CN112150898A - Disc multifunctional motion parameter test method - Google Patents

Disc multifunctional motion parameter test method Download PDF

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CN112150898A
CN112150898A CN202011010472.7A CN202011010472A CN112150898A CN 112150898 A CN112150898 A CN 112150898A CN 202011010472 A CN202011010472 A CN 202011010472A CN 112150898 A CN112150898 A CN 112150898A
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CN112150898B (en
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程森林
潘定坤
赵志威
徐旭华
廖鑫浩
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Chongqing University
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    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract

The invention relates to a disc multifunctional motion parameter test method, and belongs to the field of automation. The method comprises the following steps: the strain gauges are attached to two ends of a handshake of a tester, when the tester holds the handshake to move, the handshake can generate strain, the resistance gauge attached to the surface can also generate strain, the resistance value of the strain gauge can change, the change rate of the resistance value of the strain gauge is converted into output voltage through the bridge measuring circuit, the voltage signal is amplified through the operational amplifier, the A/D conversion circuit converts the voltage analog quantity into a digital quantity signal, the digital quantity signal is output to the single chip microcomputer, and the result is transmitted to the display circuit to be displayed. A plurality of pairs of small magnetic steels can be freely attached to the periphery of the circle according to experiment requirements, and the measurement accuracy and results are different when the number of the magnets is different.

Description

Disc multifunctional motion parameter test method
Technical Field
The invention belongs to the field of automation and relates to a disc multifunctional motion parameter test method.
Background
In the electrical related professions of colleges and universities, the application of automatic detection and sensors is a core technology which is required to be cultivated in the professions such as mechatronics technology, electrical automation technology, electronic information engineering technology and the like, and the core technology bears the functions of sensing, converting, conducting and the like of parameters such as industry and environment, so that the effective monitoring and control of industrial facilities and environmental conditions by using electrical equipment become possible. The exercise of the apparatus is an optimal method for exercising the muscles, and the study on the amount of exercise, the strength and the heat consumption of people in the exercise of the apparatus has important practical significance.
On the basis of the problems, a disc-based multifunctional motion experiment platform is provided, and various information is measured by using a sensor to exercise the practical ability of students. This experimental apparatus can utilize hall sensor and photoelectric encoder to measure the disc motion angle and try to get the movement distance respectively, detects the size of power through the foil gage. The experimental device can be used for carrying out comparison experiments on two sensors of disc movement angles and displacement by programming a single chip microcomputer, and can display the force applied during movement and the consumed energy. The experimental device has the advantages of openness, and capability of exercising people to write programs and apply the sensors.
Disclosure of Invention
In view of this, the present invention provides a method for testing a multifunctional motion parameter of a disk.
In order to achieve the purpose, the invention provides the following technical scheme:
a disc multifunctional motion parameter test method comprises the following steps:
the strain gauges are attached to two ends of a handshake of a tester, when the tester holds the handshake to move, the handshake can generate strain, the resistance gauge adhered to the surface can also generate strain, the resistance value of the strain gauge can change, the change rate of the resistance value of the strain gauge is converted into output voltage through the bridge measuring circuit, the voltage signal is amplified through the operational amplifier, the A/D conversion circuit converts the voltage analog quantity into a digital quantity signal, the digital quantity signal is output to the singlechip, and the result is transmitted to the display circuit to be displayed;
when the disc rotates, the coupling is driven to drive the photoelectric encoder to rotate, and the pulse of the photoelectric encoder is interrupted by the singlechip to directly realize phase discrimination and counting of the pulse;
when an A-direction pulse output by the encoder is connected to an external interrupt INTO of the singlechip, and a B-direction pulse is connected to an I/O port P1.0, when the system works, the INTO is firstly set to be triggered by a falling edge, and corresponding interrupt is started; when the effective pulse triggers the interruption, executing an interruption processing program, and judging whether the B pulse is a high level or a low level; if the voltage is high level, the encoder rotates forwards, and 1 is added for counting; if the voltage level is low, the encoder reverses and 1 count is reduced;
when the magnetic induction intensity of a magnetic field where the Hall device is located suddenly changes, the output voltage also suddenly changes, namely, a pulse signal is generated; the number of pulses in unit time corresponds to the rotating speed to form a digital quantity sensor; the turntable to be tested is provided with a small magnet, and the logarithm of the small magnet is in direct proportion to the resolution ratio; a Hall switch is fixed near the small magnetic steel; when the small magnetic steel rotates through the Hall switch, the Hall switch can generate pulse; the displacement of the object to be measured is judged according to the measured pulse number in unit time and the distance from the handshake to the center of the disc;
rate of change of resistance of strain gauge:
Figure BDA0002697398970000021
wherein, K is the sensitivity of the resistance strain gauge, called the axial strain of the resistance wire, also called the longitudinal strain, in the strain measurement, namely the micro-strain; the resistance change range of the metal strain gauge is very small, and the bridge type measurement conversion circuit is utilized to convert delta R/R into output voltage U0；
The voltage output of the two-arm differential bridge circuit is:
Figure BDA0002697398970000022
when initially R1＝R2＝R3＝R4R then reduces to:
Figure BDA0002697398970000023
voltage amplified by the operational amplifier:
Figure BDA0002697398970000024
wherein, D-operational amplification factor; calculating the magnitude F of the force and the voltage U output to the single-chipo2The relationship of (1) is:
Figure BDA0002697398970000025
e is the modulus of elasticity of the handshake;
when the small magnets are fully attached to 16 magnets, the moving distance of the Hall sensor is as follows for each magnet:
Figure BDA0002697398970000026
the distance of movement measured by the hall sensor is then:
Figure BDA0002697398970000027
n is the total number of passing magnets;
the moving distance of the photoelectric encoder is as follows:
Figure BDA0002697398970000028
a is the angle of the disc movement.
Optionally, the operation principle of the strain gauge is as follows:
sticking a resistance strain gauge on the handshake; when the hand is stressed by the pressure of a sport, strain is generated, and the resistance strain gauge adhered to the surface also generates strain, which is expressed as the change of resistance value; thus, the deformation of the elastic body is converted into the change of the resistance value of the resistance strain gauge; the resistance strain gauges are connected in a bridge circuit mode, a certain voltage value is applied to two input ends, and common-mode voltage output by the two output ends is increased or decreased along with the change of resistance values on the bridge circuit; the correspondence of such changes has an approximately linear relationship; finding out the corresponding relation between the pressure change and the output common-mode voltage change, and obtaining a pressure value by measuring the common-mode voltage;
the working principle of the resistance strain gauge is that the resistance value of a strain resistor adsorbed on a base material is changed along with mechanical deformation, namely the resistance strain effect; the resistance value of the metal conductor is represented by the following formula:
Figure BDA0002697398970000031
in the formula:
rho is the resistivity of the metal conductor and has the unit of omega cm2/m；
S is the sectional area of the conductor in cm2
L is the length of the conductor in m.
Optionally, a motion sensor is arranged on the disk, and the motion sensor includes a photoelectric rotary encoder and a hall sensor;
the output signals of an incremental encoder in the photoelectric rotary encoder are three groups of square wave pulses A, B and Z;
radial light-transmitting gaps are recorded on the code disc at equal intervals, and an increment period is formed between every two adjacent light-transmitting gaps; a and B groups of light-transmitting gaps corresponding to the code wheel are engraved on the detection grating, so that the purpose of passing or blocking light between the light source and the photoelectric detection device is achieved; the distance between the light-transmitting gaps on the detection grating is equal to that on the code disc, and the difference between the two groups of light-transmitting gaps is 1/4, so that the phase of the signal output by the photoelectric detection device is different by 90 degrees of electrical angle; when the encoder works, the detection grating is fixed, the code disc rotates along with the detected rotating shaft, light rays penetrate through light-transmitting gaps on the code disc and the detection grating and irradiate on the photoelectric detection device, the photoelectric detection device outputs two groups of electric signals which are similar to sine waves and have 90-degree phase difference, the electric signals are converted by a circuit to obtain the rotation angle or speed information of the detected shaft, and the disc motion displacement is obtained by utilizing the angle and the radius from the handshake to the axis;
the position of the Hall sensor is fixed, a plurality of round holes are formed in the disc, a plurality of pairs of small magnetic steels can be freely pasted on the round holes, and the more the small magnetic steels are, the higher the precision and the resolution are; in order to judge the rotating direction, two identical Hall sensors H1 and H2 are adopted; when measuring the angle, when a magnetic steel rotates the Hall sensor, the magnetic field changes, the sensor outputs a pulse, the number of the pulse is calculated, the rotating angle of the rotating object is determined, and the disc motion displacement is obtained by utilizing the angle and the radius of the shaft center of the handle.
The invention has the beneficial effects that:
1. based on disc multisensor binding experiments. The motion experiment platform is different from a single device for measuring rotary displacement and single force. The existing experimental device is produced in a standardized mode, parameters can be changed slightly, experiments conducted by students are limited, and the experimental device can measure the force and the movement displacement of the disc in different modes through different sensors.
2. The number and location of magnets may vary. The disk can be freely pasted with a plurality of pairs of small magnetic steels on the periphery of the circle according to the experiment requirements, and the measurement precision and results are different according to different magnet quantities.
3. Open-ended experimental results. The device is provided with a standard sensing circuit, a measuring circuit, a controller and a display circuit, and can also be recommended by students to freely design different circuits to complete experiments. Different from the determined experimental structure and results of the existing experimental device.
4. Has no requirement on conditions, and can be made into flexible and portable products. The existing experimental device for measuring the rotation of the disc drives the disc by a large multipurpose motor, and the structure is large and has high requirements on an experimental site. The experimental device is free of large-scale equipment such as motors and the like, weak current is mainly used, the experimental device can be made to be portable, and requirements on experimental conditions and places are lower under the same target.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is an overall view of the apparatus of the present invention;
FIG. 2 is a waveform diagram of an output signal of an incremental encoder;
FIG. 3 is a measurement circuit connection diagram;
FIG. 4 is a measurement movement circuit connection diagram;
FIG. 5 is a schematic view of a connection of the photoelectric encoder;
FIG. 6 is a Hall sensor connection diagram;
fig. 7 is a bridge circuit.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
1. Strain gauge force measurement
As shown in fig. 1, a resistance strain gauge is attached to the grip. When the handle is stressed by the pressure of a sport, strain is generated, and the resistance strain gauge adhered to the surface also generates strain, which is expressed as the change of the resistance value. Thus the deformation of the elastomer is converted into a change in the resistance of the resistance strain gauge. The resistance strain gauges are connected in a bridge circuit mode, a certain voltage value is applied to the two input ends, and the common-mode voltage output by the two output ends is increased or decreased along with the change of the resistance value on the bridge circuit. Generally, the correspondence of such variations has an approximately linear relationship. And finding out the corresponding relation between the pressure change and the output common-mode voltage change, so that the pressure value can be obtained by measuring the common-mode voltage.
The working principle of the resistance strain gauge is that the resistance value of a strain resistor adsorbed on a base material changes along with mechanical deformation, and the resistance strain gauge is commonly called as resistance strain effect. The resistance value of the metal conductor can be represented by the following formula:
Figure BDA0002697398970000051
in the formula:
ρ -resistivity of metal conductor (Ω. cm)2/m)
S-sectional area (cm) of conductor2)
L-length of conductor (m)
2. Sensor principle for measuring disc movement
2.1 photoelectric Rotary encoder
The output signals of the incremental encoder are three groups of square wave pulses A, B and Z. The waveform of the output signal of the incremental encoder is shown in fig. 2.
Radial light-transmitting gaps are recorded on the code disc at equal intervals, and an increment period is formed between every two adjacent light-transmitting gaps. A and B groups of light-transmitting gaps corresponding to the code wheel are engraved on the detection grating, so that the purpose of passing or blocking light between the light source and the photoelectric detection device is achieved. The distance between the light-transmitting gaps on the detection grating is equal to that on the code disc, and the difference between the two groups of light-transmitting gaps is 1/4, so that the phase of the signals output by the photoelectric detection device is different by 90 degrees in electrical angle. The encoder during operation detects the grating motionless, and the code wheel rotates along with the pivot of being surveyed, and light sees through the code wheel and detects on the light transmission gap shines photoelectric detection device on the grating, and photoelectric detection device just exports two sets of electric signals (phase difference 90 degrees) that are close to the sine wave and passes through the conversion processing of circuit, can obtain the corner or the speed information of being surveyed the axle, utilizes the angle and shakes hands and to reach the axle center radius and can try to get disc motion displacement.
2.2 Hall sensor
The position of the sensor is fixed, a plurality of round holes are formed in the disc, a plurality of pairs of small magnetic steels can be freely pasted on the round holes, and the more the small magnetic steels are, the higher the precision and the resolution are. To determine the direction of rotation, two identical hall sensors H1 and H2 are used. When the angle is measured, when one magnetic steel rotates through the Hall sensor, the magnetic field is changed, the sensor outputs one pulse, the number of the pulses is calculated, the rotating angle of the rotating object can be determined, and the disc motion displacement can be obtained by utilizing the angle and the radius of the shaft center of the handle.
3. Circuit connection diagram
The circuit connection is made as shown in fig. 3. The strain gauges are attached to two ends of a handshake, when a user holds the handshake to move, the handshake can generate strain, the resistance gauge attached to the surface can also generate strain, the resistance value of the strain gauge can change, the change rate of the resistance value of the strain gauge is converted into output voltage through the bridge measuring circuit, the voltage signal is amplified through the operational amplifier, the analog quantity of the voltage is converted into a digital quantity signal through the A/D conversion circuit, the digital quantity signal is output to the single chip microcomputer, and the result is transmitted to the display circuit to be displayed, as shown in fig. 4 and 5.
As shown in fig. 6, the disc drives the coupling to drive the photoelectric encoder to rotate when rotating, pulses of the photoelectric encoder can be directly phase-discriminated and counted by interrupting the single chip, for example, an a-direction pulse output by the encoder is connected to an external interrupt INTO of the single chip, a B-direction pulse output by the encoder is connected to an I/O port P1.0, when the system works, the INTO is set to be triggered by a falling edge, and corresponding interrupts are turned on. When the effective pulse triggers the interrupt, executing an interrupt processing program to judge whether the B pulse is at a high level or a low level. If the voltage is high level, the encoder rotates forwards, and 1 is added for counting; if the level is low, the encoder is reversed and 1 count is decremented.
When the magnetic induction intensity of a magnetic field where the Hall device is located suddenly changes, the output voltage also suddenly changes, namely, a pulse signal is generated. The number of pulses per unit time corresponds to the number of revolutions, and a digital quantity sensor is formed. The turntable to be measured is provided with a small magnet, and the logarithm of the small magnet is in direct proportion to the resolution ratio. And a Hall switch is fixed near the small magnetic steel. When the small magnetic steel rotates over the Hall switch, the Hall switch can generate pulse. The displacement of the object to be measured can be judged by the measured pulse number in unit time and the distance from the handshake to the center of the disc.
4. Formula of algorithm calculation
Rate of change of resistance of strain gauge:
Figure BDA0002697398970000061
where K is the sensitivity of the resistance strain gauge, called the axial strain of the resistance wire, also called the longitudinal strain, and is usually very small, in the strain measurement, it is also often called microstrain. The resistance variation range of the metal strain gauge is very small, and the bridge type measurement conversion circuit is often used to convert Delta R/R into output voltage U0As shown in fig. 7.
The voltage output of the two-arm differential bridge circuit is:
Figure BDA0002697398970000071
when initially R1＝R2＝R3＝R4R can then be simplified as:
Figure BDA0002697398970000072
voltage amplified by the operational amplifier:
Figure BDA0002697398970000073
wherein, the D-operational amplification factor is used.
Calculating the magnitude F of the force and the voltage U output to the single-chipo2The relationship of (1) is:
Figure BDA0002697398970000074
e is the modulus of elasticity of the grip.
When the small magnets are fully attached to 16 magnets, the moving distance of the Hall sensor is as follows for each magnet:
Figure BDA0002697398970000075
the distance of movement measured by the hall sensor is then:
Figure BDA0002697398970000076
n is the total number of magnets passed.
The moving distance of the photoelectric encoder is as follows:
Figure BDA0002697398970000077
a is the angle of the disc movement.
The disks are not limited to being placed horizontally, can be erected, and the like.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (3)

1. A disc multifunctional motion parameter test method is characterized in that: the method comprises the following steps:
the strain gauges are attached to two ends of a handshake of a tester, when the tester holds the handshake to move, the handshake can generate strain, the resistance gauge adhered to the surface can also generate strain, the resistance value of the strain gauge can change, the change rate of the resistance value of the strain gauge is converted into output voltage through the bridge measuring circuit, the voltage signal is amplified through the operational amplifier, the A/D conversion circuit converts the voltage analog quantity into a digital quantity signal, the digital quantity signal is output to the singlechip, and the result is transmitted to the display circuit to be displayed;
when the disc rotates, the coupling is driven to drive the photoelectric encoder to rotate, and the pulse of the photoelectric encoder is interrupted by the singlechip to directly realize phase discrimination and counting of the pulse;
when an A-direction pulse output by the encoder is connected to an external interrupt INTO of the singlechip, and a B-direction pulse is connected to an I/O port P1.0, when the system works, the INTO is firstly set to be triggered by a falling edge, and corresponding interrupt is started; when the effective pulse triggers the interruption, executing an interruption processing program, and judging whether the B pulse is a high level or a low level; if the voltage is high level, the encoder rotates forwards, and 1 is added for counting; if the voltage level is low, the encoder reverses and 1 count is reduced;
when the magnetic induction intensity of a magnetic field where the Hall device is located suddenly changes, the output voltage also suddenly changes, namely, a pulse signal is generated; the number of pulses in unit time corresponds to the rotating speed to form a digital quantity sensor; the turntable to be tested is provided with a small magnet, and the logarithm of the small magnet is in direct proportion to the resolution ratio; a Hall switch is fixed near the small magnetic steel; when the small magnetic steel rotates through the Hall switch, the Hall switch can generate pulse; the displacement of the object to be measured is judged according to the measured pulse number in unit time and the distance from the handshake to the center of the disc;
rate of change of resistance of strain gauge:
Figure FDA0002697398960000011
wherein, K is the sensitivity of the resistance strain gauge, called the axial strain of the resistance wire, also called the longitudinal strain, in the strain measurement, namely the micro-strain; the resistance change range of the metal strain gauge is very small, and the bridge type measurement conversion circuit is utilized to convert delta R/R into output voltage U0；
The voltage output of the two-arm differential bridge circuit is:
Figure FDA0002697398960000012
when initially R1＝R2＝R3＝R4R then reduces to:
Figure FDA0002697398960000013
voltage amplified by the operational amplifier:
Figure FDA0002697398960000014
wherein, D-operational amplification factor; calculating the magnitude F of the force and the voltage U output to the single-chipo2The relationship of (1) is:
Figure FDA0002697398960000015
e is the modulus of elasticity of the handshake;
when the small magnets are fully attached to 16 magnets, the moving distance of the Hall sensor is as follows for each magnet:
Figure FDA0002697398960000016
the distance of movement measured by the hall sensor is then:
Figure FDA0002697398960000021
n is the total number of passing magnets;
the moving distance of the photoelectric encoder is as follows:
Figure FDA0002697398960000022
a is the angle of the disc movement.
2. The multifunctional motion parameter test method for the disc as claimed in claim 1, wherein: the operation principle of the strain gauge is as follows:
sticking a resistance strain gauge on the handshake; when the hand is stressed by the pressure of a sport, strain is generated, and the resistance strain gauge adhered to the surface also generates strain, which is expressed as the change of resistance value; thus, the deformation of the elastic body is converted into the change of the resistance value of the resistance strain gauge; the resistance strain gauges are connected in a bridge circuit mode, a certain voltage value is applied to two input ends, and common-mode voltage output by the two output ends is increased or decreased along with the change of resistance values on the bridge circuit; the correspondence of such changes has an approximately linear relationship; finding out the corresponding relation between the pressure change and the output common-mode voltage change, and obtaining a pressure value by measuring the common-mode voltage;
the working principle of the resistance strain gauge is that the resistance value of a strain resistor adsorbed on a base material is changed along with mechanical deformation, namely the resistance strain effect; the resistance value of the metal conductor is represented by the following formula:
Figure FDA0002697398960000023
in the formula:
rho is the resistivity of the metal conductor and has the unit of omega cm2/m；
S is the sectional area of the conductor in cm2
L is the length of the conductor in m.
3. The multifunctional motion parameter test method for the disc as claimed in claim 1, wherein: the disc is provided with a motion sensor, and the motion sensor comprises a photoelectric rotary encoder and a Hall sensor;
the output signals of an incremental encoder in the photoelectric rotary encoder are three groups of square wave pulses A, B and Z;
radial light-transmitting gaps are recorded on the code disc at equal intervals, and an increment period is formed between every two adjacent light-transmitting gaps; a and B groups of light-transmitting gaps corresponding to the code wheel are engraved on the detection grating, so that the purpose of passing or blocking light between the light source and the photoelectric detection device is achieved; the distance between the light-transmitting gaps on the detection grating is equal to that on the code disc, and the difference between the two groups of light-transmitting gaps is 1/4, so that the phase of the signal output by the photoelectric detection device is different by 90 degrees of electrical angle; when the encoder works, the detection grating is fixed, the code disc rotates along with the detected rotating shaft, light rays penetrate through light-transmitting gaps on the code disc and the detection grating and irradiate on the photoelectric detection device, the photoelectric detection device outputs two groups of electric signals which are similar to sine waves and have 90-degree phase difference, the electric signals are converted by a circuit to obtain the rotation angle or speed information of the detected shaft, and the disc motion displacement is obtained by utilizing the angle and the radius from the handshake to the axis;
the position of the Hall sensor is fixed, a plurality of round holes are formed in the disc, a plurality of pairs of small magnetic steels can be freely pasted on the round holes, and the more the small magnetic steels are, the higher the precision and the resolution are; in order to judge the rotating direction, two identical Hall sensors H1 and H2 are adopted; when measuring the angle, when a magnetic steel rotates the Hall sensor, the magnetic field changes, the sensor outputs a pulse, the number of the pulse is calculated, the rotating angle of the rotating object is determined, and the disc motion displacement is obtained by utilizing the angle and the radius of the shaft center of the handle.
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Cited By (2)

* Cited by examiner, † Cited by third party
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CN113967816A (en) * 2021-11-29 2022-01-25 重庆忽米网络科技有限公司 Self-adaptive thermal deformation compensation system for welding fixture
CN114047354A (en) * 2021-10-20 2022-02-15 太原理工大学 Rotating shaft state measuring device and measuring method

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