CN209445979U - A kind of planar obit simulation measuring device - Google Patents
A kind of planar obit simulation measuring device Download PDFInfo
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- CN209445979U CN209445979U CN201920399987.7U CN201920399987U CN209445979U CN 209445979 U CN209445979 U CN 209445979U CN 201920399987 U CN201920399987 U CN 201920399987U CN 209445979 U CN209445979 U CN 209445979U
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Abstract
The utility model discloses a kind of planar obit simulation measuring devices, and including the internal measuring rod for having long grating, the both ends of measuring rod are separately connected bead I, bead II；Kinematic joint component includes magnet base for being connected on tested main shaft, the magnetic connector being connected to below magnet base, and the bottom of magnetic connector has the ball-and-socket to match with bead I；Base assembly includes the rotating base being arranged on work top, the magnetic rod being rotatably connected on rotating base, the fixed Circular gratings being set in outside magnetic rod, and the top of magnetic rod has the ball-and-socket to match with bead II.The utility model records the shift value and angle value of measurement point using long grating and Circular gratings respectively, measures different from the one dimension displacement of ball bar, the information of acquisition is more；Accurate bead is installed between magetic indicator joint and magnetic rod two repeated connectors, different from plane grating to the limitation of measurement plane, it can be achieved that the planar obit simulation of space any plane measures.
Description
Technical field
The utility model relates to machine tool position accuracy detection fields, and in particular to a kind of planar obit simulation measuring device.
Background technique
When accurate and ultra-precision machine tool position precision detects, interpolation precision is detected as important one of detection project, should
The item existing detection device of interpolation precision mainly has two class device of plane grating and ball bar.Wherein planar grid encoder method is based on
Optical measurement principle is a kind of two-dimentional, contactless direct method of measurement.It is (circular arc, straight when workbench and main shaft perform relative motion
Line movement or even irregular Complex Plane Curves) when, the precision of motion profile can be determined in real time, and resolution ratio is up to 5nm.
But plane grating also has certain limitation, because its detection is all confined on planar obit simulation, is unable to measure and rotating shaft phase
The linkage precision of pass can not also evaluate the multi-shaft interlocked spatial accuracy of lathe.Ball bar is by two precision metallic balls and one
High accuracy displacement sensor composition, is one-dimensional displacement measurement, and measurement stroke is ± 2mm, can obtain the Limited information of measurement.And
The analysis software of ball bar is only applicable to the flat circle track testing result of two-axle interlocking.Furthermore ball bar bar length is limited, uncomfortable
For heavy duty machine tools.
It is that at present in the measuring device of lathe planar obit simulation, plane grating is a kind of two-dimentional, contactless direct measurement
Method, detection are confined on single planar obit simulation, are unable to measure linkage precision relevant to rotating shaft, it is more also to evaluate lathe
The spatial accuracy of axis linkage, measurement plane are limited, it is difficult to realize the measurement of space any plane track.And ball bar is one-dimensional
Displacement measurement, the Circular test precision being able to achieve in tri- planes of XY, YZ, YZ, but angular position information is not recorded, analyze software
The flat circle track testing of two-axle interlocking is only applicable to as a result, the Limited information of measurement can be obtained.
Utility model content
The purpose of this utility model is to provide a kind of planar obit simulation measuring devices, in the prior art above-mentioned scarce to solve
It falls into, realizes purpose efficient, high-precision, that conveniently planar obit simulation measures.
The utility model is achieved through the following technical solutions:
A kind of planar obit simulation measuring device, including the internal measuring rod for having long grating, the both ends difference of the measuring rod
Bead I, bead II are connected, further includes the kinematic joint component being connected with bead I, the base assembly being connected with bead II；
The kinematic joint component includes magnet base for being connected on moving component, the magnetic being connected to below magnet base
Power connector, the bottom of the magnetic connector have the ball-and-socket to match with bead I, and the ball-and-socket of the bead I and magnetic connector leans on
Magnetic absorption；
The magnetic force that the base assembly includes the rotating base being arranged in fixation member, is rotatably connected on rotating base
Bar, the fixed Circular gratings being set in outside magnetic rod, the top of the magnetic rod has the ball-and-socket to match with bead II, described small
The ball-and-socket of ball II and magnetic rod leans on magnetic absorption.
At present in the measuring device of planar obit simulation, plane grating is a kind of two-dimentional, contactless direct method of measurement.Detection office
Limit is unable to measure linkage precision relevant to rotating shaft, can not also evaluate multi-shaft interlocked space on single planar obit simulation
Precision, measurement plane are limited, it is difficult to realize the measurement of space any plane track.Ball bar is one-dimensional displacement measurement, can be real
Circular test precision in existing tri- planes of XY, YZ, YZ.But angular position information is not recorded, analysis software is only applicable to two axis
The flat circle track testing of linkage is as a result, the Limited information of measurement can be obtained.And a kind of plane rail provided by the utility model
Mark measuring device, measuring rod are the measuring rod of conventional belt length grating, and bead I, bead II are connected to long grating measuring bar
Fixing end, movable end, and bead I, for being connected with the ball-and-socket of magnetic connector in kinematic joint component, bead II is used for and pedestal
The ball-and-socket of magnetic rod is connected in component.The equal band of magnetic connector, magnetic rod is magnetic, and can adsorb respectively to two beads.
For the magnet base of kinematic joint component when in use directly by magnetic-adsorption on tested main shaft, the rotating base of base assembly is solid
Surely it is connected in fixation member, fixation member can be any work top, and during the work time, kinematic joint component is with fortune
Dynamic component is moved, and measuring rod is driven to be moved, and measuring rod drives magnetic rod, Circular gratings in base assembly to be transported
Dynamic, wherein moving component is arbitrary unit under test.When the utility model is applied to machine tool measuring, then moving component is tested
Main shaft.The utility model records the shift value and angle value of measurement point using long grating and Circular gratings respectively, is different from ball bar
One dimension displacement measurement, the information of acquisition is more, compared to the prior art have substantive distinguishing features outstanding and significant progress.
Preferably, it is connected between the magnet base and magnetic connector by flexural pivot.Enable magnetic connector and magnet base
Relative to being rotated, middle plane grating can only be to the limitation that tri- datum levels of XY, YZ, ZX measure compared to the prior art
Property, the utility model can realize the planar obit simulation measurement of its complementary space any plane other than XY, YZ, ZX；Therefore compared to existing
There is technology that there is substantive distinguishing features outstanding and significant progress.
Preferably, extension bar is fixedly connected on the measuring rod, the extension bar and measuring rod are coaxial, and the bead I connects
It connects on extension bar.Extension bar plays the purpose of development length, the scope of application for improving the utility model.
It preferably, further include the bearing being set in outside magnetic rod, the bearing is located at below Circular gratings.The setting of bearing is just
In the stable rotation for ensuring magnetic rod, the measurement effect of Circular gratings can be realized.In addition, bearing can also play Circular gratings
Supporting role.
It preferably, further include the data collection system being connected with the long grating, Circular gratings, the data collection system is adopted
Collect the reading information of long grating, Circular gratings, and passes through wireless communication transmission to data analysis system.
A kind of installation method of planar obit simulation measuring device, comprising the following steps:
(a) it calibrates: the internal measuring rod for having long grating of calibration；
(b) it installs: rotating base is connected on the table on tested main shaft by magnet base by magnetic-adsorption；
(c) it adjusts: bead being adjusted by the bottom ball absorption of magnetic connector, slowly adjusts tested main shaft and rotating base
The distance between, until the top ball-and-socket of magnetic rod adsorbs adjusting bead completely, magnetic connector and magnet base are fixed at this time
Relative position；Accurate bead I and accurate bead II are adsorbed in the ball-and-socket of magnetic connector and magnetic rod respectively by magnetic force again,
Complete installation.
Preferably, the wherein calibration method of step (a) are as follows:
The long grating reading a of high-precision is read in the initial state1；
Measuring rod is calibrated using control gauge, the reading of long grating is a after calibration2, at this time the length of measuring rod be
L；
Reconnection length is L1Extension bar, the reading for reading this duration grating is a3；
The physical length R=L of measuring rod after being calibrated1+(a3-a1)+L。
A kind of measurement method of planar obit simulation measuring device, comprising the following steps:
(A) installation is completed, lathe is made to be in no-load condition；
(B) angle surpassed distance is added at the starting and ending end of tested track, synchronizes the data for carrying out long grating and Circular gratings
Acquisition；
Wherein the data of long grating are acquired by incision motion triggers acquisition before starting sampled data, getting over before starting point
Incision campaign radially is set before journey, long grating is activated to carry out data acquisition；Cutting radially is equally set when exiting
It moves out, terminates sampling；
Wherein the data acquisition of Circular gratings is returned to zero before starting measurement；
(C) according to the start angle of acquisition, angle at the end, detection radius, numerical programming program determines lathe coordinate system；
(D) lathe after trial operation, is returned to the position before incision movement, lathe pause by lathe trial operation；Then will pass through
The acquisition of forward motion data is carried out between measuring rod pedestal for placed component after lengthy calibration and kinematic joint component；
(E) step (B)~(D) is repeated, the acquisition of counter motion data is carried out；
(F) pass through forward motion data collected, counter motion data Calculation Plane path accuracy.
Specifically, according to measurement point location coordinate information in forward motion data, counter motion data, it can be according to GB/T
17421.4-2016 analyzes Circular test phase closing precision, calculates separately according to GB/T 17421.2-2016 or ISO 230-2-2006
The positioning accuracy of two interpolation axis and the analysis of repetitive positioning accuracy, or least square method fitted ellipse track is used, and calculate it
Major and minor axis.Wherein, when measuring lathe path accuracy, since machine tool structure limits, positive and negative rotation campaign necessarily has slight biography
Moment is different, and forward motion and heterodromous track is caused to have nuance, the forward motion data that this method passes through difference
Acquisition, the acquisition of counter motion data, comprehensive exercise data twice are finally analyzed, and measurement accuracy is significantly improved.In addition,
Forward motion data described in this method, counter motion data also are understood as clockwise movement data, counterclockwise movement number
According to that is, same motion profile exchanges two motion profiles after beginning and end.This method is preferably suitable for machine tool track survey
Amount is equally applicable in the motion profile measurement of remaining arbitrary equipment.
When preferably, the origin of determining lathe coordinate system is to the connector for connecting base assembly and kinematic joint component
Machine coordinates；
Preferably, in step (D), when tested track is the irregular curve in plane, the length of measurement point radially
Changing value is long grating reading value, and the angle position of measurement point is Circular gratings reading value.
Preferably, measuring rod moves horizontally main spindle's along Plane Installation is tested, and reads measuring rod reading, measures at this time
The practical angle of plane and work top is that repeatedly adjustment is up to the difference of practical angle and hypothesized angle is in allowable range of error
It is interior；
Preferably, when measuring track is space any plane irregular curve, a length of R of measuring rod, measurement point is radially
Length varying value (long grating reading value) be Δ Ri, the angle position (Circular gratings reading value) of measurement point is θi.With X/Y plane
For measuring track, the coordinate of the position of measurement point is then are as follows:
xi=(R+ Δ Ri)cosθi, (0≤θi≤360°)
yi=(R+ Δ Ri)sinθi, (0≤θi≤360°)。
To sum up, it can be seen that the measurement track of long grating need to level off to round phenomenon in compared to the prior art, this reality
With the novel precision that can be measured when track is irregular curve, therefore there are substantive distinguishing features outstanding compared to the prior art
And significant progress.
The utility model compared with prior art, has the following advantages and benefits:
1, a kind of planar obit simulation measuring device of the utility model records the position of measurement point using long grating and Circular gratings respectively
Shifting value and angle value are measured different from the one dimension displacement of ball bar, and the information of acquisition is more；
2, accurate bead is installed on magetic indicator joint and magnetic rod two by a kind of planar obit simulation measuring device of the utility model
Between repeated connector, different from plane grating to the limitation of measurement plane, it can be achieved that the spaces such as XY, YZ, ZX any plane
Planar obit simulation measurement；
3, a kind of planar obit simulation measuring device of the utility model, using there is measurement stroke be big, that measurement accuracy is high is high-precision
Long grating is spent, range of displacement measurement increases the measurement, it can be achieved that plane irregularity track.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the utility model specific embodiment；
Fig. 2 is the cross-sectional view of base assembly in the utility model specific embodiment；
Fig. 3 is numerical control programming track schematic diagram in the utility model specific embodiment；
Fig. 4 is data collecting model schematic diagram in the utility model specific embodiment；
Fig. 5 is Circular test data processing computation model schematic diagram in the utility model specific embodiment；
Fig. 6 is interpolation shaft position precision and repetitive positioning accuracy track data processing meter in the utility model specific embodiment
Calculate model schematic；
Fig. 7 is elliptical orbit data processing computation model schematic diagram in the utility model specific embodiment.
Label and corresponding parts title in attached drawing:
1- magnet base, 2. magnetic connectors, 3- precision bead I, 4- measuring rod, 5- precision bead II, 6- magnetic rod, 7- circle light
Grid, 8- rotating base, 9- data collection system, 10- data analysis system, 11- extension bar, 12- bearing.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment 1:
A kind of planar obit simulation measuring device as shown in Figures 1 and 2, it is described including the internal measuring rod 4 for having long grating
The both ends of measuring rod 4 are separately connected bead I 3, bead II 5, and kinematic joint component, the bead is arranged in the top of the bead I 3
Base assembly is arranged in II 5 lower section；
The kinematic joint component includes magnet base 1 for being connected on tested main shaft, is connected to 1 lower section of magnet base
Magnetic connector 2, the bottom of the magnetic connector 2 have the ball-and-socket to match with bead I 3；
The base assembly includes the rotating base 8 being arranged on work top, the magnetic being rotatably connected on rotating base 8
Power bar 6, the fixed Circular gratings 7 being set in outside magnetic rod 6, the top of the magnetic rod 6 have the ball to match with bead II 5
Nest.
Embodiment 2:
A kind of planar obit simulation measuring device as shown in Figures 1 and 2, on the basis of embodiment 1, the magnet base 1 with
It is connected between magnetic connector 2 by flexural pivot.Extension bar 11, the extension bar 11 and measuring rod 4 are fixedly connected on the measuring rod 4
Coaxially, the bead I 3 is connected on extension bar 11.It further include the bearing 12 being set in outside magnetic rod 6, the bearing 12 is located at
7 lower section of Circular gratings, bearing 12 are used to support the Circular gratings 7.It further include that the data being connected with the long grating, Circular gratings 7 are adopted
Collecting system 9, the data collection system 9 acquires the reading information of long grating, Circular gratings 7, and passes through wireless communication transmission to number
According to analysis system 10.
Preferably, the magnet base 1 is connect in magnetization or demagnetization with magnetic connector 2 with magnetic force conversion function
Flexural pivot magnetizes simultaneously or demagnetization.As magnetic stand in the prior art can be realized.
Embodiment 3:
A kind of installation method of planar obit simulation measuring device, comprising the following steps:
(a) it calibrates: the internal measuring rod 4 for having long grating of calibration；
(b) it installs: rotating base 8 is connected on the table on tested main shaft by magnet base 1 by magnetic-adsorption；
(c) it adjusts: bead being adjusted by the bottom ball absorption of magnetic connector 2, slowly adjusts tested main shaft and rotation bottom
Seat the distance between 8 fixes magnetic connector 2 and magnetic force until the top ball-and-socket of magnetic rod 6 adsorbs adjusting bead completely at this time
The relative position of seat 1；Accurate bead I 3 and accurate bead II 5 are adsorbed in magnetic connector 2 and magnetic rod 6 by magnetic force respectively again
Ball-and-socket in, complete installation.
Preferably, the accurate bead I 3, the outer diameter of accurate bead II 5 are identical, and the adjusting bead uses accurate bead I
3 or accurate bead II 5.
Different from plane grating to the limitation of measurement plane, the present embodiment can realize the spaces such as XY, YZ, ZX any plane
Planar obit simulation measurement, need to only be adjusted between magnet base and magnetic connector and be relatively rotated by flexural pivot, carry out angle conversion later
?.Specific method for transformation are as follows:
By tested main axle moving to plane is measured, measurement plane and work top angle are determined.Move horizontally main spindle's
b1, read measuring rod and read b2, plane is measured at this time and the practical angle of work top is arccos (b1/b2), repeatedly adjustment is straight
To the difference of practical angle and hypothesized angle in allowable range of error.
Embodiment 4:
A kind of measurement method of planar obit simulation measuring device, comprising the following steps:
A) device is calibrated: calibrated using control gauge, mainly to the zero-bit of the long grating of high-precision in measuring rod main part into
Row calibration.Measuring rod length component may change under difference measurement environment, and it is long to read high-precision in original state first
Grating reading；Measurement bar assembly is calibrated using control gauge, the long grating reading of high-precision, measures bar assembly at this time after calibration
Length is；Reconnection length is extension bar, reads the indicating value of the long grating of high-precision at this time.In conclusion after calibration being calculated
Measurement bar assembly physical length be；
B) device is installed: by magnet base 1 through magnetic-adsorption on tested main shaft, rotating base 8 is connected on the table；
C) device adjusts: when installing the magnetic connector 2 in kinematic joint component, should slowly adjust tested main shaft and rotation bottom
Seat the distance between 8, until the connector of accurate bead I 3 and the magnetic rod 6 for being fixed on work top is attached together completely, general
Magnetic connector 2 is fixed, and then removes accurate bead；Then by tested main axle moving to measuring plane；It, will be by essence when measurement
The measuring rod edge that close bead 2, accurate bead 4 are formed with the long grating 3 of high-precision is tested Plane Installation；Accurate bead I 3 and precision are small
Ball II 5 is adsorbed in the ball-and-socket of magnetic connector 2 and magnetic rod 6 respectively by magnetic force；
Each axis of lathe should be moved to common position or middle position when d) detecting, asessory shaft is in returns state,
Main shaft is locked.Lathe is non-loaded, i.e., without carrying out under conditions of workpiece；
E) data acquisition is carried out by data collection system 9.Angle surpassed distance is added at the starting and ending end of tested track,
To eliminate the influence of transmission backlass.Data acquisition to the long grating of high-precision, passes through incision fortune before starting sampled data
Triggering collection is moved, incision campaign radially is set before the surpassed distance before starting point, long grating is activated to carry out data acquisition.It is moving back
The movement that cuts out radially is equally set when out, terminates sampling.Data acquisition to high accuracy circular grating 7, with the long light of high-precision
Grid synchronize data acquisition, and return to zero before starting measurement；
F) according to start angle, the angle at the end, detection radius of detection actual requirement, numerical programming program determines lathe
Coordinate system；
G) after having compiled program, trial operation, trial operation determine it is errorless after, by lathe return to incision movement before position, lathe
Pause.Then standby mode and the measurement bar assembly pedestal for placed component and kinematic joint component after calibration be will already be at
Between carry out data acquisition；
H) step e, f, g are repeated, the measurement of track counterclockwise is carried out；
I) data processing: analytical calculation planar obit simulation precision.
It is the three kinds of operating conditions met in measurement process individually below:
(1) when measuring track is Circular test: a length of R of measuring rod, length varying value (the long grating of measurement position radially
Count value) it is Δ Ri, the angle position of measurement position is θi.Each measurement point coordinate value (xi,yi) be,
xi=(R+ Δ Ri)cosθi, (0≤θi≤360°)
yi=(R+ Δ Ri)sinθi, (0≤θi≤360°)
The Circular test deviation of both direction clockwise, counterclockwise is calculated separately according to GB/T 17421.4-2016, and is marked
Angular position where each deviation obtains following parameter: two-way round deviation G (b), circle deviation G；Radial misalignment F, average bidirectional
Radial misalignment D.
(2) X-axis, two axis interpolation of Y-axis: can establishing criteria GB/T 17421.2-2016 or ISO 230-2-2006 count respectively
Calculate the position precision of two kinematic axis.The length varying value (long grating reading value) of measurement point radially is Δ Ri, the angle of measurement point
Spending position (Circular gratings reading value) is θi.Have in measurement point i:
Δx0=R, Δ y0=0
Δx1=(R+ Δ R1)cosθ1-R,Δy1=(R+ Δ R1)sinθ1
Δxi=(R+ Δ Ri)·cosθi-(R+ΔRi-1)·cosθi-1, (i >=2,0≤θ≤90 °)
Δyi=(R+ Δ Ri)·sinθi-(R+ΔRi-1)·sinθi-1, (i >=2,0≤θ≤90 °)
Establishing criteria, by each measurement point position coordinates (xi,yi) correlation formula brought into standard calculated, can be able to
Lower parameter: the two-way positioning accuracy A of axis, the unidirectional positioning accuracy A ↑ or A of axis ↓；Axis two-dimensional positioning system position deviation E；Axis
The range M of the two-way mean place deviation of line；The unidirectional repetitive positioning accuracy R ↑ or R of axis ↓；The reversed difference B of axis.
(3) when it is oval for measuring track: least square method fitted ellipse is used, if elliptical algebraic expression are as follows:
Ax2+Bxy+Cy2+ Dx+Ey+F=0, (A+C=1)
Directly use the coordinate position (x of measurement pointi,yi) carry out least square processing, that is, seek objective function:
Minimum value determine each coefficient.
According to the least square ellipse algebraic expression of fitting, elliptical major and minor axis calculation formula is as follows:
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of planar obit simulation measuring device, including the internal measuring rod (4) for having long grating, which is characterized in that the measurement
The both ends of bar (4) are separately connected bead I (3), bead II (5), further include the kinematic joint component being connected with bead I (3), with it is small
The connected base assembly of ball II (5)；
The kinematic joint component includes magnet base (1) for being connected on moving component, is connected to below magnet base (1)
Magnetic connector (2), the bottom of the magnetic connector (2) have the ball-and-socket to match with bead I (3), the bead I (3) and magnetic
The ball-and-socket of power connector (2) leans on magnetic absorption；
The base assembly includes the rotating base (8) being arranged in fixation member, the magnetic being rotatably connected on rotating base (8)
Power bar (6), fixation are set in the Circular gratings (7) of magnetic rod (6) outside, and the top of the magnetic rod (6) has and bead II (5) phase
Matched ball-and-socket, the bead II (5) and the ball-and-socket of magnetic rod (6) lean on magnetic absorption.
2. a kind of planar obit simulation measuring device according to claim 1, which is characterized in that the magnet base (1) and magnetic force
It is connected between connector (2) by flexural pivot.
3. a kind of planar obit simulation measuring device according to claim 1, which is characterized in that fixed on the measuring rod (4)
It connects extension bar (11), coaxially, the bead I (3) is connected on extension bar (11) for the extension bar (11) and measuring rod (4).
4. a kind of planar obit simulation measuring device according to claim 1, which is characterized in that further include being set in magnetic rod
(6) outside bearing (12), the bearing (12) are located at below Circular gratings (7).
5. a kind of planar obit simulation measuring device according to claim 1, which is characterized in that further include with the long grating,
The connected data collection system (9) of Circular gratings (7), the data collection system (9) acquire the reading of long grating, Circular gratings (7)
Information, and pass through wireless communication transmission to data analysis system (10).
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| CN201920399987.7U CN209445979U (en) | 2019-03-27 | 2019-03-27 | A kind of planar obit simulation measuring device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945786A (en) * | 2019-03-27 | 2019-06-28 | 中国工程物理研究院机械制造工艺研究所 | A kind of planar obit simulation measuring device and its installation, measurement method |
| CN113251999A (en) * | 2021-05-19 | 2021-08-13 | 河北建筑工程学院 | Real-time measuring method for monitoring deformation of building on line |
| CN113733102A (en) * | 2021-10-08 | 2021-12-03 | 厦门大学 | Error calibration device and method for industrial robot |
-
2019
- 2019-03-27 CN CN201920399987.7U patent/CN209445979U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945786A (en) * | 2019-03-27 | 2019-06-28 | 中国工程物理研究院机械制造工艺研究所 | A kind of planar obit simulation measuring device and its installation, measurement method |
| CN113251999A (en) * | 2021-05-19 | 2021-08-13 | 河北建筑工程学院 | Real-time measuring method for monitoring deformation of building on line |
| CN113251999B (en) * | 2021-05-19 | 2022-08-02 | 河北建筑工程学院 | Real-time measuring device for monitoring deformation of building on line |
| CN113733102A (en) * | 2021-10-08 | 2021-12-03 | 厦门大学 | Error calibration device and method for industrial robot |
| CN113733102B (en) * | 2021-10-08 | 2022-12-16 | 厦门大学 | Error calibration device for industrial robot |
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