CN108068122A - A kind of large ship groove face processing unit (plant) and localization method - Google Patents
A kind of large ship groove face processing unit (plant) and localization method Download PDFInfo
- Publication number
- CN108068122A CN108068122A CN201711428946.8A CN201711428946A CN108068122A CN 108068122 A CN108068122 A CN 108068122A CN 201711428946 A CN201711428946 A CN 201711428946A CN 108068122 A CN108068122 A CN 108068122A
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- industrial robot
- milling
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- laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/0093—Working by laser beam, e.g. welding, cutting or boring combined with mechanical machining or metal-working covered by other subclasses than B23K
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of large ship groove face processing unit (plant) and localization methods, belong to industrial manufacturing technology field, including the mobile platform for being arranged on ship groove face and sliding on and six axis joint type industrial robot milling attachments on a mobile platform and workpieces processing are set；Six axis joint type industrial robot milling attachments include six axis joint types series connection industrial robot and are arranged on high-speed electric main shaft, probe and the laser sensor of six axis joint types series connection industrial robot end；Workpieces processing includes milling workpiece, laser scribing workpiece and laser drill workpiece, and milling workpiece, laser scribing workpiece and laser drill workpiece are respectively mounted on a mobile platform.The integrated general industry robot of the present invention, high-speed electric main shaft and workpieces processing etc., can solve the problems, such as present in the job tasks such as the finishing of large ship groove face it is of high cost, process is complicated, inefficiency.
Description
Technical field
The present invention relates to a kind of ship processing unit (plant) and localization methods, process and fill more particularly to a kind of large ship groove face
It puts and localization method, belongs to industrial manufacturing technology field.
Background technology
With the development of science and technology, industrial robot has been widely used in automated production field, is such as removed
Process is manufactured in fortune, welding, spray painting etc..However it is currently using the Milling Process of industrial robot progress groove face workpiece
A kind of research direction and method of development.
Industrial robot is applied to Milling Process field has at low cost, high degree of automation, flexible, installation space is small
The advantages that, various positions and posture of the milling processing tool head in space can be conveniently realized, free form surface normal direction can be met
The requirement of the complicated processings such as drilling.Such as in document " Arobotic system for rapid prototyping " (Tse W
C,Chen Y H.Proceedings of the 1997IEEE International Conference on Robotics
and Automation,Piscataway,USA:IEEE, 1997,1815-1820.) in, using six-shaft industrial robot come straight
Connect milling paraffin and foamed material prototype.Document " High-speed end milling of an articulated robot
and its characteristics”(Matsuoka S I,Shimizu K,Yamazaki N,et al,Journal of
Materials Processing Technology,1999,95(1-3):83-89) closed using robot high-rate wireless LAN aluminium
Metal working part.Document " towards the robot rapid prototyping system of large-scale product " (Chen Yonghua, Xie Wanzhang, Hu Yinong, Chinese mechanic
Journey, 1997,8 (5):It 42-44) proposes the robot rapid prototyping system towards large-scale product, and the nothing of robotic cutting is done
Routing algorithm is related to be studied.It is compared with traditional numeric-control machine, cutting machines people is with degree of freedom is more, working range is wide, fortune
The advantages that dynamic flexible, can process the part with ins and outs and complex appearance.For processing the robot of similary work area
Than the space that numerically-controlled machine tool can save 40%, at the same according to robot expense than install big machinery instrument price be low.
At present, the processing methods such as the drilling of industrial robot, milling face, brill riveting, cutting obtain in fields such as automobile, aeronautical manufactures
Using.
However, industrial robot is applied to large ship groove face system of processing and method, including robot positioning system and
Coordinate switch technology yet there are no the report of technological layer.
The content of the invention
The main object of the present invention is to provide for a kind of large ship groove face processing unit (plant) and localization method, solves existing
Use in technology such as CNC five-shaft high-speeds numerical control machining centers and it is existing it is of high cost, process is complicated, inefficiency is asked
Topic.
The purpose of the present invention can reach by using following technical solution：
A kind of large ship groove face processing unit (plant), including the mobile platform that is arranged on ship groove face and slides on and
Six axis joint type industrial robot milling attachments and the workpieces processing being arranged on the mobile platform；The six axis joints type work
Industry robotic milling device includes six axis joint types series connection industrial robot and is arranged on the six axis joints type series connection industrial machine
High-speed electric main shaft, probe and the laser sensor of device people end；The workpieces processing include milling workpiece, laser scribing workpiece and
Laser drill workpiece, the milling workpiece, the laser scribing workpiece and the laser drill workpiece are installed in the movement
On platform.
Preferably, the probe is mounted on the end of six axis joints type series connection industrial robot, for detection operations
Four machining benchmark points on table top, determine processing datum and workpiece coordinate system.
Preferably, the laser sensor is installed on the ring flange of the six axis joints type series connection industrial robot end
On, for measuring the line initial point of processing datum and line direction, line initial point and line direction are converted to described
The coordinate system of six axis joint types series connection industrial robot.
Preferably, the milling workpiece, the laser scribing workpiece and the laser drill workpiece are installed in described six
On the ring flange of axis joint type series connection industrial robot end, three is realized by the way of Automatic manual transmission or machinery crawl
Between switching.
Preferably, the six axis joints type series connection industrial robot is mounted on the mobile platform, the mobile platform
It is connected with a control cylinder, the control cylinder controls the mobile platform movement.
Preferably, the six axis joints type series connection artificial 2700 type industrial robots of storehouse card IKR210 of industrial machine.
Further, the process of the milling workpiece includes the following steps：
Step 1：High-speed electric main shaft, probe, laser sensor are installed on six axis joint types series connection industrial robot successively
End；
Step 2：After six axis joint types series connection industrial robot is moved to rough location by mobile platform, closed by six axis
The laser sensor installed on nodal pattern series connection industrial robot positions workpieces processing into row position；
Step 3：The probe detection groove body face of six axis joint types series connection industrial robot end is installed on, determines four processing
Datum mark, and then determine processing datum, the coordinate system of workpieces processing is obtained, that is, is completed from tool coordinates system to workpiece coordinate
The conversion of system；
Step 4：Milling workpiece is mounted on high-speed electric main shaft end, six axis joint types series connection industrial machine is made by control
People carries out milling according to the workpiece coordinate system that coordinate is converted to the workpiece groove body for needing milling；
Step 5：Exchange different cutter heads in six axis joint types series connection industrial robot end, to the workpiece that needs are processed into
Row Milling Process is punched by laser drill workpiece；
Step 6：Repeatedly measurement is carried out stage by stage to the flatness of the workpiece after milling.
A kind of large ship groove face processing positioning method, rules to aluminum alloy materials, is drilled, Milling Process, in milling
After cutting processing, using laser planeness detector, repeatedly measurement is carried out stage by stage to flatness, detector when scanning for 90 °,
The plane precision of lasing area is 0.005mm/m, laser planar survey radius 30.5m.
The advantageous effects of the present invention：Large ship groove face processing unit (plant) and localization method according to the invention, this hair
The large ship groove face processing unit (plant) of bright offer, robot is installed on mobile platform, is promoted by cylinder, using machine
Tool assemble or machinery crawl mode, come realize the different workpieces such as laser scribing workpiece, laser drill workpiece, milling workpiece it
Between switching, robot localization is the laser sensor by being installed in robot, and work coordinate system conversion is to pass through detection
Four machining benchmark points on workpiece work top, to determine processing datum, so that it is determined that workpiece coordinate system, it is ensured that processing
The flatness and accuracy of plane use common industrial robot and high-speed electric main shaft, you can realize groove face Milling Process work(
It can and reach requirement on machining accuracy, and can realize a variety of Milling Process functions, finishing of large ship groove face etc. can be solved
Machining problem in job task.
Description of the drawings
Fig. 1 is the overall structure diagram of a preferred embodiment of large ship groove face processing unit (plant) according to the invention；
Fig. 2 is the laser of a preferred embodiment of large ship groove face processing unit (plant) according to the invention and localization method
Sensor structure diagram, the embodiment can be the embodiment identical from Fig. 1 or the embodiment different with Fig. 1；
Fig. 3 is the milling work of a preferred embodiment of large ship groove face processing unit (plant) according to the invention and localization method
Part structure diagram, the embodiment can be the embodiment identical from Fig. 1 or Fig. 2 or the reality different with Fig. 1 or Fig. 2
Apply example.
In figure：Six axis joint types of 1- series connection industrial robot, 2- high-speed electric main shafts, 4- probes, 5- laser sensors, 6- millings
Turning work piece, 7- laser scribing workpiece, 8- laser drill workpiece, 9- mobile platforms.
Specific embodiment
To make those skilled in the art more clear and clear and definite technical scheme, with reference to embodiment and attached drawing
The present invention is described in further detail, but the implementation of the present invention is not limited to this.
As shown in Figure 1, Figure 2 and Figure 3, a kind of large ship groove face processing unit (plant) provided in this embodiment, including being arranged on
Ship groove face and the mobile platform 9 slid on and six axis joint type industrial robots being arranged on the mobile platform 9
Milling attachment and workpieces processing；The six axis joints type industrial robot milling attachment includes six axis joint types series connection industrial machine
People 1 and high-speed electric main shaft 2, probe 4 and the laser sensor for being arranged on six axis joints type series connection industrial robot, 1 end
5；The workpieces processing include milling workpiece 6, laser scribing workpiece 7 and laser drill workpiece 8, the milling workpiece 6, it is described swash
Light line workpiece 7 and the laser drill workpiece 8 are installed on the mobile platform 9.
Further, in the present embodiment, as shown in Figure 1, the probe 4 is mounted on six axis joints type series connection industry
The end of robot 1, four machining benchmark points on detection operations table top, determines processing datum and workpiece coordinate system,
The laser sensor 5 is installed on the ring flange of six axis joints type series connection industrial robot, 1 end, is processed for measuring
Line initial point and direction of ruling are converted to the six axis joints type and connected work by the line initial point of reference plane and line direction
The coordinate system of industry robot 1.
Further, in the present embodiment, as shown in Figure 1, the milling workpiece 6, the laser scribing workpiece 7 and described
Laser drill workpiece 8 is installed on the ring flange of six axis joints type series connection industrial robot, 1 end, using Automatic manual transmission
Or the mode of machinery crawl realizes the switching between three.
Further, in the present embodiment, as shown in Figure 1, six axis joints type series connection industrial robot 1 is mounted on institute
It states on mobile platform 9, the mobile platform 9 is connected with a control cylinder, and the control cylinder controls the mobile platform 9 to move
Dynamic, the six axis joints type series connection industrial robot 1 is 2700 type industrial robots of storehouse card IKR210.
Further, in the present embodiment, the process of the milling workpiece 6 includes the following steps：
Step 1：High-speed electric main shaft 2, probe 4, laser sensor 5 are installed on six axis joint types series connection industrial machine successively
1 end of people；
Step 2：After six axis joint types series connection industrial robot 1 is moved to rough location by mobile platform 9, pass through six axis
The laser sensor 5 installed on joint type series connection industrial robot 1 positions workpieces processing into row position；
Step 3：The probe 4 for being installed on six axis joint types series connection industrial robot, 1 end detects groove body face, determines that four add
Work datum mark, and then determine processing datum, the coordinate system of workpieces processing is obtained, that is, completes and is sat from tool coordinates system to workpiece
Mark the conversion of system；
Step 4：Milling workpiece 6 is mounted on 2 end of high-speed electric main shaft, six axis joint types series connection industrial machine is made by control
Device people 1 carries out milling according to the workpiece coordinate system that coordinate is converted to the workpiece groove body for needing milling；
Step 5：Different cutter heads is exchanged in six axis joint types series connection industrial robot, 1 end, the workpiece processed to needs
Milling Process is carried out, is punched by laser drill workpiece 8；
Step 6：Repeatedly measurement is carried out stage by stage to the flatness of the workpiece after milling.
A kind of large ship groove face processing positioning method provided in this embodiment, rule, drilled to aluminum alloy materials,
Milling Process after Milling Process, using laser planeness detector, carries out flatness stage by stage repeatedly measurement, detection
For instrument when scanning for 90 °, the plane precision of lasing area is 0.005mm/m, laser planar survey radius 30.5m.
Further, in the present embodiment, six axis joint types series connection industrial robot 1 is 2700 type works of storehouse card IKR210
Industry robot carries out the control of robotic milling work flow and condition monitoring by human-computer interaction layer touch-screen and control panel.
Further, in the present embodiment, Fig. 2 is illustrated that the structure chart of laser sensor 5, and laser sensor 5 can
Unique multiposition mechanical interface between robot, realizes absolute fix, and six axis joint types series connection industrial robot 1 passes through liquid
After pressure mobile platform 9 is moved to rough location, pass through the laser sensor installed on six axis joint types series connection industrial robot 1
5 combine, and every section of fixed positioner is positioned by system software, and positioning accuracy can reach 0.08mm.
Further, in the present embodiment, Fig. 3 is illustrated that the structure chart of milling workpiece 6 on workpiece workbench, milling work
Part 6 exchanges different cutter heads in end, to realize different millings and polishing.
Further, in the present embodiment, when using the present embodiment, entire Milling Processes are according to the steps
It carries out：
First, high-speed electric main shaft 2, probe 4, laser sensor 5 are installed on 1 end of industrial robot successively, work people
Member ensures the material supply of feeding bin, and passes through console and correctly enter the information such as corresponding processing part lot number；
Second step is, after robot 1 is moved to rough location by hydraulic platform, is swashed by what is installed in robot 1
Optical sensor 5 combines, every section of fixed positioner, passes through the laser installed on six axis joint types series connection industrial robot 1
Sensor 5 positions workpieces processing into row position；
3rd step is four be installed on the detection groove body of probe 4 face of six axis joint types series connection industrial robot, 1 end
Machining benchmark point, and then determine processing datum, the coordinate system of workpieces processing is obtained,；
4th step is that milling workpiece 6 is mounted on 2 end of high-speed electric main shaft, makes six axis joint types series connection work by control
Industry robot 1 carries out milling according to the workpiece coordinate system that coordinate is converted to the workpiece groove body for needing milling；
5th step is to exchange different cutter heads in 1 end of industrial robot, carries out Milling Process to workpiece, while has several
A surface needs laser drill 8 to be punched；
Final step is, after milling, using laser planeness detector, repeatedly measurement is carried out stage by stage to flatness.
For detector when scanning for 90 °, the plane precision of lasing area is 0.005mm/m, laser planar survey radius 30.5m.
Further, in the present embodiment, the installation of six axis joint type industrial robot milling attachments on a mobile platform, is led to
It crosses PLC controller to be controlled and moved, using bus communication type PLC as master controller, divides three class control mode, including people
Machine alternation of bed, master control layer, motion planning and robot control and operation lathe interface layer, human-computer interaction layer use touch-screen and control plane
Plate.The state of the sub- equipment such as the transmission of the control commands such as touch-screen is responsible for starting, stop, emergency stop and robot, operation lathe
Presentation of information, fault message are shown, fault log is shown, the daily output counts, and user are facilitated to check and safeguard, control panel is born
Blame main control command such as start, stop, the working status indication of emergency stop and power supply instruction, robot and operation cylinder
And operating mode instruction.
Further, in the present embodiment, after robot localization is moved to rough location by hydraulic platform, machine is passed through
The laser sensor installed on people combines, and every section of fixed positioner is positioned, positioning accuracy by system software
0.08mm can be reached.
Further, in the present embodiment, coordinate is converted, and probe unit is mounted on six axis joint types series connection industrial robot
1 end detects four machining benchmark points on groove body face using probe, so that it is determined that workpiece coordinate system, in given reference plane base
On plinth.
In conclusion in the present embodiment, according to the large ship groove face processing unit (plant) and localization method of the present embodiment, sheet
The large ship groove face processing unit (plant) and localization method, robot that embodiment provides are installed on mobile platform, pass through cylinder
It is promoted, by the way of Automatic manual transmission or machinery crawl, to realize laser scribing workpiece, laser drill workpiece, milling
Switching between the different workpieces such as workpiece, robot localization are the laser sensors by being installed in robot, operating coordinates
System's conversion is by four machining benchmark points on detection workpieces work top, to determine processing datum, so that it is determined that workpiece
Coordinate system, it is ensured that process the flatness and accuracy of plane, use common industrial robot and high-speed electric main shaft, you can real
Show groove face Milling Process function and reach requirement on machining accuracy, and can realize a variety of Milling Process functions, argosy can be solved
Machining problem in the job tasks such as the finishing of oceangoing ship groove face.
The above is only further embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
In scope disclosed in this invention, technique according to the invention scheme and its design add those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (8)
1. a kind of large ship groove face processing unit (plant), including the mobile platform (9) that is arranged on ship groove face and slides on and
Six axis joint type industrial robot milling attachments and the workpieces processing being arranged on the mobile platform (9)；It is characterized in that：Institute
Stating six axis joint type industrial robot milling attachments includes six axis joint types series connection industrial robot (1) and is arranged on described six
The high-speed electric main shaft (2), probe (4) and laser sensor (5) of axis joint type series connection industrial robot (1) end；The processing
Workpiece includes milling workpiece (6), laser scribing workpiece (7) and laser drill workpiece (8), the milling workpiece (6), the laser
Line workpiece (7) and the laser drill workpiece (8) are installed on the mobile platform (9).
2. a kind of large ship groove face processing unit (plant) according to claim 1, it is characterised in that：Probe (4) installation
In the end of six axis joints type series connection industrial robot (1), four machining benchmark points on detection operations table top, really
Determine processing datum and workpiece coordinate system.
3. a kind of large ship groove face processing unit (plant) according to claim 2, it is characterised in that：The laser sensor
(5) it is installed on the ring flange of described six axis joints type series connection industrial robot (1) end, for measuring drawing for processing datum
Line initial point is converted to the six axis joints type with direction of ruling and connected industrial robot by line initial point and line direction
(1) coordinate system.
4. a kind of large ship groove face processing unit (plant) according to claim 1, it is characterised in that：The milling workpiece (6),
The laser scribing workpiece (7) and the laser drill workpiece (8) are installed in the six axis joints type series connection industrial robot
(1) on the ring flange of end, the switching between three is realized by the way of Automatic manual transmission or machinery crawl.
5. a kind of large ship groove face processing unit (plant) according to claim 1, it is characterised in that：The six axis joints type string
Join industrial robot (1) to be mounted on the mobile platform (9), the mobile platform (9) is connected with a control cylinder, the control
Cylinder processed controls the mobile platform (9) mobile.
6. a kind of large ship groove face processing unit (plant) according to claim 1, it is characterised in that：The six axis joints type string
It is 2700 type industrial robots of storehouse card IKR210 to join industrial robot (1).
7. a kind of large ship groove face processing unit (plant) according to claim 1, it is characterised in that：The milling workpiece (6)
Process include the following steps：
Step 1：High-speed electric main shaft (2), probe (4), laser sensor (5) are installed on six axis joint types series connection industrial machine successively
Device people (1) end；
Step 2：After six axis joint types series connection industrial robot (1) is moved to rough location by mobile platform (9), pass through six axis
The laser sensor (5) installed on joint type series connection industrial robot (1) positions workpieces processing into row position；
Step 3：Probe (4) the detection groove body face of six axis joint types series connection industrial robot (1) end is installed on, determines that four add
Work datum mark, and then determine processing datum, the coordinate system of workpieces processing is obtained, that is, completes and is sat from tool coordinates system to workpiece
Mark the conversion of system；
Step 4：Milling workpiece (6) is mounted on high-speed electric main shaft (2) end, six axis joint types series connection industrial machine is made by control
Device people (1) carries out milling according to the workpiece coordinate system that coordinate is converted to the workpiece groove body for needing milling；
Step 5：Exchange different cutter heads in six axis joint types series connection industrial robot (1) end, to the workpiece processed of needs into
Row Milling Process is punched by laser drill workpiece (8)；
Step 6：Repeatedly measurement is carried out stage by stage to the flatness of the workpiece after milling.
8. a kind of large ship groove face processing positioning method as described in claim 1-7 any one, it is characterised in that：To aluminium
Alloy material is rule, is drilled, Milling Process, after Milling Process, using laser planeness detector, to flatness into
Row repeatedly measurement stage by stage, for detector when scanning for 90 °, the plane precision of lasing area is 0.005mm/m, laser planar survey radius
30.5m。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711428946.8A CN108068122A (en) | 2017-12-26 | 2017-12-26 | A kind of large ship groove face processing unit (plant) and localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711428946.8A CN108068122A (en) | 2017-12-26 | 2017-12-26 | A kind of large ship groove face processing unit (plant) and localization method |
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| Publication Number | Publication Date |
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| CN108068122A true CN108068122A (en) | 2018-05-25 |
Family
ID=62155596
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|---|---|---|---|
| CN201711428946.8A Pending CN108068122A (en) | 2017-12-26 | 2017-12-26 | A kind of large ship groove face processing unit (plant) and localization method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838513A (en) * | 2018-06-20 | 2018-11-20 | 中国民航大学 | A kind of laser processing localization method |
| CN109304641A (en) * | 2018-10-26 | 2019-02-05 | 济南天辰铝机股份有限公司 | A kind of profile milling device and its processing method using line laser marker positioning |
| CN112108696A (en) * | 2020-08-29 | 2020-12-22 | 苏州派恩精密机械有限公司 | Valve chute processing technology |
| CN113814744A (en) * | 2021-10-14 | 2021-12-21 | 济南凯之岳机器有限公司 | Drilling, milling and scribing combined machining center for door and window aluminum profiles |
| RU2808316C1 (en) * | 2023-03-10 | 2023-11-28 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Тамбовский государственный технический университет" (ФГБОУ ВО "ТГТУ") | Method for controlling movement of ground robotic complex for gardening along tree planting line |
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| CN104589159A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Annular track industrial robot for machining large-scale workpiece |
| CN104858712A (en) * | 2015-04-10 | 2015-08-26 | 深圳市圆梦精密技术研究院 | Machining method and machining equipment for parts with curved surfaces |
| CN107219845A (en) * | 2017-08-07 | 2017-09-29 | 北京英泰诺医疗科技有限公司 | The system and method that auxiliary robot realizes spatial registration can be manually operated |
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| US20110098852A1 (en) * | 2009-10-22 | 2011-04-28 | Electroimpact, Inc. | Robotic manufacturing system with accurate control |
| CN104589159A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Annular track industrial robot for machining large-scale workpiece |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838513A (en) * | 2018-06-20 | 2018-11-20 | 中国民航大学 | A kind of laser processing localization method |
| CN109304641A (en) * | 2018-10-26 | 2019-02-05 | 济南天辰铝机股份有限公司 | A kind of profile milling device and its processing method using line laser marker positioning |
| CN112108696A (en) * | 2020-08-29 | 2020-12-22 | 苏州派恩精密机械有限公司 | Valve chute processing technology |
| CN113814744A (en) * | 2021-10-14 | 2021-12-21 | 济南凯之岳机器有限公司 | Drilling, milling and scribing combined machining center for door and window aluminum profiles |
| RU2808316C1 (en) * | 2023-03-10 | 2023-11-28 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Тамбовский государственный технический университет" (ФГБОУ ВО "ТГТУ") | Method for controlling movement of ground robotic complex for gardening along tree planting line |
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