixth driving shaft 13 is rotatably arranged on the swing driving member 23, the six-shaft driving motor 19 is arranged on the swinging driving piece 23, the six driving shafts 13 are connected with the output end of the six driving shafts 19, and the dual-spectrum target source assembly 5 is arranged on the six driving shafts 13.
The dual-spectrum target source assembly 5 comprises a target source main body 24, a collimator 25, an internally concave reflecting surface 26, a flat reflecting surface 27, an infrared light source 28, a visible light source 29, a fixing plate 30, a rotary driving shaft 31, a rotary driving member 32 and a rotary driving motor 33, wherein the target source main body 24 is arranged on a driving shaft six 13, the collimator 25 is arranged in the target source main body 24, the internally concave reflecting surface 26 is arranged on the inner wall of the collimator 25 at the side far from a light outlet, a light source placing cavity 37 is arranged in the target source main body 24, the fixing plate 30 is arranged on the side wall of the light source placing cavity 37, the rotary driving shaft 31 is rotatably arranged on the fixing plate 30, the middle part of the rotary driving member 32 is arranged on the rotary driving shaft 31, the infrared light source 28 and the visible light source 29 are symmetrically arranged at two ends of the rotary driving member 32, and a first transmission hole 35 is arranged on the fixing plate 30, the collimator 25 is provided with a second transmission hole 36, the second transmission hole 36 is arranged above the second transmission hole 36, the flat reflecting surface 27 is obliquely arranged on the inner wall of the collimator 25 and above the second transmission hole 36, the rotary driving motor 33 is arranged on the fixed plate 30, and the rotary driving shaft 31 is connected with the output end of the rotary driving motor 33. And displacement sensors 34 are arranged on the first driving shaft 8, the second driving shaft 9, the third driving shaft 10, the fourth driving shaft 11, the fifth driving shaft 12, the sixth driving shaft 13 and the rotary driving shaft 31. The diameter of the concave reflecting surface 26 is equal to the distance of light rays emitted from the infrared light source 28 or the visible light source 29 to the concave reflecting surface 26 through the straight reflecting surface 27. The width of the first transmission hole 35 to the rotary drive shaft 31 is equal to the width between the infrared light source 28 and the visible light source 29 and the rotary drive shaft 31. The operation display platform 7 is electrically connected with a first shaft driving motor 14, a second shaft driving motor 15, a third shaft driving motor 16, a fourth shaft driving motor 17, a fifth shaft driving motor 18, a sixth shaft driving motor 19, a rotary driving motor 33, an infrared light source 28 and a visible light source 29. The control cabinet 6 is electrically connected with a first shaft driving motor 14, a second shaft driving motor 15, a third shaft driving motor 16, a fourth shaft driving motor 17, a fifth shaft driving motor 18, a sixth shaft driving motor 19, a rotary driving motor 33, an infrared light source 28 and a visible light source 29.
When the device is used specifically, the optical tracking equipment for the balls to be detected is placed on the appointed sphere center position on the object carrying worktable 2, the first shaft driving motor 14, the second shaft driving motor 15, the third shaft driving motor 16, the fourth shaft driving motor 17, the fifth shaft driving motor 18, the sixth shaft driving motor 19, the rotary driving motor 33, the infrared light source 28 and the visible light source 29 are controlled to start and stop by special control software arranged in the operation display platform 7, under the control of the operation display platform 7, the light outlet performs hemispherical motion around the appointed sphere center on the object carrying worktable 2, the rotary driving motor 33 rotates to drive the infrared light source 28 or the visible light source 29 to rotate to the lower part of the first transmission hole 35 through the rotary driving shaft 31 and the rotary driving part 32, the light emitted by the infrared light source 28 or the visible light source 29 positioned below the first transmission hole 35 passes through the first transmission hole 35 and the second transmission hole 36 to irradiate on the straight reflecting surface 27, the light is then reflected by the flat reflective surface 27 onto the concave reflective surface 26, and is reflected by the concave reflective surface 26 into parallel light, which is then emitted from the collimator 25.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides an activity zenith appearance which characterized in that: the device comprises a protective cover, an object carrying workbench, a device fixing table, a numerical control mechanical arm component, a dual-spectrum target source component, a control cabinet and an operation display platform, wherein the object carrying workbench is arranged in the protective cover; the numerical control mechanical arm assembly comprises a first driving shaft, a second driving shaft, a third driving shaft, a fourth driving shaft, a fifth driving shaft, a sixth driving shaft, a first shaft driving motor, a second shaft driving motor, a third shaft driving motor, a fourth shaft driving motor, a fifth shaft driving motor, a sixth shaft driving motor, a driving plate, a transmission rod, a fourth shaft motor bracket and a swinging driving piece, wherein the first driving shaft is rotatably arranged on the device fixing table, the first shaft driving motor is arranged in the device fixing table, the first driving shaft is connected with the output end of the first shaft driving motor, the driving plate is arranged on the first driving shaft and can be slidably arranged on the device fixing table, the second driving shaft is rotatably arranged on the driving plate, the second shaft driving motor is arranged on the driving plate, the second driving shaft is connected with the output end of the second shaft driving motor, one end of the transmission rod is arranged on the second driving shaft, and the third driving shaft is rotatably arranged at the other end of the transmission rod, the driving shaft III is arranged at the other end of the transmission rod, the driving shaft III is connected with the output end of the driving shaft III, the shaft IV motor bracket is arranged on the driving shaft III, the driving shaft IV is rotatably arranged on the shaft IV motor bracket, the shaft IV driving motor is arranged on the shaft IV motor bracket, the driving shaft IV is connected with the output end of the shaft IV driving motor, the driving shaft V is rotatably arranged at the other end of the driving shaft IV, the swing driving part is arranged on the driving shaft V, the shaft IV driving motor is arranged on the swing driving part, one end of the driving shaft V penetrates through the swing driving part to be connected with the output end of the shaft IV driving motor, the driving shaft VI is rotatably arranged on the swing driving part, the shaft VI driving motor is arranged on the swing driving part, the driving shaft VI is connected with the output end of the shaft VI driving motor, and the bispectrum target source component is arranged on the driving shaft VI, the dual-spectrum target source component comprises a target source main body, a collimator, an inner concave reflecting surface, a flat reflecting surface, an infrared source, a visible light source, a fixed plate, a rotary driving part and a rotary driving motor, wherein the target source main body is arranged on a driving shaft six, the collimator is arranged in the target source main body, the inner concave reflecting surface is arranged on the inner wall of one side of the collimator far away from a light outlet, a light source placing cavity is arranged in the target source main body, the fixed plate is arranged on the side wall of the light source placing cavity, the rotary driving shaft is rotatably arranged on the fixed plate, the middle part of the rotary driving part is arranged on the rotary driving shaft, the infrared source and the visible light source are symmetrically arranged at two ends of the rotary driving part, a first transmission hole is arranged on the fixed plate, a second transmission hole is arranged on the collimator, and the second transmission hole is arranged above the second transmission hole, the straight reflecting surface is obliquely arranged on the inner wall of the collimator and above the transmission hole II, the rotary driving motor is arranged on the fixed plate, and the rotary driving shaft is connected with the output end of the rotary driving motor.
2. The movable zenith instrument according to claim 1, wherein: and displacement sensors are arranged on the first driving shaft, the second driving shaft, the third driving shaft, the fourth driving shaft, the fifth driving shaft, the sixth driving shaft and the rotary driving shaft.
3. An active zenith instrument according to claim 2, characterized in that: the diameter of the concave reflecting surface is equal to the stroke of light rays emitted from an infrared light source or a visible light source to the concave reflecting surface through the straight reflecting surface.
4. An active zenith instrument according to claim 3, characterized in that: the width of the transmission hole from one to the rotary driving shaft is equal to the width between the infrared light source and the visible light source and the rotary driving shaft.
5. An active zenith instrument according to claim 4, wherein: the operation display platform is electrically connected with the first shaft driving motor, the second shaft driving motor, the third shaft driving motor, the fourth shaft driving motor, the fifth shaft driving motor, the sixth shaft driving motor, the rotary driving motor, the infrared light source and the visible light source.
6. An active zenith instrument according to claim 5, wherein: the control cabinet is electrically connected with the first shaft driving motor, the second shaft driving motor, the third shaft driving motor, the fourth shaft driving motor, the fifth shaft driving motor, the sixth shaft driving motor, the rotary driving motor, the infrared light source and the visible light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911195387.XA CN110986902B (en) | 2019-11-28 | 2019-11-28 | Movable zenith instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911195387.XA CN110986902B (en) | 2019-11-28 | 2019-11-28 | Movable zenith instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110986902A CN110986902A (en) | 2020-04-10 |
| CN110986902B true CN110986902B (en) | 2021-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911195387.XA Active CN110986902B (en) | 2019-11-28 | 2019-11-28 | Movable zenith instrument |
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| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN105300188A (en) * | 2015-11-24 | 2016-02-03 | 上海新跃仪表厂 | Three-shaft rotary table based on spherical coordinate system |
| CN107009360A (en) * | 2017-04-25 | 2017-08-04 | 中国计量大学 | The calibrating installation and method of a kind of six axles multi-joint industrial robot |
| CN107478450A (en) * | 2016-06-07 | 2017-12-15 | 长春理工大学 | A kind of tracking accuracy detecting system with dynamic simulation target simulation function |
| DE202017105081U1 (en) * | 2017-08-24 | 2018-11-29 | Slcr Lasertechnik Gmbh | Six-axis robot with laser |
| CN209673053U (en) * | 2018-03-14 | 2019-11-22 | 中国人民解放军陆军工程大学 | A kind of more plain shaft parallelism detection systems of multiband |
-
2019
- 2019-11-28 CN CN201911195387.XA patent/CN110986902B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2669181Y (en) * | 2003-11-19 | 2005-01-05 | 中国科学院长春光学精密机械与物理研究所 | Rotay target mark capable of changing analogue object space angle |
| CN102393213A (en) * | 2011-11-21 | 2012-03-28 | 中国科学院西安光学精密机械研究所 | Space-based detecting and tracking imaging system testing device and testing method |
| CN104215258A (en) * | 2014-08-19 | 2014-12-17 | 中国科学院西安光学精密机械研究所 | Method and system for measuring precision of angle measurement of vehicle theodolite |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN105300188A (en) * | 2015-11-24 | 2016-02-03 | 上海新跃仪表厂 | Three-shaft rotary table based on spherical coordinate system |
| CN107478450A (en) * | 2016-06-07 | 2017-12-15 | 长春理工大学 | A kind of tracking accuracy detecting system with dynamic simulation target simulation function |
| CN107009360A (en) * | 2017-04-25 | 2017-08-04 | 中国计量大学 | The calibrating installation and method of a kind of six axles multi-joint industrial robot |
| DE202017105081U1 (en) * | 2017-08-24 | 2018-11-29 | Slcr Lasertechnik Gmbh | Six-axis robot with laser |
| CN209673053U (en) * | 2018-03-14 | 2019-11-22 | 中国人民解放军陆军工程大学 | A kind of more plain shaft parallelism detection systems of multiband |
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|---|---|
| CN110986902A (en) | 2020-04-10 |
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