CN109986255B - 混合视觉伺服并联机器人及作业方法 - Google Patents
混合视觉伺服并联机器人及作业方法 Download PDFInfo
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- CN109986255B CN109986255B CN201711474890.XA CN201711474890A CN109986255B CN 109986255 B CN109986255 B CN 109986255B CN 201711474890 A CN201711474890 A CN 201711474890A CN 109986255 B CN109986255 B CN 109986255B
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- plane
- image
- coordinate system
- vision servo
- welding
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- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- 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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
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CN201711474890.XA CN109986255B (zh) | 2017-12-29 | 2017-12-29 | 混合视觉伺服并联机器人及作业方法 |
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CN201711474890.XA CN109986255B (zh) | 2017-12-29 | 2017-12-29 | 混合视觉伺服并联机器人及作业方法 |
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CN109986255A CN109986255A (zh) | 2019-07-09 |
CN109986255B true CN109986255B (zh) | 2021-11-30 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11866250B2 (en) | 2019-03-04 | 2024-01-09 | Goodpack Ibc (Singapore) Pte Ltd | Cargo unit |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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TWI803369B (zh) * | 2022-06-24 | 2023-05-21 | 寶成工業股份有限公司 | 自動模具噴塗系統 |
CN115284297B (zh) * | 2022-08-31 | 2023-12-12 | 深圳前海瑞集科技有限公司 | 工件定位方法、机器人及机器人作业方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5455765A (en) * | 1984-10-12 | 1995-10-03 | Sensor Adaptive Machines Inc. | Vision assisted fixture construction |
CN102581445A (zh) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | 机器人的视觉实时纠偏系统和纠偏方法 |
CN103406905A (zh) * | 2013-08-20 | 2013-11-27 | 西北工业大学 | 一种具有视觉伺服及检测功能的机器人系统 |
CN104759736A (zh) * | 2014-01-07 | 2015-07-08 | 中国国际海运集装箱(集团)股份有限公司 | 集装箱波纹板焊接机器人及其视觉伺服控制系统 |
CN104942809A (zh) * | 2015-06-23 | 2015-09-30 | 广东工业大学 | 基于视觉伺服系统的机械臂动态模糊逼近器 |
CN104950799A (zh) * | 2015-06-10 | 2015-09-30 | 浙江大学 | 焊接机器人动态闭环控制系统及其实时动态修正算法 |
CN206263418U (zh) * | 2016-11-28 | 2017-06-20 | 华南理工大学 | 一种六自由度焊接机器人线激光实时焊缝跟踪系统 |
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2017
- 2017-12-29 CN CN201711474890.XA patent/CN109986255B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5455765A (en) * | 1984-10-12 | 1995-10-03 | Sensor Adaptive Machines Inc. | Vision assisted fixture construction |
CN102581445A (zh) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | 机器人的视觉实时纠偏系统和纠偏方法 |
CN103406905A (zh) * | 2013-08-20 | 2013-11-27 | 西北工业大学 | 一种具有视觉伺服及检测功能的机器人系统 |
CN104759736A (zh) * | 2014-01-07 | 2015-07-08 | 中国国际海运集装箱(集团)股份有限公司 | 集装箱波纹板焊接机器人及其视觉伺服控制系统 |
CN104950799A (zh) * | 2015-06-10 | 2015-09-30 | 浙江大学 | 焊接机器人动态闭环控制系统及其实时动态修正算法 |
CN104942809A (zh) * | 2015-06-23 | 2015-09-30 | 广东工业大学 | 基于视觉伺服系统的机械臂动态模糊逼近器 |
CN206263418U (zh) * | 2016-11-28 | 2017-06-20 | 华南理工大学 | 一种六自由度焊接机器人线激光实时焊缝跟踪系统 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11866250B2 (en) | 2019-03-04 | 2024-01-09 | Goodpack Ibc (Singapore) Pte Ltd | Cargo unit |
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Address after: 518063 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Applicant after: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Applicant after: Guangdong CIMC Intelligent Technology Co.,Ltd. Applicant after: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Applicant after: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. Address before: Room 102, block a, phase II, science and technology building, 1057 Nanhai Avenue, Shekou, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Applicant before: DONGGUAN CIMC INTELLIGENT TECHNOLOGY Co.,Ltd. Applicant before: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Applicant before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |
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Effective date of registration: 20230324 Address after: 518000 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee after: Guangdong CIMC Intelligent Technology Co.,Ltd. Patentee after: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Address before: 518063 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee before: Guangdong CIMC Intelligent Technology Co.,Ltd. Patentee before: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Patentee before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |