CN110308731B - High-precision secondary positioning device for mobile robot - Google Patents
High-precision secondary positioning device for mobile robot Download PDFInfo
- Publication number
- CN110308731B CN110308731B CN201910674527.5A CN201910674527A CN110308731B CN 110308731 B CN110308731 B CN 110308731B CN 201910674527 A CN201910674527 A CN 201910674527A CN 110308731 B CN110308731 B CN 110308731B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- base
- robot
- industrial robot
- positioning device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 210000003739 neck Anatomy 0.000 claims 3
- 238000012545 processing Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a high-precision mobile robot secondary positioning device, which relates to the technical field of industrial robots, can work in cooperation with an improved industrial robot base to realize the quick clamping and loosening of the industrial robot base, and comprises: industrial robot base, locator, clamping mechanism. The positioner realizes the complete positioning of the industrial robot according to a six-point positioning principle, and the clamping mechanism clamps the base to a positioning surface of the positioner. The improved industrial robot base is provided with a crankshaft corresponding to each clamping mechanism, and a driving device on the base drives the crankshaft to rotate, so that the clamping mechanisms can be driven to clamp, lock or quickly loosen the base. The invention realizes the positioning, clamping and locking of the robot when the robot works by interacting with the industrial robot provided with the base, thereby improving the rigidity and precision of the industrial robot; when the robot is idle, the robot is loosened, the robot can carry the AGV to move to a new station, and the working range of the robot is expanded.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a secondary positioning device of a high-precision mobile robot.
Background
Industrial robots are the ones with very high precision requirements among robots, in particular manufacturing ones for machining, assembly, welding, etc. The existing industrial robot is mainly a fixed mechanical arm. The position precision and the attitude precision of the current fixed mechanical arm respectively reach the precision levels of 0.01mm and 0.01 degrees, and the fixed mechanical arm is widely applied to the fields with extremely high precision requirements, such as aerospace and the like.
The mobile robot expands the working range and greatly improves the flexibility of the industrial robot. The moving mode of the industrial robot includes various modes such as moving along a fixed track, moving along a track, moving in a wheel mode, and the like, wherein the moving mode of a wheel type Automatic Guided Vehicle (AGV) is the most flexible and fast. However, the addition of the traveling part makes the mobile robot system more complicated, and the accuracy of the movement positioning is low, the rigidity of the support is low, and the like, so that the working accuracy of the robot is affected. The problems needing to be solved by the coordinated work of the AGV and the industrial robot are numerous, and at present, the research on the precision of the mobile robot by people is less. Roche nameplate and the like utilize a visual positioning system on a movable mechanical arm to calibrate hands and eyes by a Levenberg-Marquardt optimization method and then utilize fixed characteristic points to solve the position and pose of a camera, so that the positioning error of a movable trolley is compensated, a certain effect is obtained, but the achieved precision is not ideal for a plurality of processing occasions; in the secondary hole making position precision research of the Chendongdong in the aircraft assembly, an industrial camera is used for calibrating a robot part coordinate system, the industrial robot base coordinate error caused by the secondary entering of the AGV into the position is calculated according to an error model, and the error is corrected by adopting an inverse distance weighting method, so that the aperture deviation is within +/-0.01 mm, and a good effect is achieved. However, because the error correction is not real-time error, the error correction effect will fluctuate, and the error will be increased due to mechanical wear, fit looseness, etc. with the running time of the robot, and the error correction effect will be affected, so it is urgently needed to provide a device with the positioning accuracy.
Disclosure of Invention
The embodiment of the invention provides a high-precision secondary positioning device for a mobile robot, which can solve the problems in the prior art.
The invention provides a secondary positioning device of a high-precision mobile robot, which is arranged on a station, wherein an industrial robot is conveyed to the secondary positioning device by an AGV trolley and locks a base of the industrial robot by the secondary positioning device, the secondary positioning device comprises a plurality of clamping mechanisms and a plurality of positioners, the clamping mechanisms are respectively positioned at the left side and the right side of the station, and the positioners are respectively positioned at each position of the station; every fixture all includes installation piece and link mechanism, installation piece fixed mounting is on the station, link mechanism installs on the installation piece, the grip piece has among the link mechanism, industrial robot's base bottom surface has drive arrangement and the bent axle of being connected with this drive arrangement, two journals have on the bent axle, these two journals with link mechanism cooperation, when drive arrangement drove the bent axle and rotates, two the journals drive link mechanism operation, the grip piece among the link mechanism descends or rises, will industrial robot's base locking or unlocking.
The high-precision mobile robot secondary positioning device can work in cooperation with an improved industrial robot base to realize quick clamping and loosening of the industrial robot base, and comprises: improved industrial robot base, locator, clamping mechanism. The positioner realizes the complete positioning of the industrial robot according to a six-point positioning principle, and the clamping mechanism clamps the base to a positioning surface of the positioner. The improved industrial robot base is provided with a crankshaft corresponding to each clamping mechanism, and a driving device on the base drives the crankshaft to rotate, so that the clamping mechanisms can be driven to clamp, lock or quickly loosen the base. The robot positioning and clamping device provided by the invention is interacted with an industrial robot provided with an improved base, so that the robot is positioned, clamped and locked when the robot works, and the rigidity and the precision of the industrial robot are improved; when the robot is idle, the robot is loosened, the robot can carry the AGV to move to a new station, and therefore the working range of the robot is expanded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a high-precision mobile robot management and dispatching system;
FIG. 2 is a schematic structural diagram of a secondary positioning device;
fig. 3 is a top view of the base of the industrial robot clamped to the secondary positioning device;
FIG. 4 is a schematic partial cross-sectional view of one side of the base and secondary positioning device of FIG. 3;
fig. 5 is a schematic partial cross-sectional view of the other side of the base and secondary positioning device of fig. 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the secondary positioning apparatus of the present invention is applied to a high-precision mobile robot management and dispatch system including an industrial robot 100, an AGV cart 200, a secondary positioning apparatus 300, and an upper computer 400, wherein the industrial robot 100 includes a robot arm on which a replaceable end tool 110 is mounted and a base 120 fixed to a lower portion of the robot arm. The AGV 200 comprises a vehicle body and a bracket 210 installed at the top of the vehicle body, the vehicle body is provided with a walking part and is in communication connection with the upper computer 400 in a wireless communication mode, and the bracket 210 is detachably connected with the base 120 of the industrial robot 100.
The quantity of secondary positioner 300 is a plurality of, every on secondary positioner 300 all fixed mounting a station, this station distributes in the processing place, and every station corresponds with a machine tool 500, machine tool 500 also through radio communication's mode with host computer 400 communication connection.
The upper computer 400 is provided with scheduling system software and navigation system software, when a certain processing machine 500 needs to process parts, a request message is sent to the upper computer 400, the upper computer 400 responds to the request message, the scheduling system software randomly selects an AGV 200 in a standby state, the AGV 200 in the standby state refers to the AGV which is provided with the industrial robot 100, the industrial robot 100 is in an idle state, the upper computer 400 sends a movement control command to the AGV 200 after selecting the AGV 200 in the standby state, the navigation system software navigates the AGV 200 according to the position of the processing machine 500 which sends the request message, and the AGV 200 moves to the secondary positioning device 300 corresponding to the processing machine 500 according to the navigation of the upper computer 400. When the AGV cart 200 is moved to the proper position, the tray 210 is released from the connection with the base of the industrial robot 100, and then the AGV cart 200 is automatically moved to a designated area.
After the base of the industrial robot 100 is placed on the secondary positioning device 300, the base is locked with the secondary positioning device 300, the secondary positioning device 300 is provided with a socket for supplying power to the industrial robot 100, and after the base of the industrial robot 100 is locked with the secondary positioning device 300, the power plug of the industrial robot 100 is plugged into the socket, and then the industrial robot 100 starts to work to cooperate with the processing machine 500 to perform part processing work.
After the processing task of the processing machine tool 500 is finished, the processing machine tool 500 sends request information to the upper computer 400, the upper computer 400 responds to the request information, the dispatching system software randomly selects an AGV trolley 200 in an idle state, the AGV trolley in the idle state refers to the AGV trolley without the industrial robot 100, after the AGV trolley 200 in the idle state is selected, the upper computer 400 sends a movement control command to the AGV trolley 200, the AGV trolley 200 is navigated by the navigation system software according to the position of the processing machine tool 500 sending the request information, and the AGV trolley 200 moves to the secondary positioning device 300 corresponding to the processing machine tool 500 according to the navigation of the upper computer 400. After the AGV 200 moves to the proper position, the secondary positioner 300 unlocks the industrial robot, and the tray 210 of the AGV 200 is connected to the base of the industrial robot 100, so that the AGV 200 automatically moves to a predetermined area with the industrial robot 100.
Compared with the traditional mobile industrial robot, the high-precision mobile robot management and dispatching system has the following advantages: (1) the industrial robot is fixed during working, is like a fixed mechanical arm, has good rigidity and high precision, and can improve the working precision by utilizing the technology of the fixed mechanical arm. (2) The industrial robot and the AGV have many-to-many 'driving and riding relations', and the working mode is flexible. When one AGV has a fault, the movement and the work of the industrial robot are not influenced; and vice versa. (3) Compare with fixed track's mobile industrial robot, carry on the AGV dolly and realize removing more nimble, it is better to place adaptability, the cost is lower. (4) The working accuracy of the industrial robot does not depend on the positioning accuracy of the AGV, so that the positioning accuracy requirement on the AGV is low, and the AGV can be used for conveying the industrial robot to a station.
Referring to fig. 2 to 5, the present invention will be described in detail with respect to the structure of the secondary positioning apparatus 300.
The left clamping mechanism 310 includes a left mounting block 3110 and a left link mechanism, the left mounting block 3110 is fixed on the station by screws, the left link mechanism includes a lower mounting shaft 3120, a middle mounting shaft 3130 and an upper mounting shaft 3140, the three mounting shafts are respectively rotatably mounted on the left mounting block 3110, and the axes of the lower mounting shaft 3120, the middle mounting shaft 3130 and the upper mounting shaft 3140 are parallel and all in the horizontal direction. The utility model discloses a bearing support device for bearing, including lower portion installation axle 3120, middle part installation axle 3130 is last to fixedly mounted have a lower part connecting rod, fixedly mounted has two middle part connecting rods on the installation axle 3130 of middle part, fixedly mounted has two upper portion connecting rods on the installation axle 3140 of upper portion, the end of lower part connecting rod through head rod 3121 with one the middle part connecting rod rotates to be connected, just the both ends of head rod 3121 with lower part connecting rod and middle part connecting rod all rotate to be connected. The lower connecting rod is further rotatably connected with one of the upper connecting rods through a second connecting rod 3122, two ends of the second connecting rod 3122 are rotatably connected with the lower connecting rod and the upper connecting rod, and the connection points of the lower connecting rod and the first connecting rod 3121 and the second connecting rod 3122 coincide.
Two through holes are formed in the top surface of the left mounting block 3110, a first push rod 3150 and a second push rod 3160 are inserted into the two through holes respectively, the first push rod 3150 is rotatably connected to the connection position of the first connecting rod 3121 and the middle connecting rod through a third connecting rod 3132, and two ends of the third connecting rod 3132 are rotatably connected to the first push rod 3150 and the first connecting rod 3121 respectively. The second top bar 3160 is rotatably connected to the other middle connecting rod through a fourth connecting rod 3131, and both ends of the fourth connecting rod 3131 are rotatably connected to the second top bar 3160 and the middle connecting rod, respectively. The other upper connecting rod has its end located above the left mounting block 3110 and a clamping block 3141 is rotatably mounted to the end of the upper connecting rod.
The left side and the right side of the bottom surface of the base 120 of the industrial robot 100 are respectively provided with two sliding grooves, the positions of the two sliding grooves on the left side correspond to the positions of the first ejector rod 3150 and the second ejector rod 3160, a crankshaft 121 is rotatably installed in the two sliding grooves, two shaft journals in opposite directions are arranged on the crankshaft 121 and are respectively located in the two sliding grooves, one end of the crankshaft 121 penetrates through the side wall of the sliding groove and is connected with a driving device, the driving device is equipment such as a motor installed on the bottom surface of the base 120, and when the driving device operates, the shaft journals in the opposite directions in the two sliding grooves are driven to rotate, so that the first ejector rod 3150 and the second ejector rod 3160 are.
In this embodiment, the parts of the left clamping mechanism 310 contacting the base 120 are provided with gaskets, such as the top end of the first top bar 3150, the top end of the second top bar 3160, and the bottom surface of the clamping block 3141, and the clamping tightness can be adjusted by replacing the gaskets with different thicknesses.
When the AGV trolley 200 carries the industrial robot 100 and enters the secondary positioning device 300, the base 120 is inserted from the front side of the secondary positioning device 300, namely, the side opposite to the rear side positioner 350, at the moment, the top ends of the first ejector rod 3150 and the second ejector rod 3160 extend out of the through hole, two sliding grooves on the left side of the bottom surface of the base 120 are respectively positioned above the first ejector rod 3150 and the second ejector rod 3160, along with the movement of the AGV trolley 200, the base 120 is finally and completely clamped in the secondary positioning device 300, and at the moment, the bottom surface of the base 120 is contacted with the top surfaces of the two left clamping mechanisms 310 and the two right clamping mechanisms 320. Then the driving device on the bottom surface of the base 120 rotates to drive the two journals on the crankshaft 121 to rotate to a state of up and down, the first ejector pin 3150 starts to descend under the extrusion of the corresponding journal, the second ejector pin 3160 synchronously ascends under the influence of the connection relationship, and simultaneously the clamping block 3141 synchronously descends, finally the clamping block 3141 only presses on the top surface of the base 120, so that the base 120 is in a locked state in the vertical direction.
The right clamping mechanism 320 has all the structural features of the left clamping mechanism 310, and meanwhile, the right clamping mechanism 320 further has a holding rod 3240, a holding hole is formed in a side wall of the right mounting block of the right clamping mechanism 320, the side wall faces the right side face of the base 120, the axis of the holding hole is perpendicular to the side face of the base 120, and the holding rod 3240 is inserted into the holding hole and slides along the axis in the holding hole. One end of the supporting rod 3240, which is back to the base 120, is rotatably connected to an upper connecting rod 3220 of the right clamping mechanism 320 through a connecting member 3230, a clamping block is installed at the end of the upper connecting rod 3220, and both ends of the connecting member 3230 are rotatably connected to the supporting rod 3240 and the upper connecting rod 3220, when the upper connecting rod 3220 rotates toward the base 120, the clamping block is pressed on the top surface of the base 120, and the supporting rod 3240 moves toward the base 120 through the driving of the connecting member 3230, and finally tightly supports against the side surface of the base 120, so that the base 120 is in a locked state in the horizontal direction.
After the base 120 is locked by the left clamping mechanism 310 and the right clamping mechanism 320, the left positioner 330, the right positioner 340 and the rear positioner 350 are used for positioning the base 120 in cooperation with error measuring devices mounted on the base 120, so as to improve the positioning accuracy of the industrial robot 100.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. The secondary positioning device of the high-precision mobile robot is characterized in that the secondary positioning device is installed on a station, an industrial robot is conveyed to the secondary positioning device by an AGV trolley and locks a base of the industrial robot by the secondary positioning device, the secondary positioning device comprises a plurality of clamping mechanisms and a plurality of positioners, the plurality of clamping mechanisms are respectively positioned on the left side and the right side of the station, and the plurality of positioners are respectively positioned at each position of the station; each clamping mechanism comprises a mounting block and a connecting rod mechanism, the mounting block is fixedly mounted on a station, the connecting rod mechanism is mounted on the mounting block, the connecting rod mechanism is internally provided with a clamping block, a driving device and a crankshaft connected with the driving device are arranged on the bottom surface of a base of the industrial robot, the crankshaft is provided with two shaft necks, the two shaft necks are matched with the connecting rod mechanism, when the driving device drives the crankshaft to rotate, the two shaft necks drive the connecting rod mechanism to operate, and the clamping block in the connecting rod mechanism descends or ascends to lock or unlock the base of the industrial robot;
the clamping mechanisms comprise two left clamping mechanisms and two right clamping mechanisms which are identical in structure, the two left clamping mechanisms are respectively located at the left two ends of the station, the two right clamping mechanisms are respectively located at the right two ends of the station, the left clamping mechanism comprises a left mounting block and a left connecting rod mechanism, and the left connecting rod mechanism comprises a lower mounting shaft, a middle mounting shaft and an upper mounting shaft which are respectively rotatably mounted on the left mounting block;
a lower connecting rod is fixedly arranged on the lower mounting shaft, two middle connecting rods are fixedly arranged on the middle mounting shaft, two upper connecting rods are fixedly arranged on the upper mounting shaft, the tail end of the lower connecting rod is rotatably connected with one middle connecting rod through a first connecting rod, and the lower connecting rod is also rotatably connected with one upper connecting rod through a second connecting rod; two through holes are formed in the top surface of the left mounting block, a first ejector rod and a second ejector rod are inserted into the two through holes respectively, the first ejector rod is rotatably connected to the joint of the first connecting rod and the middle connecting rod through a third connecting rod, the second ejector rod is rotatably connected with the middle connecting rod through a fourth connecting rod, and the second ejector rod is rotatably connected with the middle connecting rod through a fourth connecting rod.
2. The secondary positioning device of the high-precision mobile robot as claimed in claim 1, wherein two sliding grooves are respectively formed on the left side and the right side of the bottom surface of the base of the industrial robot, the two sliding grooves on the left side correspond to the first ejector pin and the second ejector pin, the crankshaft is rotatably mounted in the two sliding grooves on the left side, two journals are arranged on the crankshaft, the two journals are respectively located in the two sliding grooves on the left side, and one end of the crankshaft penetrates through the side wall of the sliding groove and is connected with the driving device.
3. The secondary positioning device of the high-precision mobile robot as claimed in claim 1, wherein the right clamping mechanism further comprises a right mounting block and a right link mechanism, the right mounting block is provided with a holding hole on a side wall facing the right side of the base, the axis of the holding hole is perpendicular to the side of the base, the holding rod is inserted into the holding hole and slides along the axis in the holding hole, one end of the holding rod, which is opposite to the base, is rotatably connected with an upper connecting rod in the right link mechanism through a connecting piece, and the clamping block is mounted at the end of the upper connecting rod.
4. The secondary positioning device of a high-precision mobile robot as claimed in claim 1, wherein the top end of the first jack, the top end of the second jack and the bottom surface of the clamping block are provided with a gasket.
5. The secondary positioning device of a high-precision mobile robot as claimed in claim 1, wherein said positioner comprises a left positioner mounted against a clamping mechanism located on the left side of the station, a right positioner located on the right side of the station, and a rear positioner located on the rear side of the station.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910674527.5A CN110308731B (en) | 2019-07-25 | 2019-07-25 | High-precision secondary positioning device for mobile robot |
| PCT/CN2019/128622 WO2021012606A1 (en) | 2019-07-25 | 2019-12-26 | High-precision movable robot secondary positioning device |
| RU2020124175A RU2756190C1 (en) | 2019-07-25 | 2019-12-26 | Apparatus for secondary positioning of a high-precision mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910674527.5A CN110308731B (en) | 2019-07-25 | 2019-07-25 | High-precision secondary positioning device for mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110308731A CN110308731A (en) | 2019-10-08 |
| CN110308731B true CN110308731B (en) | 2020-10-09 |
Family
ID=68080747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910674527.5A Active CN110308731B (en) | 2019-07-25 | 2019-07-25 | High-precision secondary positioning device for mobile robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110308731B (en) |
| RU (1) | RU2756190C1 (en) |
| WO (1) | WO2021012606A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308731B (en) * | 2019-07-25 | 2020-10-09 | 陕西科技大学 | High-precision secondary positioning device for mobile robot |
| CN113084795A (en) * | 2021-02-26 | 2021-07-09 | 北京空间飞行器总体设计部 | Visual measurement system and method applied to meter-taking sampling mechanical arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042499A (en) * | 2013-01-23 | 2013-04-17 | 北京理工大学 | Accurate-positioning large-torque rapid locking device under nuclear environment |
| CN105945998A (en) * | 2016-07-19 | 2016-09-21 | 广州普华灵动机器人技术有限公司 | Two-time mechanical three-dimensional positioning method applied to AGV (Automated Guided Vehicle) |
| CN109435917A (en) * | 2018-12-01 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of mobile robot automatic locking apparatus in place |
| CN109910058A (en) * | 2019-03-28 | 2019-06-21 | 安徽人和智能制造有限公司 | A kind of secondary positioning seat of automatic loading and unloading robot retinue |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1341019A1 (en) * | 1986-02-10 | 1987-09-30 | Воронежский Политехнический Институт | Manipulator |
| JP4958813B2 (en) * | 2008-02-21 | 2012-06-20 | しげる工業株式会社 | Jig cart transport device |
| CN203299650U (en) * | 2013-06-14 | 2013-11-20 | 长沙驰众机械科技有限公司 | An intelligent secondary accurate positioning apparatus of an AGV guiding vehicle |
| CN104155977B (en) * | 2014-07-22 | 2017-09-12 | 绍兴绍力机电科技有限公司 | Production line free path AGV robot positioning systems and localization method |
| US9427874B1 (en) * | 2014-08-25 | 2016-08-30 | Google Inc. | Methods and systems for providing landmarks to facilitate robot localization and visual odometry |
| CN104213206B (en) * | 2014-09-19 | 2016-05-04 | 江苏恒科新材料有限公司 | Full-automatic clear plate system |
| CN208053381U (en) * | 2018-04-13 | 2018-11-06 | 陈性云 | It is a kind of can automatic pressure regulation finished product mobile device |
| CN109382646A (en) * | 2018-12-17 | 2019-02-26 | 上海联晟汽车配套服务有限公司 | The pre- full-automatic device for screwing up of wiring bolt in chassis |
| CN110308731B (en) * | 2019-07-25 | 2020-10-09 | 陕西科技大学 | High-precision secondary positioning device for mobile robot |
-
2019
- 2019-07-25 CN CN201910674527.5A patent/CN110308731B/en active Active
- 2019-12-26 WO PCT/CN2019/128622 patent/WO2021012606A1/en active Application Filing
- 2019-12-26 RU RU2020124175A patent/RU2756190C1/en active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042499A (en) * | 2013-01-23 | 2013-04-17 | 北京理工大学 | Accurate-positioning large-torque rapid locking device under nuclear environment |
| CN105945998A (en) * | 2016-07-19 | 2016-09-21 | 广州普华灵动机器人技术有限公司 | Two-time mechanical three-dimensional positioning method applied to AGV (Automated Guided Vehicle) |
| CN109435917A (en) * | 2018-12-01 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of mobile robot automatic locking apparatus in place |
| CN109910058A (en) * | 2019-03-28 | 2019-06-21 | 安徽人和智能制造有限公司 | A kind of secondary positioning seat of automatic loading and unloading robot retinue |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110308731A (en) | 2019-10-08 |
| RU2756190C1 (en) | 2021-09-28 |
| WO2021012606A1 (en) | 2021-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7469473B2 (en) | Assembly line vehicle body positioning | |
| JP4039114B2 (en) | Car body assembling method and car body assembling apparatus | |
| CN104625676B (en) | Peg-in-hole assembly industrial robot system and method for work thereof | |
| CN102765489B (en) | Method and device for folding and flexibly positioning body wallboard | |
| CN110308731B (en) | High-precision secondary positioning device for mobile robot | |
| CN106737476B (en) | Space multiplexing ultra-thin five-degree-of-freedom docking platform | |
| CN105015799A (en) | Mobile automated overhead assembly tool for aircraft structures | |
| US11740605B2 (en) | Movable gantry system configured to interface with jigs of different sizes | |
| CN109849019B (en) | Multi-robot machining method for rotary structural member | |
| CN110315521B (en) | High-precision mobile robot management and scheduling system | |
| KR101558676B1 (en) | Respot Jig | |
| CN102941545A (en) | Flexible tool for assembling row-line chuck type wall board | |
| CN112977874B (en) | Whole movable large part butt joint and finish machining system | |
| CN106140531A (en) | Spraying powder on wheel hub operation changes three coordinate translation robot devices | |
| CN112198837B (en) | Airplane structural member positioning unit positioning method based on hybrid control | |
| CN113600702B (en) | Pre-construction system of end effector and control method thereof | |
| CN110556983B (en) | Stator and rotor assembling device | |
| KR101882646B1 (en) | Screw fastening apparatus using the collaborative robot | |
| CN113042996A (en) | Assembling tool and assembling process for intelligent assembling and tightening workstation | |
| CN109605248B (en) | Body-in-white flexible detection and fixing platform | |
| CN112775635B (en) | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof | |
| CN113453819A (en) | Method and device for automatically converting tool system | |
| CN113443166B (en) | Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component | |
| JPH0221992B2 (en) | ||
| CN113664486A (en) | Intelligent assembling follow-up trolley for new energy automobile battery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |