WO2000079216A1 - Calibre à rangée de billes - Google Patents
Calibre à rangée de billes Download PDFInfo
- Publication number
- WO2000079216A1 WO2000079216A1 PCT/JP2000/002021 JP0002021W WO0079216A1 WO 2000079216 A1 WO2000079216 A1 WO 2000079216A1 JP 0002021 W JP0002021 W JP 0002021W WO 0079216 A1 WO0079216 A1 WO 0079216A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ball
- gauge
- balls
- frame
- step gauge
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B1/00—Measuring instruments characterised by the selection of material therefor
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B3/00—Measuring instruments characterised by the use of mechanical techniques
- G01B3/30—Bars, blocks, or strips in which the distance between a pair of faces is fixed, although it may be preadjustable, e.g. end measure, feeler strip
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0011—Arrangements for eliminating or compensation of measuring errors due to temperature or weight
- G01B5/0014—Arrangements for eliminating or compensation of measuring errors due to temperature or weight due to temperature
Definitions
- the present invention relates to a ball step gauge as a reference device for calibrating or measuring and inspecting the accuracy of length measurement of a machine tool such as a coordinate measuring machine and a machining center.
- a coordinate measuring machine is a device for measuring dimensions and shapes with the aid of a computer using discrete X, ⁇ , ⁇ coordinate points existing in a three-dimensional space, and more specifically, a surface plate.
- the object placed on top and the probe attached to the tip of the ⁇ ⁇ ⁇ ⁇ axis in the measuring machine are moved relative to the object in the three-dimensional directions of X, ⁇ , and ⁇ , and the probe is moved to the object It captures the moment of contact, uses this moment as an electrical trigger to read the coordinate values in the direction of each feed axis, and measures the dimensions and shape with a computer.
- the above three-dimensional measuring machines often require particularly high precision, and in order to guarantee high-precision measurement, perform precision inspections sequentially, and then perform measurements using this three-dimensional measuring machine. Then, the indicated value is corrected using the result of the accuracy inspection as a corrected value, or fine adjustment of the indicated value of the CMM is performed by the adjusting means.
- a gauge that serves as a reference is required, and this gauge must be constructed so that the detected value can be evaluated by moving the probe three-dimensionally.
- a ball step gauge in which a plurality of balls are arranged in a straight line as shown in FIGS. 9 and 10, for example, is widely used.
- three circular holes 81 in the figure are formed in the gauge frame 80, and a ball receiving portion 82 is formed at the center bottom thereof, and around the ball receiving portion 82,
- the probe insertion grooves 83, 83 are provided facing the longitudinal direction of the frame body, and the probe insertion grooves 84, 84 are provided facing the direction perpendicular thereto.
- a high-precision spherical ball 85 is placed on the ball receiving portion 82 to form a ball step gauge 86.
- the ball step gauge 86 when using the ball step gauge 86 to calibrate a coordinate measuring machine, place the ball step gauge 86 on a surface plate and fix it, and first measure the position of the ball on the right side in the figure, for example.
- the probe of the CMM is applied to at least four force points on the outer periphery of the ball 85, and the center position of the ball is calculated and measured. In the same way, measure the positions of all remaining balls in order.
- FIG. 10 (a) In another conventional ball stave gauge shown in FIG. 10 (a), a support 93 to which three balls 92 in the figure are fixed is fixed on a base frame 91. A part of the strut 93 is thinly shaved off and configured to exhibit a leaf spring effect, whereby the ball 92 at the tip is supported so as to be able to move left and right.
- Connecting pipes 94 are arranged between the center ball and the left and right balls, and both end faces of the connecting pipes 94 that come into contact with the ball match the outer shape of the ball 92. It has a shape that matches.
- Pressing pipes 95 are arranged on both sides of the left and right balls, and the connecting pipe is pressed from outside by a screw 97 screwed into a supporting frame 96 erected on the base frame 91, and the connecting pipe 9 is pressed.
- the distance between the balls can be determined according to the effective length of 4.
- the end face of the pressurizing tube 95 that comes into contact with the ball 96 has a shape that matches the outer shape of the ball 92, similarly to the connecting tube 94.
- FIG. 10 (b) is a partial plan view of FIG. 10 (a).
- the connecting pipe 94 and the pressurizing pipe 95 have a An insertion groove 98 is formed, and performs the same function as the probe insertion groove 83 of the ball step gauge 86 shown in FIG.
- the distance between the balls 92 of the ball step gauge 99 shown in FIG. 10 is also valued by a high-precision three-dimensional measuring machine. Similar to the ball step gauge shown in the figure, the position of the ball is measured in sequence and compared with the assigned value for calibration.
- the distance between each ball is measured by a high-precision three-dimensional measuring machine, and although the accuracy is high to some extent, the thermal disturbance causes the vertical temperature of the frame to rise and fall.
- the thermal expansion due to the temperature difference causes a bi-mimetic effect of the frame body, causing a bend and a decrease in the accuracy of the ball step gauge. Atsushi.
- the present invention solves the above problems, and even if bending occurs due to a bimetallic effect of a frame due to thermal expansion caused by a vertical temperature difference or a left and right temperature difference of the frame due to thermal disturbance, The dimensional change of the ball spacing is unlikely to occur, and the ball bearing frame has a structure in which the ball spacing change is small even if the beam is elastically deformed by the static load as the elastic supporting beam. It aims to provide ball-steal gauges.
- the present invention provides a gauge frame having an H-shaped cross-section, and a plurality of holes into which a plurality of balls are inserted at predetermined intervals along the axial direction of the horizontal frame of the gauge frame. Is a ball step gauge comprising a plurality of grooves, and a plurality of balls press-fitted into the hole so that the center of the cross section of the gauge frame is on the neutral axis of the secondary moment. .
- the ball step gauge of the present invention since the center of all balls 5 is on the neutral line of the moment of inertia of area of the gauge frame, even if the frame is bent due to thermal disturbance, the ball Dimensional change of the interval is less likely to occur.
- the frame since the frame is an elastic support beam, elastic deformation of the beam occurs due to the static load, but the change in the ball interval can be small. Therefore, an extremely accurate ball step gauge can be obtained. Further, by providing a binding surface for preventing rolling of the ball-interval measuring light wave interference stepper in a direction parallel to the ball arrangement axis, a more accurate ball step gauge can be obtained.
- FIG. 1 (a) is a plan view showing an embodiment of the ball step gauge of the present invention
- FIG. 1 (b) is a side view of the ball step gauge shown in FIG. 1 (a)
- FIG. 2 is a perspective view of the ball step gauge of FIG. 1 (a).
- FIG. 2 is a front view of an optical interference stepper for measuring a ball interval using the ball step gauge of the present invention.
- FIG. 3 is a front view of the light wave interference stepper of FIG.
- FIG. 4 is a right side view of the light wave interference stepper of FIG.
- FIG. 5 is a left side view of the light wave interference stepper of FIG.
- FIG. 6 (a) is a cross-sectional view of the mirror holder used in the optical interference stepper of FIG. 2
- FIG. 6 (b) is a left side view of the mirror holder of FIG. 6 (a)
- FIG. ) Is a right side view of the mirror holder in FIG. 6 (a)
- FIG. 6 (d) is FIG.
- FIG. 5A is a partial plan view showing a contact state between a V-groove of the mirror holder and a small ball in FIG.
- FIG. 7 is an enlarged side view of a shaft portion of the lightwave transmission stepper of FIG.
- FIG. 8 is a principle diagram of an optical system for optical interference measurement applied when using the optical interference step of FIG.
- FIG. 9 (a) is a plan view of a conventional ball step gauge
- FIG. 9 (b) is a sectional view of FIG. 9 (a) ball step gauge
- FIG. 9 (c) is a view of FIG. 9 (a). It is a longitudinal direction sectional view of a ball step gauge.
- FIG. 10 (a) is a cross-sectional view of another conventional ball step gauge
- FIG. 10 (b) is a partial plan view of the ball step gauge of FIG. 10 (a).
- FIG. 1 shows an embodiment of a ball step gauge according to the present invention, in which a gauge frame 1 is a horizontal frame connecting left and right vertical frames 2 and 3 and an intermediate portion between the two vertical frames 2 and 3.
- the cross section is H-shaped as shown in Fig. 1 (b) and Fig. 1 (c).
- holes 6 for inserting balls 5 are formed at predetermined intervals along the axial direction, and the balls 5 are press-fitted into the holes 6 and the gauges are inserted. It is integrated with the frame 1.
- the ball 5 is pressed into the gauge frame 1 so that the center of the ball 5 in both the vertical and horizontal directions coincides with the axis L, which is the neutral axis of the secondary moment of the cross section of the gauge frame 1 having an H-shaped cross section. It has been fixed.
- the groove 7 is a moving space necessary for bringing the probe of the coordinate measuring machine into contact with the ball 5 when measuring the ball interval of the ball step gauge 10 using a coordinate measuring machine or the like.
- the axis L is the secondary cross section of the gauge frame 1 as described above. This is the neutral axis of the moment, and the center of all the balls 2 is located on this axis L. Therefore, the axis L is also the center line of the arrangement of the balls 5.
- Reference numeral 13 denotes a surface that functions as a restraining surface for preventing rolling of a ball-step gauge measuring optical dry stepper described later. Any one of the anti-rolling surfaces may be employed, and an appropriate one may be selected from the viewpoint of the cross-sectional dimension of the H-shape and the shape and dimensions of the dry stud or the design structure.
- the ball step gauge 10 having the above structure, since the center of all the balls 5 is on the neutral line of the secondary moment of the cross-section of the gauge frame 1, the vertical temperature of the frame due to thermal disturbance Even if bending occurs due to the bimetallic effect of the frame due to thermal expansion caused by the difference or left-right temperature difference, dimensional change in the ball spacing is less likely to occur.
- the frame of the ball step gauge 10 is an elastic support beam, elastic deformation occurs as a beam due to static load. However, even if this deformation occurs, the change in ball spacing is small. can do. Therefore, an extremely accurate ball step gauge can be obtained, and the calibration of the three-dimensional measuring machine using the ball step gauge can be accurately performed by the same method as the conventional method.
- the ball step gauge 10 After manufacturing the ball step gauge 10 with the above structure, it is necessary to specify the position of each ball.In the past, however, the position was measured using a three-dimensional measuring machine with the highest possible accuracy during the work. It is carried out. However, the accuracy is within the range of the accuracy of the CMM itself, and the CMM calibrated with the ball step gauge has a lower three-dimensional accuracy than the CMM. It is effective only as a reference device for calibrating measuring instruments. In general, it is desirable that the accuracy of the reference device for calibrating the measurement equipment be calibrated with an accuracy of about 1/10 from 1 Z 5 of the accuracy of the equipment under test. In recent years, the accuracy of CMMs has been remarkably improved, with some measuring lengths of 500 mm or less measuring less than 1 m.
- FIG. 2 is a front view of the light wave interference stepper 20.
- the balls 5, 5, of the ball step gauge 10 described above are added by two-dot chain lines.
- FIG. 3 is a bottom view.
- FIG. 4 is a right side view of the stepper, and
- FIG. 5 is a left side view.
- the H-shaped frame of the ball step gauge 10 and the balls 5, 5, are shown by two-dot chain lines.
- FIG. 6 shows a supporting device for a reflection optical system used in the light wave interference stepper 20
- FIG. 7 is an enlarged side view of an axis used in the light wave interference stepper 20.
- the light wave interference stepper 20 has a first spacer 22 fixed to an upper plate 21 and a steel ball on the lower surface of the first spacer 22.
- three spheres 23 such as ceramic spheres are fixed on a concentric circle at an angular interval of 120 degrees.
- the bearing surface composed of three such spheres 23 and engaging with the balls 5 and 5 is called a three-sphere spherical seat, and can stably support the ball 5.
- a second spacer 24 different from the first spacer 22 is fixed to the upper plate 21 of the light wave interference stepper 20.
- the lower part of the second spacer 24 is In the figure, two cylindrical hole holes are formed in a direction in which the axes of the holes are parallel to each other and are parallel to the axis L which is the ball arrangement center line. Two cylindrical rods 25 are press-fitted into this missing hole. It is desirable to employ a cylindrical roller for a rolling bearing as the cylindrical rod 25. The cylindrical rod 25 protrudes from the missing portion of the cylindrical hole and comes into contact with the above-mentioned ball 5 at a total of two points, one point at a time.
- the planes are arranged in a V-shaped orthogonal arrangement, or the lower part of the spacer 24 is arranged in a V-shaped intersection plane. Even if it is formed into a shape, if the ball 5 or 5 'is configured to be grounded at two points, the same effect as the above effect can be achieved. However, when the cylindrical rod 25 is formed of the cylindrical roller for a rolling bearing as described above, it is more advantageous in that the frictional force with the ball spherical surface can be reduced.
- the light wave interference stepper 20 is mounted on two adjacent balls 5, 5 'of the ball step gauge 10 so as to straddle in a riding manner.
- the degree of freedom of the position and orientation of the Oka IJ body in the space is a total of six degrees of freedom, so in order to completely restrain the stepper 20 against the ball step gauge 10, a three-sphere spherical surface is required. Since three points are constrained and two points are constrained to the ball 5 and the cylindrical rod 25, the five-point constrain has been established so far.
- the last constraint of the sixth point is to prevent the ball step gauge 10 from biting, and in the illustrated embodiment, the upper plate is attached to the end face of the vertical frame as the anti-rolling surface of the ball step gauge 10.
- a small ball 26 protruding downward from 21 is hit.
- the small ball 26 is fixed to the lower end of the adjusting screw 27, and the adjusting screw 27 is screwed into the upper plate 21 and adjusted in the vertical direction.
- an upper surface of a horizontal frame or the like may be used in addition to the end surface of the vertical frame.
- mirror supporting arms 30 protrude, and each mirror supporting arm 30 is shown in detail in FIGS. 6 (a) to (d).
- Mirror holder 31 is positioned and fixed as described above.
- the reflecting mirror 32 is fixed to the mirror holder 31.
- a spring hook 33 is fixed to the mirror holder 31, and a hook of a tension spring 34 is hooked on the spring hook 33. Further, a hook at the other end of the tension spring 34 is hooked on a spring stopper 39 of a spring hook arm 35 fixed to the back surface of the mirror support arm 30.
- a spring stopper 39 of a spring hook arm 35 fixed to the back surface of the mirror support arm 30.
- V-grooves 36 On the surface of the mirror holder 31 opposite to the mounting surface of the reflecting mirror 32, there are three V-grooves 36, as shown by broken lines in FIG. Formed in an array. Three small balls 37 are formed one by one in this V-groove so that a total of three small balls 37 are formed, and the small ball 37 is securely in contact with the V-groove 36 by the tension of the tension spring. Each small ball 3 7 is in contact with the V groove 36 at two points, and there are three small balls, so the mirror holder 3 1 is stable against the mirror supporting arm 30 by the sum of these three balls. And enforced a six-point constraint. The small ball 37 is fixed to the tip of each adjusting screw 38, and the adjusting screw 38 is screwed to the mirror-support arm 30.
- the support adjustment device for the reflection optical system is configured as described above, the three adjustment screws 38 are appropriately twisted and adjusted to adjust the three spherical seats of the light wave interference stepper 20 shown in FIG. Center line A— Reflecting surface of reflector 3 2 completely with respect to A JP00 / 02021 can be matched, and the posture can be easily adjusted to make the reflecting surface perpendicular to the interference light to be described later.
- various reflecting members such as a corner cube usually used as an optical reflecting member can be used.
- a known optical interference measuring device 40 using a half mirror 42, a second half mirror 43, a first reflecting prism 44, and a second reflecting prism 45 is used.
- the light from the first half mirror 42 and the second half mirror 43 is projected by the optical interference measuring device 40 onto the reflecting mirrors 32, 32 'located on both sides of the light wave interference stepper 20.
- Light is received and the reflected light is received, and the position of the two reflecting mirrors 32, 32, that is, the center position of the ball 5 is accurately measured.
- the positions of the reflecting surfaces of the reflecting mirrors 3 2 and 3 2 ′ which are determined by being positioned by the first ball 5 and the second ball 5 ′ of the ball step gauge 10, are defined as the zero point of the measurement origin.
- the light wave interference stepper 20 is moved to the positions of the second and third balls, and the position is measured in the same manner as described above, as shown by the two-dot chain line in FIG. This movement measurement is sequentially repeated to measure the position of each ball on the ball step gage, thereby measuring the ball interval.
- the last set of ball intervals can be measured by inverting the ball step gauge and performing the same interference measurement as described above. This makes it possible to measure the distance between all balls using the wavelength of light as a direct measurement standard, and to perform accurate measurements compared to those that measure the distance between balls using a conventional CMM. And a very accurate ball step gauge.
- the ball step gauge 10 is rotated back and forth, and the same interference measurement as described above is sequentially performed so that the distance between the balls is reversed. By measuring twice from the direction and averaging the two measured values, more accurate measurement can be performed, and a more accurate ball-step gauge can be obtained.
- the three spherical spherical seats of the ball 5 and the light wave interference stepper 20 move to the next ball position by lifting the light wave interference stepper 20 in order to release the interference between the positions of the two when moving horizontally.
- This vertical movement can be performed by using the Z-axis function of the coordinate measuring machine to check the axis 50 on the Z-axis.
- Horizontal movement can also directly move the optical interference stepper 20 using the X-axis function of the CMM.
- the ball step gauge 10 itself can be moved by the X-axis function to perform horizontal movement.
- FIG. 7 is an explanatory view showing a fitting state of the upper plate 21 of the light wave interference stepper 20 and the shaft 50 that moves the light wave stepper 20 during the interference measurement.
- the first hole 29 has a slight fitting clearance 51 and a slight gap between the lower surface 52 of the upper plate 21 and the flange 53 provided at the lower end of the shaft 50. It is desirable to have a gap 54. This is a measure to prevent additional constraint other than the above-mentioned 6-point constraint of the ball step gauge 10 when the lower part of the Z-axis of the CMM and the axis 50 are connected at the upper part 52.
- the shaft 50 has a clearance with respect to the upper plate 41 in the radial direction with respect to the hole 29 at the time of the interference measurement.
- the upper part 55 of the shaft 50 is tertiary. It is necessary to take measures such as providing a support member with a clearance at the Z-axis end of the original measuring machine. Industrial use possible 'ft
- the ball step gage according to the present invention is configured as described above, bending occurs due to a bimetallic effect of the frame due to thermal expansion caused by a vertical temperature difference and a right and left temperature difference of the frame due to thermal disturbance. Even in this case, a ball step gauge in which the dimensional change of the ball interval hardly occurs can be obtained. In addition, even if the frame of the ball step gauge has an elastic deformation as a beam due to a static load as an elastic support beam, the ball step gauge can be configured to have a small change in ball interval. Furthermore, when measuring the distance between two adjacent balls, a ball step gauge that can easily use the wavelength of light as a length standard directly as a measurement standard can be provided.
- the ball step gauge according to the present invention can be used as a reference device for calibrating a reliable CMM because the change in the ball interval is very small.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Length-Measuring Instruments Using Mechanical Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US09/720,793 US6493957B1 (en) | 1999-06-18 | 2000-03-30 | Ball step gauge |
DE10081572T DE10081572B4 (de) | 1999-06-18 | 2000-03-30 | Interferometrische Schritteinrichtung zum Messen eines Abstands zwischen Kugeln einer Kugelschrittlehre und Verfahren hierfür |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11/172290 | 1999-06-18 | ||
JP17229099A JP3210963B2 (ja) | 1999-06-18 | 1999-06-18 | ボールステップゲージ |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000079216A1 true WO2000079216A1 (fr) | 2000-12-28 |
Family
ID=15939197
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/002021 WO2000079216A1 (fr) | 1999-06-18 | 2000-03-30 | Calibre à rangée de billes |
Country Status (4)
Country | Link |
---|---|
US (1) | US6493957B1 (ja) |
JP (1) | JP3210963B2 (ja) |
DE (1) | DE10081572B4 (ja) |
WO (1) | WO2000079216A1 (ja) |
Cited By (3)
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WO2001088465A1 (de) * | 2000-05-15 | 2001-11-22 | Schott Glas | Eindimensionales kalibriernormal |
CN103791791A (zh) * | 2014-03-06 | 2014-05-14 | 苏州卓尔测量技术有限公司 | 一种新型步距规及其组装方法 |
CN104729386A (zh) * | 2013-12-20 | 2015-06-24 | 桂林安一量具有限公司 | 高稳定性简易步距规及其工艺方法 |
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WO2003069277A1 (en) * | 2002-02-14 | 2003-08-21 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
US7881896B2 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
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US20050230605A1 (en) * | 2004-04-20 | 2005-10-20 | Hamid Pishdadian | Method of measuring using a binary optical sensor |
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JP6238703B2 (ja) * | 2013-11-29 | 2017-11-29 | 株式会社ミツトヨ | 真直度校正方法及びその装置 |
US9021853B1 (en) * | 2014-05-27 | 2015-05-05 | Micro Surface Engineering, Inc. | Dimensionally stable long, calibration device |
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JP2023010002A (ja) * | 2021-07-08 | 2023-01-20 | オークマ株式会社 | 工作機械の誤差同定方法、誤差同定プログラム、工作機械 |
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- 2000-03-30 WO PCT/JP2000/002021 patent/WO2000079216A1/ja active Application Filing
- 2000-03-30 US US09/720,793 patent/US6493957B1/en not_active Expired - Fee Related
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JPH10300452A (ja) * | 1997-04-22 | 1998-11-13 | Komatsu Ltd | 半導体パッケージ計測系の検査装置、方法及び較正用治具 |
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WO2001088465A1 (de) * | 2000-05-15 | 2001-11-22 | Schott Glas | Eindimensionales kalibriernormal |
CN104729386A (zh) * | 2013-12-20 | 2015-06-24 | 桂林安一量具有限公司 | 高稳定性简易步距规及其工艺方法 |
CN103791791A (zh) * | 2014-03-06 | 2014-05-14 | 苏州卓尔测量技术有限公司 | 一种新型步距规及其组装方法 |
Also Published As
Publication number | Publication date |
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US6493957B1 (en) | 2002-12-17 |
JP3210963B2 (ja) | 2001-09-25 |
JP2001004358A (ja) | 2001-01-12 |
DE10081572B4 (de) | 2006-05-11 |
DE10081572T1 (de) | 2001-10-04 |
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