CN113532351B - Self-transposition-based joint type coordinate measuring machine calibration method - Google Patents
Self-transposition-based joint type coordinate measuring machine calibration method Download PDFInfo
- Publication number
- CN113532351B CN113532351B CN202110619048.0A CN202110619048A CN113532351B CN 113532351 B CN113532351 B CN 113532351B CN 202110619048 A CN202110619048 A CN 202110619048A CN 113532351 B CN113532351 B CN 113532351B
- Authority
- CN
- China
- Prior art keywords
- measuring machine
- coordinate measuring
- articulated coordinate
- platform
- lifting
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention disclosesA self-transposition-based joint type coordinate measuring machine calibration method comprises the following steps: 1. the articulated coordinate measuring machine is mounted on an auxiliary platform capable of lifting and rotating. 2. A standard rod is arranged in the measuring range of the sectional coordinate measuring machine. 3. The articulated coordinate measuring machine uses the length of a plurality of different attitude measurement standard rods to obtain a measurement data set. 4. The auxiliary platform drives the joint type coordinate measuring machine to perform lifting motion or rotary motion or lifting and rotary compound motion for many times; and the measuring data set L is obtained again after the articulated coordinate measuring machine moves every time. 5. A plurality of measured data sets and the actual length value l of the standard rod are measured according to the third step and the fourth step s And adjusting each structural parameter of the articulated coordinate measuring machine. The invention does not need to repeatedly disassemble and assemble the standard component to change the position of the standard component, so that the calibration process is more time-saving and labor-saving, the calibration efficiency is improved, and the workload of operators is reduced.
Description
Technical Field
The invention relates to the field of calibration devices of articulated coordinate measuring machines, in particular to a calibration method of an articulated coordinate measuring machine based on self transposition.
Background
The articulated coordinate measuring machine is a non-orthogonal coordinate measuring machine and is an open chain structure formed by connecting a measuring arm and a rotary joint in series. Compared with the traditional orthogonal system coordinate measuring machine, the measuring machine has the advantages of high flexibility, small volume, large measuring range, simple and convenient operation, good environmental adaptability and the like. However, the serial structure has the defect of accumulated error amplification, so that the structural parameter errors of all levels of joints are amplified step by step, and the measurement accuracy is reduced. Before use, the articulated coordinate measuring machine is subjected to kinematic calibration, and the influence of the structural parameters on the measurement precision is reduced to the minimum so as to ensure that the articulated coordinate measuring machine meets the precision requirement of design.
In the process of calibrating or evaluating the performance of the portable articulated coordinate measuring machine, the calibrated standard component placing position covers the measuring space of the portable articulated coordinate measuring machine as much as possible, and a manual measuring task is simulated as much as possible during measurement. The standard is considered the basis for acceptance and comparison of portable articulated coordinate measuring machines. In the existing performance evaluation standards of portable articulated coordinate measuring machines (such as AMSE B89.4.22-2004, VDI/VDE 2617-9, ISO10360-12 and the like), standard components such as gauge blocks, step gauges, clubs and the like are adopted to evaluate the spatial measurement accuracy of the portable articulated coordinate measuring machines. When the portable articulated coordinate measuring machine is used for calibration or performance evaluation, the placement positions of standard components such as gauge blocks, step gauges, clubs and the like in the measurement space of the portable articulated coordinate measuring machine need to be planned so as to cover the measurement space of the portable articulated coordinate measuring machine as much as possible. Therefore, before calibration, in order to enable the standard component to change positions in the measuring space of the covering measuring machine, a sufficient space needs to be reserved firstly; while calibration requires the standard to be moved from place to place by constant disassembly and assembly, a process that consumes effort and time by the operator.
Disclosure of Invention
The invention aims to provide an auxiliary platform and a calibration method for calibrating an articulated coordinate measuring machine, aiming at the defects of the prior art, so as to solve the problem that a larger space needs to be reserved in the calibration process in the prior calibration technology and improve the calibration efficiency.
The invention relates to a self-transposition-based calibration method for an articulated coordinate measuring machine, which comprises the following specific steps of:
step one, installing the articulated coordinate measuring machine on an auxiliary platform capable of doing lifting and rotating motion.
And step two, setting a standard rod in the measuring range of the section type coordinate measuring machine.
And step three, the joint type coordinate measuring machine measures the length of the standard rods by using a plurality of different postures to obtain a measurement data set L. The measurement data set L comprises a plurality of measurement length values obtained by measuring the standard rod by the articulated coordinate measuring machine.
Driving the articulated coordinate measuring machine to perform lifting motion or rotary motion or lifting and rotary compound motion for multiple times by the auxiliary platform; the measuring data set L is obtained again after the articulated coordinate measuring machine moves every time.
Step five, according to the measured data sets L and the actual length value L of the standard rod measured in the step three and the step four s And adjusting all structural parameters of the articulated coordinate measuring machine to finish the calibration of the articulated coordinate measuring machine.
Preferably, the specific process of step four is as follows:
and 4-1, driving the joint type coordinate measuring machine to rotate by a preset angle for multiple times by the auxiliary platform. And step three is executed after the preset angle is rotated every time, and a corresponding measurement data set L of the standard rod at different circumferential positions of the articulated coordinate measuring machine is obtained.
And 4-2, driving the articulated coordinate measuring machine to move upwards or downwards by the auxiliary platform for multiple times. And (4) executing the step (4-2) after the joint type coordinate measuring machine moves upwards or downwards each time, and obtaining a plurality of measurement data sets L when the standard rod is at different heights relative to the joint type coordinate measuring machine.
Preferably, the axis of the rotary motion on the auxiliary platform is coincident with the axis of the base of the articulated coordinate measuring machine.
Preferably, in the second step, the standard rod mounting plane is higher than the bottom of the auxiliary platform.
Preferably, in step three, each attitude of the articulated coordinate measuring machine is measured repeatedly a plurality of times.
Preferably, the auxiliary platform comprises a base, a lifting mechanism, a lifting platform and a rotary platform; the lifting platform is arranged on the base through a lifting mechanism; the rotary platform is rotatably connected to the lifting platform and is driven to rotate by a power element. In the calibration process, the articulated coordinate measuring machine is arranged on the rotary platform.
Preferably, the lifting mechanism adopts a scissor structure and comprises a first guide rail, a lower sliding block, a lower connecting plate, an upper connecting plate, a screw motor, an outer supporting plate and an inner supporting plate; the first guide rail is fixed on the top surface of the base. The second guide rail is fixed on the bottom surface of the lifting platform. The first guide rail is connected with a lower sliding block in a sliding way; the second guide rail is connected with an upper sliding block in a sliding manner. The upper connecting plate is fixed with the upper sliding block. The lower connecting plate is fixed with the lower sliding block. And a cross rod group is arranged between the base and the lifting platform. The cross rod group comprises an outer support plate and an inner support plate which are hinged together at the middle part. The lead screw motor is installed on the base. One end of the outer supporting plate is hinged with the lifting platform, and the other end of the outer supporting plate is hinged with the lower connecting plate; one end of the inner supporting plate is hinged with the upper connecting plate, and the other end of the inner supporting plate is hinged with the base. And a nut block is fixed on the lower connecting plate. The output screw rod of the screw rod motor and the nut block form a screw pair.
Preferably, the rotary platform is driven to rotate by a worm and gear rotating mechanism. The worm and gear rotating mechanism comprises a worm gear, a worm and a rotary driving motor; the rotary driving motor is arranged on the lifting platform; the worm is supported on the lifting platform, and one end of the worm is fixed with an output shaft of the rotary driving motor. The worm wheel is fixed with the rotary platform; the worm wheel is meshed with the worm.
Compared with the prior art, the invention has the beneficial effects that:
1. the requirement of a calibration site is reduced: according to the invention, the relative position between the articulated coordinate measuring machine and the standard component can be changed through the rotation and the lifting of the auxiliary platform, so that a larger space does not need to be reserved for the layout of the standard component, and the calibration process is more convenient.
2. The efficiency of demarcation is improved, the work load of demarcation has been reduced: according to the invention, the rotation and the lifting of the auxiliary platform are controlled by the screw motor and the rotary driving motor, so that the relative position between the joint type coordinate measuring machine and the standard component can be changed, and the standard component does not need to be repeatedly disassembled and assembled to change the position of the standard component, thereby reducing the workload of an operator, enabling the calibration process to be more time-saving and labor-saving, improving the calibration efficiency and reducing the workload of the operator.
3. The calibration points are spread over the entire measurement volume as much as possible: the rotating mechanism of the invention adopts a worm gear mechanism, the rotating angle can be selected arbitrarily according to the requirement, so that the calibration point can be scattered on a horizontal plane; the lifting mechanism adopts a scissor fork mechanism, and the lifting position can be selected randomly according to the requirement, so that the calibration point can be scattered on a vertical plane. The combination of both allows the calibration points to be spread over the entire measurement volume as much as possible.
Drawings
FIG. 1 is a perspective view of an auxiliary platform structure of the present invention;
FIG. 2 is a rear view of an auxiliary platform structure according to the present invention;
FIG. 3 is a schematic view of a lifting mechanism according to the present invention;
FIG. 4 is a schematic view of the assembly of the screw motor of the elevating mechanism of the present invention
FIG. 5 is an assembly view of the worm and gear mechanism of the present invention;
Detailed Description
As shown in fig. 1,2, 3, 4 and 5, an auxiliary platform for calibrating an articulated coordinate measuring machine comprises a base 1, a lifting mechanism 2, a lifting platform 3, a worm and gear rotating mechanism 4 and a rotary platform 5; the base 1 is fixed on the working table; the lifting platform 3 is arranged on the base 1 through the lifting mechanism 2; the rotary platform 5 is rotatably connected to the lifting platform 3 and is driven to rotate by the worm gear and worm rotating mechanism 4. The axis of rotation of the rotating platform 5 is arranged vertically. The top surface of the rotary platform 5 is provided with 6 threaded holes, and the bottom surface is provided with a stepped shaft system. The installation through holes are formed in the center position and the side portion of the top surface of the lifting platform 3.
The lifting mechanism 2 adopts a scissor fork structure and comprises a first guide rail 6, a lower sliding block 7, a lower connecting plate 8, an upper connecting plate 9, a screw motor 10, an outer supporting plate 11 and an inner supporting plate 12; two first rails 6 arranged horizontally are fixed to the top surface of the base 1 by screws. Two second guide rails horizontally arranged are fixed on the bottom surface of the lifting table 3 through screws. The first guide rail 6 is connected with a lower slide block 7 in a sliding way; the second guide rail is connected with an upper sliding block in a sliding manner. The two ends of the upper connecting plate 9 are respectively fixed with the two upper sliding blocks. Two ends of the lower connecting plate 8 are respectively fixed with the two lower sliding blocks. Two cross rod sets are arranged between the base 1 and the lifting platform 3. The cross bar group comprises an outer support plate 11 and an inner support plate 12 which are hinged together at the middle part. The spindle motor 10 is fixed to the base 1 by a first screw 14. One end of the outer supporting plate 11 is hinged with the bottom surface of the lifting platform 3 through a rivet 13, and the other end of the outer supporting plate is hinged with the end part of the lower connecting plate 8 on the base 1 through the rivet 13; one end of the inner support plate 12 is hinged with the end of the upper connecting plate 9 through a rivet 13, and the other end is hinged with the top surface of the base 1 through a rivet 13. The middle part of the lower connecting plate 8 is fixed with a nut block 16 through a second screw 15. The tail end of an output screw rod of the screw motor 10 is supported on the base 1 through a double deep groove ball bearing 17 and a lower bearing end cover 18. The lower bearing end cover 18 is fixed on the base 1 through a screw 19; the output screw of the screw motor 10 and the nut block 16 form a screw pair. Thereby, the lifting and the translation of the lifting platform 3 are realized through the rotation of the screw motor 10.
The worm and gear rotating mechanism 4 comprises a worm wheel 20, a worm 21 and a rotary driving motor 22; a rotary driving motor 22 is fixed outside a through hole at the side part of the lifting platform 3 through a screw 23; the worm 21 is supported in a through hole at the side part of the lifting platform 3, one end of the worm is connected with an output shaft of a rotary driving motor 22 through a coupler 24, and the other end of the worm is supported on the lifting platform 3 through a double deep groove ball bearing 25 and an upper bearing end cover 26. The upper bearing end cover 26 is fixed on the side surface of the lifting platform 3 through a third screw 27; the worm wheel 20 is fixed with a central shaft on the bottom surface of the rotary platform 5 through a round nut 28 and a flat key 29, the whole worm wheel 20 is positioned in a central hole of the lifting platform 3, and the rotary platform 5 and the lifting platform 3 realize relative rotation through a thrust ball bearing 30; the worm wheel 20 meshes with the worm 21. Therefore, the rotation of the rotary driving motor 22 can drive the worm 21 to rotate, and then drive the worm wheel 20 and the rotary platform 5 to rotate, so that the auxiliary platform can realize the rotation of the rotary platform in a range of 360 degrees and the lifting of the rotary platform and the lifting platform in a range of 300 mm.
The auxiliary platform is used for calibrating the articulated coordinate measuring machine, and specifically comprises the following steps:
step one, selecting a proper calibration site, and fixing the auxiliary platform on the working table.
And step two, fixing the joint type coordinate measuring machine at the center of the rotary platform at the top of the auxiliary platform through threaded connection.
And step three, fixing the standard rod in the measuring range of the joint type coordinate measuring machine, wherein the mounting plane of the standard rod is higher than the bottom surface of the base 1 of the auxiliary platform. One end of the standard rod faces the central axis of the articulated coordinate measuring machine.
Fourthly, modeling is carried out according to a common DH model according to the modeling theory of the articulated coordinate measuring machine, and the modeling is shown as the formula (1)
Wherein, the coordinate (x, y, z) is the measuring head coordinate of the joint coordinate measuring machine; theta i The angle values of six joints; theta 0,i Zero deflection angles of six joints; alpha is alpha i The torsion angles of six joints; a is i The offset of six rod pieces; d i The length of six rods; l is the length of the measuring head; i =1,2, ·,6; theta 0,i 、α i 、a i 、d i And l are all 25 structural parameters of the articulated coordinate measuring machine.
And step five, the articulated coordinate measuring machine measures the length of the standard rod by using a plurality of different postures, and each posture is repeatedly measured for a plurality of times. Obtaining the joint angle value theta measured each time by the angle encoder corresponding to each joint i Substituting the measured data into DH model to obtain coordinate positions of two measuring holes on standard rod, and fitting data and compensating measuring head diameter to obtain measuring length value l ij And repeating for a plurality of times; obtaining a measurement data set L = (L) 1 ,l 2 ,…,l m )；l j ＝(l j1 ,l j2 ,l j3 …l jn ). Wherein m is the number of different postures measured by the articulated coordinate measuring machine; n is the number of times of measurement of the same attitude; j represents the jth pose of the articulated coordinate measuring machine.
And step six, the rotary driving motor drives the rotary platform to rotate for a preset angle for multiple times until the rotary platform completes 360-degree rotation. And (5) executing the step five after the rotary platform rotates for a preset angle every time, and obtaining a measurement data set L of the standard rod at different circumferential positions of the articulated coordinate measuring machine.
And step seven, operating the screw motor to enable the lifting platform to be lifted for multiple times by the preset height H until the lifting total height reaches the range H of the articulated coordinate measuring machine. And executing the fifth step and the sixth step after the lifting platform rotates by a preset angle every time, and obtaining a plurality of measurement data sets L when the standard rod is at different heights relative to the articulated coordinate measuring machine. Therefore, the calibration results of the standard rod at different positions and different heights in the circumferential direction relative to the articulated coordinate measurement are obtained by utilizing the standard rod with determined position, the workload and the error of arranging the standard rod at different positions are greatly reduced, and the space size required by calibration is reduced.
Step eight, measuring length values L in a plurality of different measuring data sets L according to the measurement in the step five to the step seven ij And the actual length l of the standard rod s And adjusting 25 structural parameters of the articulated coordinate measuring machine to realize the length measurement error compensation of the articulated coordinate measuring machine.
Claims (7)
1. A calibration method of an articulated coordinate measuring machine based on self transposition is characterized in that: step one, mounting an articulated coordinate measuring machine on an auxiliary platform capable of lifting and rotating;
step two, setting a standard rod in the measuring range of the articulated coordinate measuring machine;
thirdly, the articulated coordinate measuring machine measures the length of the standard rod by using a plurality of different postures to obtain a measurement data setL(ii) a Measurement data setLThe method comprises the steps that a plurality of measuring length values obtained by measuring a standard rod by an articulated coordinate measuring machine are included;
driving the articulated coordinate measuring machine to perform lifting motion or rotary motion or lifting and rotary compound motion for multiple times by the auxiliary platform; the measuring data set is obtained again after each movement of the articulated coordinate measuring machineL(ii) a The auxiliary platform comprises a base (1), a lifting mechanism (2), a lifting platform (3) and a rotary platform (5); the lifting platform (3) is arranged on the base (1) through the lifting mechanism (2); the rotary platform (5) is rotationally connected to the lifting platform (3) and is driven to rotate by a power element; in the calibration process, the articulated coordinate measuring machine is arranged on the rotary platform (5);
step five, a plurality of measurement data sets measured according to the step three and the step fourLAnd the actual length value of the standard rodl s And adjusting all structural parameters of the articulated coordinate measuring machine to finish the calibration of the articulated coordinate measuring machine.
2. The calibration method of the self-transposition-based articulated coordinate measuring machine according to claim 1, wherein the calibration method comprises the following steps: the concrete process of the fourth step is as follows:
4-1, the auxiliary platform drives the joint type coordinate measuring machine to rotate by a preset angle for multiple times; step three is executed after the preset angle is rotated every time, and a corresponding measurement data set of the standard rod at different circumferential positions of the articulated coordinate measuring machine is obtainedL；
4-2, the auxiliary platform drives the articulated coordinate measuring machine to move upwards or downwards for many times; after the joint type coordinate measuring machine moves upwards or downwards each time, step 4-2 is executed to obtain a plurality of measurement data sets when the standard rod is at different heights relative to the joint type coordinate measuring machineL。
3. The calibration method of the self-transposition-based articulated coordinate measuring machine according to claim 1, wherein the calibration method comprises the following steps: the axis of the rotary motion on the auxiliary platform is coincided with the axis of the base of the articulated coordinate measuring machine.
4. The calibration method of the articulated coordinate measuring machine based on self-transposition as claimed in claim 1, characterized in that: and in the second step, the standard rod mounting plane is higher than the bottom of the auxiliary platform.
5. The calibration method of the self-transposition-based articulated coordinate measuring machine according to claim 1, wherein the calibration method comprises the following steps: in the third step, each posture of the articulated coordinate measuring machine is repeatedly measured for many times.
6. The calibration method of the self-transposition-based articulated coordinate measuring machine according to claim 1, wherein the calibration method comprises the following steps: the lifting mechanism (2) adopts a scissor fork structure and comprises a first guide rail (6), a lower sliding block (7), a lower connecting plate (8), an upper connecting plate (9), a screw motor (10), an outer supporting plate (11) and an inner supporting plate (12); the first guide rail (6) is fixed on the top surface of the base (1); the second guide rail is fixed on the bottom surface of the lifting platform (3); the first guide rail (6) is connected with a lower sliding block (7) in a sliding way; the second guide rail is connected with an upper sliding block in a sliding manner; the upper connecting plate (9) is fixed with the upper sliding block; the lower connecting plate (8) is fixed with the lower sliding block; a cross rod group is arranged between the base (1) and the lifting platform (3); the cross rod group comprises an outer support plate (11) and an inner support plate (12) which are hinged together at the middle part; the screw motor (10) is arranged on the base (1); one end of the outer supporting plate (11) is hinged with the lifting platform (3), and the other end is hinged with the lower connecting plate (8); one end of the inner supporting plate (12) is hinged with the upper connecting plate (9), and the other end is hinged with the base (1); a nut block (16) is fixed on the lower connecting plate (8); an output screw rod of the screw motor (10) and the nut block (16) form a screw pair.
7. The calibration method of the self-transposition-based articulated coordinate measuring machine according to claim 1, wherein the calibration method comprises the following steps: the rotary platform (5) is driven to rotate by the worm gear and worm rotating mechanism (4); the worm and gear rotating mechanism (4) comprises a worm wheel (20), a worm (21) and a rotary driving motor (22); the rotary driving motor (22) is arranged on the lifting platform (3); the worm (21) is supported on the lifting platform (3), and one end of the worm is fixed with an output shaft of the rotary driving motor (22); the worm wheel (20) is fixed with the rotary platform (5); the worm wheel (20) is meshed with the worm (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110619048.0A CN113532351B (en) | 2021-06-03 | 2021-06-03 | Self-transposition-based joint type coordinate measuring machine calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110619048.0A CN113532351B (en) | 2021-06-03 | 2021-06-03 | Self-transposition-based joint type coordinate measuring machine calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113532351A CN113532351A (en) | 2021-10-22 |
| CN113532351B true CN113532351B (en) | 2023-03-10 |
Family
ID=78095523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110619048.0A Active CN113532351B (en) | 2021-06-03 | 2021-06-03 | Self-transposition-based joint type coordinate measuring machine calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113532351B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6668466B1 (en) * | 2000-10-19 | 2003-12-30 | Sandia Corporation | Highly accurate articulated coordinate measuring machine |
| CN104655063A (en) * | 2013-11-20 | 2015-05-27 | 北京信息科技大学 | High-accuracy calibration method of joint coordinate measuring machine |
| CN108827210A (en) * | 2018-03-01 | 2018-11-16 | 杭州电子科技大学 | A kind of articulated coordinate machine scaling method of combining with digital control lathe |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN112344895A (en) * | 2020-12-10 | 2021-02-09 | 南昌航空大学 | Multi-parameter model and calibration method of articulated arm coordinate measuring machine |
-
2021
- 2021-06-03 CN CN202110619048.0A patent/CN113532351B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6668466B1 (en) * | 2000-10-19 | 2003-12-30 | Sandia Corporation | Highly accurate articulated coordinate measuring machine |
| CN104655063A (en) * | 2013-11-20 | 2015-05-27 | 北京信息科技大学 | High-accuracy calibration method of joint coordinate measuring machine |
| CN108827210A (en) * | 2018-03-01 | 2018-11-16 | 杭州电子科技大学 | A kind of articulated coordinate machine scaling method of combining with digital control lathe |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN112344895A (en) * | 2020-12-10 | 2021-02-09 | 南昌航空大学 | Multi-parameter model and calibration method of articulated arm coordinate measuring machine |
Non-Patent Citations (1)
| Title |
|---|
| 关节类坐标测量机关键技术及进展;于连栋等;《仪器仪表学报》;20170831;第38卷(第8期);文章3.3部分 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113532351A (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5920974A (en) | Reconfigurable gantry tool and system | |
| CN111016167A (en) | Additive manufacturing equipment with high-response parallel leveling mechanism and leveling method | |
| TWI394220B (en) | Portable manipulator for stackable semiconductor test system | |
| CN102607400B (en) | Precision spherical hinge clearance-measuring instrument and measurement method | |
| CN103471768A (en) | Multifunctional calibrating and loading device for torque multiplier | |
| CN102279077B (en) | Calibration device for double-force-source six-dimensional force sensor | |
| CN113532351B (en) | Self-transposition-based joint type coordinate measuring machine calibration method | |
| CN107271182B (en) | Loading experiment device for simulating cutting force and action position of cutter | |
| CN112629439A (en) | Fixed gantry type orthogonal double-laser measuring head measuring method | |
| CN203083555U (en) | Flatness automatic measurement instrument | |
| CN112857852B (en) | Reliability test bed and test method based on mixed loading numerical control machine tool feeding system | |
| CN108489651B (en) | Multi-angle fillet weld residual stress test centering device | |
| CN107186701B (en) | Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism | |
| CN111060051B (en) | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine | |
| CN113977559A (en) | Double-mechanical-arm cooperation experiment device and method | |
| CN115876499A (en) | Simulation test equipment of automobile steering device | |
| CN111855238B (en) | Swing testing mechanism and working method thereof | |
| CN210487266U (en) | Comprehensive performance test bench for tooth-type hydraulic power steering gear in laboratory | |
| CN112212742A (en) | Novel target simulation fitting motion platform | |
| CN114485332A (en) | Flat width and parallelism measuring device | |
| CN210549673U (en) | Automatic leveling device for long shaft clamping | |
| CN203745005U (en) | Measuring instrument | |
| CN115077439A (en) | Shaft hole detection device | |
| CN112872865A (en) | Auxiliary device for punching aircraft parts | |
| CN221066221U (en) | Four corner trimming device for sensor |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |