CN109352300A - A kind of device of multirobot collaborative assembly memory bar - Google Patents
A kind of device of multirobot collaborative assembly memory bar Download PDFInfo
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- CN109352300A CN109352300A CN201811419826.6A CN201811419826A CN109352300A CN 109352300 A CN109352300 A CN 109352300A CN 201811419826 A CN201811419826 A CN 201811419826A CN 109352300 A CN109352300 A CN 109352300A
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- memory bar
- clamping
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- mainboard
- double
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- 230000015654 memory Effects 0.000 title claims abstract description 109
- 238000013519 translation Methods 0.000 claims description 15
- 239000012530 fluid Substances 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 230000014616 translation Effects 0.000 claims 5
- 238000001914 filtration Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of devices of multirobot collaborative assembly memory bar, comprising: the first robot, the second robot, third robot, the first mainboard clamping device, the second mainboard clamping device and memory bar clamp device；First mainboard clamping device is installed on the end of the first robot, and the first robot passes through one end of the first mainboard gripping apparatus grips mainboard；Second mainboard clamping device is installed on the end of the second robot, and the second robot passes through the other end of the second mainboard gripping apparatus grips mainboard；The clamping of first robot and the second robot cooperative achievement to mainboard；Memory bar clamp device is installed on the end of third robot, and third robot clamps memory bar by memory bar clamp device, and memory bar is assembled on mainboard.The present invention can be realized the automatic assembling of memory bar, to improve production efficiency, and reduce manual labor's cost.
Description
Technical field
The invention belongs to robotic asssembly fields, more particularly, to a kind of dress of multirobot collaborative assembly memory bar
It sets.
Background technique
It popularizes with the development of internet and gradually, currently on the market to 3C (computer Computer, communication
Communication and consumption electronic product Consumer Electronic) electronic product demand it is increasing, thus
The scale of the assembly producing line of 3C spare and accessory parts is caused constantly to expand.At present in the assembly field of 3C consumer electronics, it is main or with
Based on manual assembly, thus assembly efficiency is low, labor intensity of workers is big；Moreover, time-consuming, assembly pair for the assembly of 3C electronic product
As complicated multiplicity.
On mainboard, on server master board, computer main board, memory bar is more complicated part, is filled relative to complete machine
For matching, manual assembly memory bar time-consuming is extremely long, and assembly efficiency is in urgent need to be improved, and operating condition is complicated, it is difficult to parallel.It is overall and
Speech, due to depending on manual assembly, the assembly of existing 3C consumer electronics there are assembly efficiencies low, large labor intensity, cost
The problems such as high, seriously affects the production efficiency of assembling line.
Summary of the invention
In view of the drawbacks of the prior art and Improvement requirement, the present invention provides a kind of multirobot collaborative assembly memory bars
Device improves assembly efficiency it is intended that realizing the automatic assembling of memory bar.
To achieve the above object, the present invention provides a kind of devices of multirobot collaborative assembly memory bar, comprising: first
Robot, the second robot, third robot, the first mainboard clamping device, the second mainboard clamping device and memory bar clamping
Device；
First mainboard clamping device is installed on the end of the first robot, and the first robot passes through the first mainboard clamping device
Clamp one end of mainboard；Second mainboard clamping device is installed on the end of the second robot, and the second robot passes through the second mainboard
The other end of gripping apparatus grips mainboard；The clamping of first robot and the second robot cooperative achievement to mainboard；
Memory bar clamp device is installed on the end of third robot, and third robot is clamped by memory bar clamp device
Memory bar, and memory bar is assembled on the mainboard through the first robot and the second robotic gripper, to realize memory bar
Automatic assembling.
The course of work of the device of above-mentioned multirobot collaborative assembly memory bar is divided into two steps, the one, first robot
Clamping mainboard is cooperateed with the second robot；Two, third robot clamps on memory bar and installation and mainboard, to complete assembler
Make.
Further, memory bar is server memory item or computer memory item.
Further, memory bar clamp device includes: air cylinder support, two clamping parts and air pressure driving circuit；
Two clamping parts are fixed on the both ends of air cylinder support, are respectively used to the both ends of clamping memory bar；
Clamping part includes the clamping piece of double-acting cylinder and two faces, and two clamping pieces are flat with two of double-acting cylinder respectively
Movable slider is connected；
The rodless cavity and rod chamber of air pressure driving circuit and double-acting cylinder are respectively connected with, for controlling double-acting cylinder rodless cavity
The direction of pressure difference is between rod chamber to the movement of pusher cylinder piston, so that two clamping pieces are transported in opposite directions with two translation sliding blocks
It is dynamic, to realize the clamping or release to memory bar.
Further, air pressure driving circuit include: air compressor machine, it is pneumatic triple piece, three-position four-way electromagnetic directional valve, unidirectional
Throttle valve and actuated overflow valve；
It is used for air compressor in generating normal pressure by air-flow；Actuated overflow valve is connect with air compressor machine, is used for overflow pressure stabilizing, protection
Circuit；
The input terminal of pneumatic triple piece is connected with air compressor machine；Pneumatic triple piece is used to filter in the air-flow of air compressor machine generation
Moisture, the fog lubrication for reducing stream pressure and fluid；
The input terminal of three-position four-way electromagnetic directional valve is connected with the output end of pneumatic triple piece, three-position four-way electromagnetic directional valve
It is connected with the rod chamber of double-shaft two-way cylinder and passes through one-way throttle valve and is connected with the rodless cavity of double-shaft two-way cylinder；3-position 4-way
Solenoid directional control valve is used to switch the flow direction of gas, to control the direction of motion of two translation sliding blocks of double-shaft two-way cylinder, thus
Control the direction of pressure difference between double-acting cylinder rodless cavity and rod chamber.
Further, the length of air cylinder support is 15mm~20mm shorter than the length of memory bar, to guarantee that memory bar clamps
The entire length of device is slightly shorter than memory bar slot length, memory bar clamp device and memory bar slot two sides when preventing from assembling
Buckle interferes.
Further, it is bonded with soft rubber on the clamping face of clamping piece, is damaged to avoid during clamping memory bar
Hurt memory bar；
Wherein, clamping face is the one side of clamping piece and another clamping piece face in same clamping part.
Further, soft rubber with a thickness of 0.5mm~0.8mm, and the clamping face of clamping piece is apart from company of clamping piece institute
The translation sliding block edge 1mm~1.2mm connect, to avoid during assembling memory bar, memory bar is sent out due to unbalance stress
Raw opposite sliding, clamps stablizing for memory bar to realize.
Further, clamping piece with a thickness of 1mm~3mm, to guarantee that clamping device has enough rigidity, and same
It will not collide when more root memories being installed on the multiple memory bar slots of one mainboard side by side.
Further, the height of clamping piece is 10mm~15mm, to avoid memory bar clamp device when assembly memory bar
It is interfered with the rough surface of mainboard.
Further, the length of clamping piece is 5mm~10mm longer than the length for the translation sliding block that it is connected, to increase folder
The contact area of piece and memory bar is held, stablizing for memory bar is clamped to realize.
In general, the device of multi-robot system assembly memory bar provided by the present invention, is cooperateed with by multirobot
Work realizes the automatic assembling of memory bar, compensates for the blank of current area, and improve server industries Automated assembly
The degree of automation of memory bar assembling link in process reduces manual labor's cost to improve production efficiency.
Detailed description of the invention
Fig. 1 is the schematic device of multirobot collaborative assembly memory bar provided in an embodiment of the present invention；
Fig. 2 is the amplification of the working region of the device of multirobot collaborative assembly memory bar provided in an embodiment of the present invention
Figure；
Fig. 3 is the distribution map of the operating position of multiple robots provided in an embodiment of the present invention；
Fig. 4 is memory bar assembling schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the structure chart of memory bar clamp device provided in an embodiment of the present invention；
Fig. 6 is air pressure driving circuit schematic diagram provided in an embodiment of the present invention；
Fig. 7 is double-acting cylinder schematic diagram provided in an embodiment of the present invention；
Fig. 8 is air cylinder support structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is clamping piece structural schematic diagram provided in an embodiment of the present invention；
In all the appended drawings, identical appended drawing reference is used to indicate identical element or structure, in which:
1 is soft rubber, and 2 be clamping piece, and 3 be translation sliding block, and 4 be double-acting cylinder, and 5 be air cylinder support, and 6 be bump joint, 7
For third robot, 8 be the first robot, and 9 be memory bar clamp device, and 10 be mainboard, and 11 be mainboard clamping device, and 12 be the
Two robots, 13 be memory bar, and 14 be air compressor machine, and 15 be pneumatic triple piece, and 16 be three-position four-way electromagnetic directional valve, and 17 be unidirectional
Throttle valve, 18 be actuated overflow valve.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figs 1-4, the device of multirobot collaborative assembly memory bar provided in an embodiment of the present invention, comprising: first
Robot 8, the second robot 12, third robot 7, the first mainboard clamping device, the second mainboard clamping device 11 and memory
Clamp device 9；
First mainboard clamping device is installed on the end of the first robot 8, and the first robot 8 passes through the first mainboard clamping dress
Set one end of clamping mainboard 10；Second mainboard clamping device 11 is installed on the end of the second robot 12, and the second robot 12 is logical
Cross the other end of the second mainboard clamping device 11 clamping mainboard 10；First robot 8 and 12 cooperative achievement of the second robot are to master
The clamping of plate 10；First robot 8 and the second robot 12 are moved synchronously when clamping mainboard；
Memory bar clamp device 9 is installed on the end of third robot 7, and third robot 7 passes through memory bar clamp device 9
Memory bar 13 is clamped, and memory bar 13 is assembled on the mainboard 10 clamped through the first robot 8 and the second robot 12, thus
Realize the automatic assembling of memory bar；Memory bar 13 is server memory item or computer memory item, and correspondingly, mainboard 10 is server
Mainboard or computer main board；
As shown in figure 5, memory bar clamp device 9 includes: 5, two clamping parts of air cylinder support and air pressure driving circuit；
Two clamping parts are fixed on the both ends of air cylinder support 5, are respectively used to the both ends of clamping memory bar 13；
Clamping part includes the clamping piece 2 of double-acting cylinder 4 and two faces, and two clamping pieces 2 are distinguished by screw bolt and nut
Bolt is on two translation sliding blocks 3 of double-acting cylinder 4；
Air pressure driving circuit and the rodless cavity and rod chamber of double-acting cylinder 4 are respectively connected with, for controlling double-acting cylinder 4 without bar
The direction of pressure difference is between chamber and rod chamber to the movement of pusher cylinder piston, so that two clamping pieces 2 are with two translation 3 phases of sliding block
To movement, to realize the clamping or release to memory bar 13；
The back side of memory bar clamp device 9 is provided with bump joint 6, and bump joint 6 is a kind of Double-face flange structure, one
Face is connect by screw with robot end 7, and another side is connect by screw with air cylinder support 5；
As shown in fig. 6-7, air pressure driving circuit includes: air compressor machine 14, pneumatic triple piece 15, three-position four-way electromagnetic directional valve
16, one-way throttle valve 17 and actuated overflow valve 18；
Air compressor machine 14 is used to generate normal pressure by air-flow；Actuated overflow valve 18 is connect with air compressor machine 14, steady for overflow
Pressure, protective loop；
The input terminal of pneumatic triple piece 15 is connected with air compressor machine 14；Pneumatic triple piece 15 is used to filter the generation of air compressor machine 14
The fog lubrication of moisture, reduction stream pressure and fluid in air-flow；
The input terminal of three-position four-way electromagnetic directional valve 16 is connected with the output end of pneumatic triple piece 15, and 3-position 4-way electromagnetism changes
It is connected and passes through the rodless cavity phase of one-way throttle valve 17 Yu double-shaft two-way cylinder 4 with the rod chamber of double-shaft two-way cylinder 4 to valve 16
Even；Three-position four-way electromagnetic directional valve 16 is used to switch the flow direction of gas, to control two translation sliding blocks 3 of double-shaft two-way cylinder 4
The direction of motion, to control the direction of pressure difference between 4 rodless cavity of double-acting cylinder and rod chamber；
As shown in figure 8, the length L2 of air cylinder support 5 is 110mm~120mm, it is 15mm~20mm shorter than the length of memory bar,
To guarantee that the entire length of memory bar clamp device 9 is slightly shorter than memory bar slot length, memory bar clamp device when preventing from assembling
It is interfered with the buckle of memory bar slot two sides；
In same clamping part, the one side of clamping piece and another clamping piece face is the clamping face of clamping piece；As shown in figure 9,
The clamping face of clamping piece 2 is bonded with soft rubber 1, damages memory bar to avoid during clamping memory bar；The thickness of soft rubber 1
Degree W2 is 0.5mm~0.8mm, and translation sliding block edge 1mm~1.2mm that the clamping face of clamping piece is connected apart from clamping piece,
I.e. the value range of W1 is 1mm~1.2mm, and to avoid during assembling memory bar, memory bar is sent out due to unbalance stress
Raw opposite sliding, clamps stablizing for memory bar to realize；The thickness W3 of clamping piece is 1mm~3mm, to guarantee clamping device
It will not be touched with enough rigidity, and when installing more root memories on the multiple memory bar slots of same mainboard side by side
It hits；The height H1 of clamping piece is 10mm~15mm, uneven to avoid memory bar clamp device when assembly memory bar and mainboard
Surface interfere；The length of clamping piece is 15mm~30mm, 5mm longer than the length of its translation sliding block connected~
10mm clamps stablizing for memory bar to realize with increasing the contact area of clamping piece and memory bar.
The device of multirobot collaborative assembly memory bar provided by the present invention at work, the first robot 8 and second
Robot 12 can move synchronously, and the first robot 8 and the second robot 12 are arranged in the side of assembling line, third machine
People 7 is arranged in the other side of assembling line, as shown in Figure 3；The work of the device of above-mentioned multirobot collaborative assembly memory bar
Process is divided into two steps: one, the first robot 8 and the second robot 12 collaboration clamping mainboard 10；Two, third robot 7 presss from both sides
It takes memory bar 13 and is installed on 10 on mainboard, to complete assembly work.
The device of multi-robot system assembly memory bar provided by the invention is realized interior by multirobot collaborative work
The automatic assembling for depositing item, compensates for the blank of current area, and improves memory bar in server industries Automated assembly process
The degree of automation of assembling link reduces manual labor's cost to improve production efficiency.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of device of multirobot collaborative assembly memory bar characterized by comprising the first robot (8), the second machine
People (12), third robot (7), the first mainboard clamping device, the second mainboard clamping device (11) and memory bar clamp device
(9)；
The first mainboard clamping device is installed on the end of first robot (8), and first robot (8) passes through institute
State one end of the first mainboard gripping apparatus grips mainboard (10)；The second mainboard clamping device (11) is installed on second machine
The end of device people (12), second robot (12) clamp the mainboard (10) by the second mainboard clamping device (11)
The other end；The clamping of first robot (8) and the second robot (12) cooperative achievement to the mainboard (10)；
The memory bar clamp device (9) is installed on the end of the third robot (7), and the third robot (7) passes through
The memory bar clamp device (9) clamps memory bar (13), and the memory bar (13) is assembled to through first robot
(8) and on the mainboard (10) of second robot (12) clamping, to realize the automatic assembling of memory bar.
2. the device of multirobot collaborative assembly memory bar as described in claim 1, which is characterized in that the memory bar (13) is
Server memory item or computer memory item.
3. the device of multirobot collaborative assembly memory bar as claimed in claim 1 or 2, which is characterized in that the memory bar
Clamp device (9) includes: air cylinder support (5), two clamping parts and air pressure driving circuit；
Described two clamping parts are fixed on the both ends of the air cylinder support (5), are respectively used to clamp the two of the memory bar (13)
End；
The clamping part includes the clamping piece (2) of double-acting cylinder (4) and two faces, two clamping pieces (2) respectively with institute
Two translation sliding blocks (3) for stating double-acting cylinder (4) are connected；
The rodless cavity and rod chamber of the air pressure driving circuit and the double-acting cylinder (4) are respectively connected with, described double for controlling
The direction of cylinder (4) pressure difference between rodless cavity and rod chamber of taking offence is mobile to pusher cylinder piston so that two clamping pieces (2) with
Described two translation sliding blocks (3) move toward one another, to realize the clamping or release to the memory bar (13).
4. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the air pressure drives back
Road includes: air compressor machine (14), pneumatic triple piece (15), three-position four-way electromagnetic directional valve (16), one-way throttle valve (17) and gas
Dynamic overflow valve (18)；
The air compressor machine (14) is used to generate normal pressure by air-flow；The actuated overflow valve (18) and the air compressor machine (14) are even
It connects, is used for overflow pressure stabilizing, protective loop；
The input terminal of the pneumatic triple piece (15) is connected with the air compressor machine (14)；The pneumatic triple piece (15) is for filtering
The fog lubrication of the moisture in air-flow, reduction stream pressure and fluid that the air compressor machine (14) generates；
The input terminal of the three-position four-way electromagnetic directional valve (16) is connected with the output end of the pneumatic triple piece (15), and described three
Position four-way electromagnetic reversing valve (16) is connected with the rod chamber of the double-shaft two-way cylinder (4) and passes through the one-way throttle valve (17)
It is connected with the rodless cavity of the double-shaft two-way cylinder (4)；The three-position four-way electromagnetic directional valve (16) is used to switch the stream of gas
To control the direction of motion of two translations sliding block (3) of the double-shaft two-way cylinder (4), to control the double-acting cylinder
(4) between rodless cavity and rod chamber pressure difference direction.
5. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the air cylinder support
(5) length is 15mm~20mm shorter than the length of memory bar (13).
6. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the clamping piece (2)
Clamping face on be bonded with soft rubber (1)；
Wherein, the clamping face is the one side of the clamping piece (2) and another clamping piece face in same clamping part.
7. the device of multirobot collaborative assembly memory bar as claimed in claim 6, which is characterized in that the soft rubber (1)
With a thickness of 0.5mm~0.8mm, and the translation sliding block that the clamping face of the clamping piece (2) is connected apart from the clamping piece (2)
Edge 1mm~1.2mm.
8. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the clamping piece (2)
With a thickness of 1mm~3mm.
9. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the clamping piece (2)
Height be 10mm~15mm.
10. the device of multirobot collaborative assembly memory bar as claimed in claim 3, which is characterized in that the clamping piece (2)
Length than the clamping piece (2) connected translation sliding block length it is 5mm~10mm long.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419826.6A CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419826.6A CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109352300A true CN109352300A (en) | 2019-02-19 |
| CN109352300B CN109352300B (en) | 2020-05-19 |
Family
ID=65343082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811419826.6A Active CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352300B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589487A (en) * | 2020-12-04 | 2022-06-07 | 通用汽车环球科技运作有限责任公司 | Accurate position control for fixture-less assembly |
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| CN104511896A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Automated cooperative parallel operation device |
| EP3028827A1 (en) * | 2014-12-05 | 2016-06-08 | SMR Patents S.à.r.l. | Method and device for automating the assembly of automotive mirrors |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589487A (en) * | 2020-12-04 | 2022-06-07 | 通用汽车环球科技运作有限责任公司 | Accurate position control for fixture-less assembly |
| CN114589487B (en) * | 2020-12-04 | 2023-12-01 | 通用汽车环球科技运作有限责任公司 | Accurate position control for non-fixture assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109352300B (en) | 2020-05-19 |
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Application publication date: 20190219 Assignee: Guangzhou Shipyard International Co.,Ltd. Assignor: HUAZHONG University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980000874 Denomination of invention: A device for multi robot collaborative assembly of memory modules Granted publication date: 20200519 License type: Common License Record date: 20240122 |