CN106625673A - 狭小空间装配系统及装配方法 - Google Patents
狭小空间装配系统及装配方法 Download PDFInfo
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- CN106625673A CN106625673A CN201611241398.3A CN201611241398A CN106625673A CN 106625673 A CN106625673 A CN 106625673A CN 201611241398 A CN201611241398 A CN 201611241398A CN 106625673 A CN106625673 A CN 106625673A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000009434 installation Methods 0.000 claims description 8
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000004458 analytical method Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract 5
- 239000013256 coordination polymer Substances 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 101100010343 Drosophila melanogaster lobo gene Proteins 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (10)
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CN201611241398.3A CN106625673B (zh) | 2016-12-29 | 2016-12-29 | 狭小空间装配系统及装配方法 |
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CN201611241398.3A CN106625673B (zh) | 2016-12-29 | 2016-12-29 | 狭小空间装配系统及装配方法 |
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CN106625673A true CN106625673A (zh) | 2017-05-10 |
CN106625673B CN106625673B (zh) | 2019-09-24 |
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Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107314778A (zh) * | 2017-08-04 | 2017-11-03 | 广东工业大学 | 一种相对姿态的标定方法、装置及系统 |
CN108994844A (zh) * | 2018-09-26 | 2018-12-14 | 广东工业大学 | 一种打磨操作臂手眼关系的标定方法和装置 |
CN109202438A (zh) * | 2018-09-28 | 2019-01-15 | Oppo(重庆)智能科技有限公司 | 壳体组件的组装方法及组装设备 |
CN109397285A (zh) * | 2018-09-17 | 2019-03-01 | 鲁班嫡系机器人(深圳)有限公司 | 一种装配方法、装配装置及装配设备 |
CN110010019A (zh) * | 2019-04-15 | 2019-07-12 | 珠海格力智能装备有限公司 | 一种装配led屏的控制方法及装置 |
CN110181518A (zh) * | 2019-06-24 | 2019-08-30 | 珠海格力智能装备有限公司 | 模组的安装方法、存储介质 |
CN110328665A (zh) * | 2019-07-05 | 2019-10-15 | 珠海格力智能装备有限公司 | Led模组的装配方法及装置、存储介质、处理器 |
CN110364103A (zh) * | 2019-08-08 | 2019-10-22 | 深圳市洲明科技股份有限公司 | 显示模组位置校正方法及显示屏 |
CN112857367A (zh) * | 2021-01-21 | 2021-05-28 | 中国煤炭科工集团太原研究院有限公司 | 一种基于机器视觉和惯性导航的掘进机位姿检测方法 |
CN114034315A (zh) * | 2021-09-30 | 2022-02-11 | 北京航天时代激光导航技术有限责任公司 | 一套用于激光陀螺组件同步装配的工装和方法 |
WO2022036479A1 (zh) * | 2020-08-17 | 2022-02-24 | 江苏瑞科科技有限公司 | 一种ar辅助装配中的基体及零件位姿估计方法 |
CN114383575A (zh) * | 2021-12-22 | 2022-04-22 | 中国测绘科学研究院 | 一种陀螺仪辅助近景测量的地质灾害监测方法 |
CN114905511A (zh) * | 2022-05-12 | 2022-08-16 | 南京航空航天大学 | 一种工业机器人装配误差检测与精度补偿系统标定方法 |
CN115055964A (zh) * | 2022-08-18 | 2022-09-16 | 山东鑫亚工业股份有限公司 | 一种基于喷油泵的智能装配方法及系统 |
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JPH05318361A (ja) * | 1992-05-20 | 1993-12-03 | Nec Corp | 物体操作方式 |
US5608847A (en) * | 1981-05-11 | 1997-03-04 | Sensor Adaptive Machines, Inc. | Vision target based assembly |
CN101852589A (zh) * | 2010-03-23 | 2010-10-06 | 大连理工大学 | 基于工业内窥镜的狭小空间内微小零件装配测量装置及方法 |
CN102692214A (zh) * | 2012-06-11 | 2012-09-26 | 北京航空航天大学 | 一种狭窄空间双目视觉测量定位装置及方法 |
CN104476549A (zh) * | 2014-11-20 | 2015-04-01 | 北京卫星环境工程研究所 | 基于视觉测量的机械臂运动路径补偿方法 |
CN105014664A (zh) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | 适用于狭小空间的轻质模块化机械臂 |
EP3056320A1 (en) * | 2015-02-10 | 2016-08-17 | F. Hoffmann-La Roche AG | Robotic device and laboratory automation system comprising robotic device |
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2016
- 2016-12-29 CN CN201611241398.3A patent/CN106625673B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US5608847A (en) * | 1981-05-11 | 1997-03-04 | Sensor Adaptive Machines, Inc. | Vision target based assembly |
JPH05318361A (ja) * | 1992-05-20 | 1993-12-03 | Nec Corp | 物体操作方式 |
CN101852589A (zh) * | 2010-03-23 | 2010-10-06 | 大连理工大学 | 基于工业内窥镜的狭小空间内微小零件装配测量装置及方法 |
CN102692214A (zh) * | 2012-06-11 | 2012-09-26 | 北京航空航天大学 | 一种狭窄空间双目视觉测量定位装置及方法 |
CN104476549A (zh) * | 2014-11-20 | 2015-04-01 | 北京卫星环境工程研究所 | 基于视觉测量的机械臂运动路径补偿方法 |
EP3056320A1 (en) * | 2015-02-10 | 2016-08-17 | F. Hoffmann-La Roche AG | Robotic device and laboratory automation system comprising robotic device |
CN105014664A (zh) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | 适用于狭小空间的轻质模块化机械臂 |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107314778A (zh) * | 2017-08-04 | 2017-11-03 | 广东工业大学 | 一种相对姿态的标定方法、装置及系统 |
CN107314778B (zh) * | 2017-08-04 | 2023-02-10 | 广东工业大学 | 一种相对姿态的标定方法、装置及系统 |
CN109397285A (zh) * | 2018-09-17 | 2019-03-01 | 鲁班嫡系机器人(深圳)有限公司 | 一种装配方法、装配装置及装配设备 |
CN109397285B (zh) * | 2018-09-17 | 2021-09-07 | 鲁班嫡系机器人(深圳)有限公司 | 一种装配方法、装配装置及装配设备 |
CN108994844B (zh) * | 2018-09-26 | 2021-09-03 | 广东工业大学 | 一种打磨操作臂手眼关系的标定方法和装置 |
CN108994844A (zh) * | 2018-09-26 | 2018-12-14 | 广东工业大学 | 一种打磨操作臂手眼关系的标定方法和装置 |
CN109202438A (zh) * | 2018-09-28 | 2019-01-15 | Oppo(重庆)智能科技有限公司 | 壳体组件的组装方法及组装设备 |
CN110010019A (zh) * | 2019-04-15 | 2019-07-12 | 珠海格力智能装备有限公司 | 一种装配led屏的控制方法及装置 |
CN110181518A (zh) * | 2019-06-24 | 2019-08-30 | 珠海格力智能装备有限公司 | 模组的安装方法、存储介质 |
CN110328665A (zh) * | 2019-07-05 | 2019-10-15 | 珠海格力智能装备有限公司 | Led模组的装配方法及装置、存储介质、处理器 |
CN110364103A (zh) * | 2019-08-08 | 2019-10-22 | 深圳市洲明科技股份有限公司 | 显示模组位置校正方法及显示屏 |
WO2022036479A1 (zh) * | 2020-08-17 | 2022-02-24 | 江苏瑞科科技有限公司 | 一种ar辅助装配中的基体及零件位姿估计方法 |
CN112857367A (zh) * | 2021-01-21 | 2021-05-28 | 中国煤炭科工集团太原研究院有限公司 | 一种基于机器视觉和惯性导航的掘进机位姿检测方法 |
CN112857367B (zh) * | 2021-01-21 | 2023-10-13 | 中国煤炭科工集团太原研究院有限公司 | 一种基于机器视觉和惯性导航的掘进机位姿检测方法 |
CN114034315A (zh) * | 2021-09-30 | 2022-02-11 | 北京航天时代激光导航技术有限责任公司 | 一套用于激光陀螺组件同步装配的工装和方法 |
CN114383575A (zh) * | 2021-12-22 | 2022-04-22 | 中国测绘科学研究院 | 一种陀螺仪辅助近景测量的地质灾害监测方法 |
CN114383575B (zh) * | 2021-12-22 | 2024-03-22 | 中国测绘科学研究院 | 一种陀螺仪辅助近景测量的地质灾害监测方法 |
CN114905511A (zh) * | 2022-05-12 | 2022-08-16 | 南京航空航天大学 | 一种工业机器人装配误差检测与精度补偿系统标定方法 |
CN114905511B (zh) * | 2022-05-12 | 2023-08-11 | 南京航空航天大学 | 一种工业机器人装配误差检测与精度补偿系统标定方法 |
CN115055964A (zh) * | 2022-08-18 | 2022-09-16 | 山东鑫亚工业股份有限公司 | 一种基于喷油泵的智能装配方法及系统 |
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Inventor after: Teng Chengwu Inventor after: Wang Jian Inventor after: Wu Tianwen Inventor after: Liu Manxian Inventor after: Shen Kang Inventor after: Ding Ding Inventor after: Xue Dazhao Inventor before: Tengchengwu Inventor before: Wang Jian Inventor before: Wu Tianwen Inventor before: Liu Manxian Inventor before: Shen Kang Inventor before: Ding Ding Inventor before: Xue Dazhao |
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Effective date of registration: 20220411 Address after: 210003 floor 12, No. 180 Hanzhong Road, Gulou District, Nanjing, Jiangsu Province Patentee after: JIANGSU SO-FINE COMMUNICATION CO.,LTD. Address before: No.5, Yonghe Road, Yangjiang Town, Gaochun District, Nanjing City, Jiangsu Province Patentee before: NANJING TIANXIANG INTELLIGENT EQUIPMENT TECHNOLOGY CO.,LTD. |
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Denomination of invention: Assembly System and Assembly Method in Narrow Space Granted publication date: 20190924 Pledgee: Bank of China Limited by Share Ltd. Nanjing City South Branch Pledgor: JIANGSU SO-FINE COMMUNICATION CO.,LTD. Registration number: Y2024980011646 |