CN104729455A - 一种基于测量数据的管路柔性装焊机器人位姿计算方法 - Google Patents
一种基于测量数据的管路柔性装焊机器人位姿计算方法 Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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CN201510105340.5A CN104729455B (zh) | 2014-12-04 | 2015-03-11 | 一种基于测量数据的管路柔性装焊机器人位姿计算方法 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105345382A (zh) * | 2015-10-21 | 2016-02-24 | 西安航空动力股份有限公司 | 一种用于管路数字化定角向的方法 |
CN109693058A (zh) * | 2018-12-24 | 2019-04-30 | 北京理工大学 | 一种管路组件焊装姿态的确定方法、装置及上位机 |
CN109916352A (zh) * | 2017-12-13 | 2019-06-21 | 北京柏惠维康科技有限公司 | 一种获取机器人tcp坐标的方法和装置 |
CN111595266A (zh) * | 2020-06-02 | 2020-08-28 | 西安航天发动机有限公司 | 空间复杂走向导管视觉识别方法 |
CN111922567A (zh) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | 焊接的控制方法、装置、计算机可读存储介质和焊接系统 |
Citations (4)
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JPH1094874A (ja) * | 1996-09-24 | 1998-04-14 | Babcock Hitachi Kk | 管継手の自動溶接方法 |
JP2011031327A (ja) * | 2009-07-30 | 2011-02-17 | Kyokko Denki Kk | 汎用ロボット移動教示装置 |
CN102183205A (zh) * | 2011-01-19 | 2011-09-14 | 北京航空航天大学 | 一种大型零部件最佳装配位姿匹配的方法 |
CN102357873A (zh) * | 2011-09-20 | 2012-02-22 | 北京航空航天大学 | 一种管路整体装焊的可重构工装 |
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2015
- 2015-03-11 CN CN201510105340.5A patent/CN104729455B/zh active Active
Patent Citations (4)
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---|---|---|---|---|
JPH1094874A (ja) * | 1996-09-24 | 1998-04-14 | Babcock Hitachi Kk | 管継手の自動溶接方法 |
JP2011031327A (ja) * | 2009-07-30 | 2011-02-17 | Kyokko Denki Kk | 汎用ロボット移動教示装置 |
CN102183205A (zh) * | 2011-01-19 | 2011-09-14 | 北京航空航天大学 | 一种大型零部件最佳装配位姿匹配的方法 |
CN102357873A (zh) * | 2011-09-20 | 2012-02-22 | 北京航空航天大学 | 一种管路整体装焊的可重构工装 |
Non-Patent Citations (2)
Title |
---|
朱绪胜等: "基于关键装配特性的大型零部件最佳装配位姿多目标优化算法", 《航空学报》 * |
郑联语等: "基于盒式连接和六足机构的翼盒水平装配可重构柔性夹具设计与验证初探", 《航空精密制造技术》 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105345382A (zh) * | 2015-10-21 | 2016-02-24 | 西安航空动力股份有限公司 | 一种用于管路数字化定角向的方法 |
CN109916352A (zh) * | 2017-12-13 | 2019-06-21 | 北京柏惠维康科技有限公司 | 一种获取机器人tcp坐标的方法和装置 |
CN109916352B (zh) * | 2017-12-13 | 2020-09-25 | 北京柏惠维康科技有限公司 | 一种获取机器人tcp坐标的方法和装置 |
CN109693058A (zh) * | 2018-12-24 | 2019-04-30 | 北京理工大学 | 一种管路组件焊装姿态的确定方法、装置及上位机 |
CN111595266A (zh) * | 2020-06-02 | 2020-08-28 | 西安航天发动机有限公司 | 空间复杂走向导管视觉识别方法 |
CN111922567A (zh) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | 焊接的控制方法、装置、计算机可读存储介质和焊接系统 |
CN111922567B (zh) * | 2020-08-13 | 2022-06-21 | 北京博清科技有限公司 | 焊接的控制方法、装置、计算机可读存储介质和焊接系统 |
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Inventor after: He Fengguang Inventor after: Wang Guangyan Inventor after: Lu Wei Inventor after: Liu Zhengyong Inventor before: Zheng Lianyu Inventor before: Qiao Bin Inventor before: Fang Wei |
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Effective date of registration: 20171116 Address after: 230013 Anhui province Hefei New Station District Dragon Lake Road and road junction southwest. Patentee after: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: Beihang University |
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Address after: 230013 Southwest District of Hefei City, Anhui Province Patentee after: Hefei xinyihua Intelligent Machine Co.,Ltd. Address before: 230013 Southwest District of Hefei City, Anhui Province Patentee before: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. |
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