CN111331569A - Automatic three-dimensional measurement and marking system for complex castings - Google Patents
Automatic three-dimensional measurement and marking system for complex castings Download PDFInfo
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- CN111331569A CN111331569A CN202010313193.1A CN202010313193A CN111331569A CN 111331569 A CN111331569 A CN 111331569A CN 202010313193 A CN202010313193 A CN 202010313193A CN 111331569 A CN111331569 A CN 111331569A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
- B25H7/045—Devices, e.g. scribers, for marking characterised by constructional details of the marking elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Laser Beam Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an automatic three-dimensional measurement and marking system for a complex casting, which comprises a robot component, an automatic measuring head component, a high-precision laser marking component and an industrial control cabinet component, wherein the robot component comprises six industrial robots and a robot base, the automatic measuring head component comprises a surface structure light projection component, a camera acquisition component, a computer and a power supply, the high-precision laser marking component comprises a high-precision movement mechanism, a laser marking and a calibration block, and the industrial control cabinet component comprises a laser cutting machine power supply component, a robot power supply component, an automatic measuring head power supply component, a computer and a display component. The automatic three-dimensional measurement and marking system for the complex castings has the advantages of high measurement efficiency, wide measurement range, high reliability, automatic measurement, automatic data storage, calculation, verification and management, high measurement precision, high accuracy and high automation degree.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement and laser scribing, in particular to an automatic three-dimensional measurement and scribing system for a complex casting.
Background
Before the casting is precisely machined, whether the casting has enough machining allowance or not needs to be judged, a datum line meeting machining requirements needs to be marked on the casting, and the datum line is used as a machining reference for further precise machining.
At present, the adopted judgment method is manual marking, namely, a reference (generally an internal large plane or an important plane is taken as a reference) is respectively searched in the x direction, the y direction and the z direction of a workpiece, the size position of a standard workpiece is drawn on a casting according to the reference and the size on a standard design drawing, and the redundant casting part is the machining allowance required to be accurately machined in the later period.
If the machining allowance of each part meets the technological requirement, further machining by taking the reference as a machining reference; if not, the reference needs to be adjusted until the allowance meets the requirement; if the requirement is still not met after the adjustment, the method is judged to be a waste part, and in sum, the manual marking method has the following defects:
a) the efficiency is low. A worker skilled in operation and experienced in handling a batch of castings requires at least four days;
b) accuracy is not guaranteed. The detection result completely depends on the skill of workers, and misjudgment is easily caused by slight negligence.
Therefore, a more practical and effective detection method is needed to overcome the defects of manual detection, so that the machining allowance of the casting is quickly measured, whether the casting is qualified is quickly judged, and the reference position of the machining requirement is automatically drawn, so that the purposes of saving the detection cost, improving the detection efficiency, accuracy and automation degree are achieved, and meanwhile, the requirement of fine machining in the later stage of the casting can be guided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an automatic three-dimensional measurement and marking system for complex castings, which is more efficient and accurate in measurement and saves the detection cost.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an automatic three-dimensional measurement of complicated foundry goods and marking off system, includes robot assembly, automatic gauge head subassembly, high accuracy laser marking off subassembly and industrial control cabinet subassembly, the robot assembly includes six industrial robot and robot base, and six industrial robot fixed mounting are on robot base.
The automatic measuring head component comprises a camera acquisition component and a surface structured light projection component, and the camera acquisition component is connected with the surface structured light projection component through a network cable.
The high-precision laser scribing component comprises a high-precision movement mechanism, laser scribing equipment and a calibration block, wherein the laser scribing equipment is fixedly arranged on the high-precision movement mechanism, the high-precision movement mechanism carries the laser scribing equipment to perform scribing operation, and the calibration block is used for calibrating the conversion relation between a measurement coordinate system and a scribing coordinate system.
The industrial control cabinet component comprises a laser cutting machine power supply component, a robot power supply component, an automatic measuring head power supply component, an industrial robot control cabinet component, a computer and a display component.
Preferably, the surface structured light projection component is composed of an LED projection light source, a laser and a projection lens, and the laser provides a mark for the automatic measuring head component, so as to facilitate TCP calibration.
Preferably, the camera acquisition assembly consists of a group of binocular cameras, an optical filter and a camera lens, the binocular cameras are used for acquiring the structured light image, the optical filter filters a light pollution source caused by the reflection of the surface of the workpiece to be detected, and clear and complete image information is obtained after data processing.
Preferably, the high-precision movement mechanism consists of a marble base, a gantry support and a software control system, so that the stability of the long-time work of the workbench is ensured, and the high-precision movement mechanism is controlled by an industrial computer and can effectively control the two-position precision workbench and the precision rotating platform.
Preferably, the laser marking device is internally and fixedly provided with a fiber laser, a laser modulation system, a laser fiber transmission system and a red light indication system are arranged in the fiber laser, the indication light and the laser are coaxial, the processing range can be previewed during processing, accurate alignment is carried out, the protection system has the functions of over-temperature protection and over-low input modulation frequency protection and alarm, the normal use of the fiber laser is ensured, and an optical path system adopts effective sealing and drying measures to prevent dust and oil mist from polluting lenses and prevent the lenses from dewing.
Preferably, the laser cutting machine power supply assembly is used for electrically connecting the cutting machine and the rotary table to control the laser to move and the rotary table to rotate the casting and perform cutting.
Preferably, the robot power supply assembly is electrically connected to the robot and the robot demonstrator to control the robot.
Preferably, the automatic gauge head power supply assembly is used for being electrically connected with the camera acquisition assembly and the surface structured light projection assembly in the automatic gauge head assembly to respectively supply power to the camera acquisition assembly and the surface structured light projection assembly.
Preferably, the scanning results of the camera acquisition assembly and the surface structure light projection assembly are transmitted to a computer in the industrial control cabinet assembly, and then the three-dimensional shape measurement result of the casting is obtained.
(III) advantageous effects
The invention provides an automatic three-dimensional measurement and marking system for a complex casting. Compared with the prior art, the method has the following beneficial effects:
(1) the three-dimensional measurement and marking system can be used for automatic measurement and marking of complex castings, and all modules in the three-dimensional measurement and marking system are subjected to automatic adaptive design aiming at a casting marking process by being applied to production of the castings, and the system specifically comprises the following steps:
1) the measuring head is designed, the surface structured light technology is combined with the binocular stereoscopic vision technology, the measuring head can be accurately controlled through the projector control module, and meanwhile, the robot path planning technology is combined, so that the automatic three-dimensional measurement of a casting can be adapted.
2) The high-precision rotary table is designed, corresponding modules are designed aiming at large range and heavy weight of castings, the castings are stably fixed on the tool fixture by combining the components such as the tool fixture and the positioning block, and complete three-dimensional data of the castings can be obtained by measurement under the driving of the rotary table.
3) The calibration device is designed, aiming at an automatic measurement system, the automatic calibration can be accurately carried out on the automatic measurement system by combining a robot through carrying out accurate path planning and a time control module, and the precision of the measurement system is improved.
4) The coordinate unification of different measurement systems is designed, and aiming at the problem that the measurement coordinate system is not unified with the scribing system coordinate system, a coordinate system unification method based on a hand-eye calibration model is designed, data in the measurement coordinate system can be directly converted into the scribing coordinate system to perform scribing operation, and the precision of the measurement system is improved.
(2) The automatic three-dimensional measurement and marking system for the complex castings is high in measurement efficiency, wide in measurement range and high in reliability. The measuring system does not need an additional measuring tool, is simple to operate, and can complete the whole measuring process without a plurality of quality inspectors. Meanwhile, the automatic measuring head can measure the sizes of different areas under the loading of the robot and the high-precision rotary table, so that complete three-dimensional data can be obtained, and the measuring range is expanded. Meanwhile, the three-dimensional measurement technology based on the surface structure light binocular stereo vision has more reliable measurement results, and different measurement point positions can obtain complete data, so that the reliability is high.
(3) The automatic three-dimensional measurement and marking system for the complex castings has the advantages that the automatic degree of measurement is high, automatic storage, calculation, verification and management can be carried out on data, the measurement system is an automatic process, three-dimensional measurement can be carried out only by clicking measurement after path planning is completed, automation is realized in the whole process, meanwhile, three-dimensional data processing, analysis calculation, verification and storage can be automatically carried out on results obtained by measurement, and finally, reports are generated to be used for carrying out data management later.
(4) This automatic three-dimensional measurement of complicated foundry goods and marking off system, measurement accuracy is high, the degree of accuracy is high, this measurement system is in the projecting apparatus subassembly, use LED projection arrangement and the calibration module of high accuracy, measurement accuracy higher than general grating projecting apparatus, discover after having carried out actual measurement, measurement accuracy to the foundry goods can reach 0.05mm, marking off precision can reach 0.15mm, large size measurement accuracy requirement has been realized, whole measurement process is automatic measurement process simultaneously, alone can accomplish, degree of automation is high.
Drawings
FIG. 1 is a perspective view of a three-dimensional measurement and scoring system of the present invention;
fig. 2 is a schematic structural diagram of an automated probe assembly in the three-dimensional measurement and scribing system according to the present invention.
In the figure, a robot assembly 1, a six-axis industrial robot 11, a robot base 12, an automatic measuring head assembly 2, a camera acquisition assembly 21, a structured light projection assembly 22, a high-precision laser scribing assembly 3, a high-precision motion mechanism 31, a laser scribing device 32, a calibration block 33 and an industrial control cabinet assembly 4 are arranged.
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. 1-2, an embodiment of the present invention provides a technical solution: the utility model provides an automatic three-dimensional measurement of complicated foundry goods and marking off system, includes robot assembly 1, automatic gauge head subassembly 2, high accuracy laser marking off subassembly 3 and industrial control cabinet subassembly 4, and robot assembly 1 includes six industrial robot 11 and robot base 12, and 11 fixed mounting of six industrial robot are on robot base 12.
Automatic change gauge head subassembly 2 includes camera acquisition subassembly 21 and face structure light projection subassembly 22, connect through the net twine between camera acquisition subassembly 21 and the face structure light projection subassembly 22, face structure light projection subassembly 22 is by LED projection light source, the laser instrument comprises laser instrument and projection lens, the laser instrument provides the sign for automatic gauge head subassembly 2, so that carry out TCP demarcation, camera acquisition subassembly 21 is by a set of two mesh cameras, light filter and camera lens are constituteed, and two mesh cameras are used for acquireing the structure light image, the light pollution source that the reflection of light filter will be caused by the measured workpiece surface simultaneously filters, after data processing, and then obtain clear complete image information.
The high-precision laser scribing component 3 comprises a high-precision movement mechanism 31, a laser scribing device 32 and a calibration block 33, wherein the laser scribing device 32 is fixedly arranged on the high-precision movement mechanism 31, the high-precision movement mechanism 31 carries the laser scribing device 32 to perform scribing operation, the calibration block 33 is used for calibrating the conversion relation between a measuring coordinate system and a scribing coordinate system, the high-precision movement mechanism 31 consists of a marble base, a gantry support and a software control system, the stability of the long-time work of the workbench is ensured, the high-precision movement mechanism 31 is controlled by an industrial computer and can effectively control the two-position precision workbench and the precision rotating table, a fiber laser is fixedly arranged in the laser scribing device 32, a laser modulation system, a laser fiber transmission and red light indication system are arranged in the fiber laser, the indication light is coaxial with the laser, and the processing range can be previewed during processing, accurate counterpoint has been carried out, the protection system complete machine has the excess temperature, input modulation frequency crosses low protection and alarming function, ensure that fiber laser normally uses, effective sealing and drying measure are taken to the light path system, prevent that dust, oil mist from polluting lens and lens dewfall, the computer communicates with high accuracy motion 31 through the TCP/IP agreement and controls the rotation, rotate certain angle through driving high accuracy revolving stage, drive the foundry goods and change different angles, and then accessible automation gauge head subassembly 2 carries out three-dimensional measurement to being surveyed the work piece.
The industrial control cabinet component 4 comprises a laser cutting machine power supply component, a robot power supply component, an automatic measuring head power supply component, an industrial robot control cabinet component, a computer and a display component, wherein the laser cutting machine power supply component is electrically connected with a cutting machine and a rotary table to control the movement of a laser and the rotation of the rotary table to cast and cut, the robot power supply component is electrically connected with a robot and a robot demonstrator, the robot is controlled, the automatic measuring head power supply assembly is used for being electrically connected with the camera acquisition assembly 21 and the surface structure light projection assembly 22 in the automatic measuring head assembly 2 to respectively supply power to the camera acquisition assembly 21 and the surface structure light projection assembly 22, and the scanning result of the camera acquisition assembly 21 and the surface structure light projection assembly 22 is transmitted to a computer in the industrial control cabinet assembly 4, so that the three-dimensional shape measurement result of the casting is obtained.
The automatic three-dimensional measurement and marking system for the complex castings firstly measures the three-dimensional shape of the castings according to a preset path, the automatic measuring head component 2 projects a grating onto the surface of a traction cushion, the robot drives the automatic measuring head component 2 to measure, a binocular camera is used for obtaining a grating image and then solving three-dimensional data, meanwhile, in order to carry out a marking process, complete three-dimensional data of the castings needs to be measured, a tool clamp is driven by a high-precision rotating platform to rotate by a certain angle, then the automatic measuring head component 2 obtains the grating image and solves the three-dimensional data, splicing of the three-dimensional data depends on an internal nearest iterative algorithm, finally complete point cloud data can be obtained through different poses under the driving of the measuring head of the robot, and after the point cloud data are obtained, data processing software can automatically analyze and process the dimension to be detected, and obtaining three-dimensional data under a measurement coordinate system, outputting an analysis report, storing the analysis report in a computer, converting the scribing data under the measurement coordinate system into the scribing system coordinate system for the scribing coordinate system to use according to a pre-calibrated coordinate conversion matrix, and performing scribing operation on the surface of the casting by using laser under the guidance of a motion system after the given data by using a high-precision laser scribing system.
Finally, through actual measurement, the whole measurement accuracy of the automatic lineation three-dimensional measurement system can reach +/-0.05 mm, the lineation accuracy can reach 0.15mm, the equipment runs well, the measurement accuracy is high, the automation degree is high, and the reliability is high.
In conclusion, the invention has the advantages of high measurement efficiency, wide measurement range, high reliability, automatic measurement, automatic storage, calculation, verification and management of data, high measurement precision, high accuracy and high automation degree.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an automatic three-dimensional measurement of complicated foundry goods and marking off system which characterized in that: the automatic laser scribing robot comprises a robot component (1), an automatic measuring head component (2), a high-precision laser scribing component (3) and an industrial control cabinet component (4), wherein the robot component (1) comprises six industrial robots (11) and a robot base (12), and the six industrial robots (11) are fixedly arranged on the robot base (12);
the automatic measuring head component (2) comprises a camera acquisition component (21) and a surface structured light projection component (22), and the camera acquisition component (21) is connected with the surface structured light projection component (22) through a network cable;
the high-precision laser scribing component (3) comprises a high-precision movement mechanism (31), laser scribing equipment (32) and a calibration block (33), wherein the laser scribing equipment (32) is fixedly arranged on the high-precision movement mechanism (31), the high-precision movement mechanism (31) carries the laser scribing equipment (32) to perform scribing operation, and the calibration block (33) is used for calibrating the conversion relation between a measurement coordinate system and a scribing coordinate system;
the industrial control cabinet component (4) comprises a laser cutting machine power supply component, a robot power supply component, an automatic measuring head power supply component, an industrial robot control cabinet component, a computer and a display component.
2. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the surface structure light projection assembly (22) is composed of an LED projection light source, a laser and a projection lens, and the laser provides identification for the automatic measuring head assembly (2) so as to facilitate TCP calibration.
3. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the camera acquisition assembly (21) is composed of a group of binocular cameras, optical filters and camera lenses, the binocular cameras are used for acquiring structured light images, meanwhile, the optical filters filter light pollution sources caused by reflection of the surface of the workpiece to be detected, and clear and complete image information is obtained after data processing.
4. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the high-precision movement mechanism (31) consists of a marble base, a gantry support and a software control system, and the high-precision movement mechanism (31) is controlled by an industrial computer and can effectively control the two-position precision workbench and the precision rotary table.
5. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: and a fiber laser is fixedly installed in the laser scribing equipment (32), and a laser modulation system, a laser fiber transmission system and a red light indication system are arranged in the fiber laser.
6. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the laser cutting machine power supply assembly is used for being electrically connected with the cutting machine and the rotary table to control the laser to move and the rotary table to rotate the casting and cut.
7. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the robot power supply assembly is used for electrically connecting the robot and the robot demonstrator and controlling the robot.
8. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: the automatic measuring head power supply assembly is used for being electrically connected with a camera acquisition assembly (21) and a surface structure light projection assembly (22) in the automatic measuring head assembly (2) to respectively supply power to the camera acquisition assembly (21) and the surface structure light projection assembly (22).
9. The automated three-dimensional measurement and scoring system for complex castings according to claim 1, wherein: and the scanning results of the camera acquisition component (21) and the surface structure light projection component (22) are transmitted to a computer in the industrial control cabinet component (4), so that the three-dimensional shape measurement result of the casting is obtained.
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| CN202010313193.1A CN111331569A (en) | 2020-04-20 | 2020-04-20 | Automatic three-dimensional measurement and marking system for complex castings |
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| CN202010313193.1A CN111331569A (en) | 2020-04-20 | 2020-04-20 | Automatic three-dimensional measurement and marking system for complex castings |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111468835A (en) * | 2020-06-23 | 2020-07-31 | 中国航空制造技术研究院 | Positioning device and positioning method for layer surface bus in bent cylinder |
| CN111890326A (en) * | 2020-08-05 | 2020-11-06 | 中国第二重型机械集团德阳万航模锻有限责任公司 | Three-coordinate positioning machining reference marking method |
| CN111982024A (en) * | 2020-08-21 | 2020-11-24 | 南京中车浦镇城轨车辆有限责任公司 | Automatic three-dimensional measuring system for traction, bolster and buffering |
| CN112454317A (en) * | 2020-11-20 | 2021-03-09 | 爱佩仪测量设备有限公司 | Power-assisted scribing module for three-coordinate measuring and scribing machine |
| CN112476395A (en) * | 2020-10-26 | 2021-03-12 | 西安航天精密机电研究所 | Industrial robot-oriented three-dimensional vision scribing equipment and method |
| CN113427488A (en) * | 2021-07-13 | 2021-09-24 | 西安交通大学 | Digital marking method, system and device based on geometric feature recognition |
| CN113635281A (en) * | 2021-07-20 | 2021-11-12 | 西安交通大学 | Robot automatic scribing method, system and device based on position error compensation |
| CN113714794A (en) * | 2021-08-03 | 2021-11-30 | 哈尔滨工程大学 | Ultrasonic wave-based automatic measurement and adjustment device and method for pose of precision part |
| CN114310906A (en) * | 2022-01-24 | 2022-04-12 | 武汉惟景三维科技有限公司 | Coordinate conversion method in double-robot automatic measuring and marking system |
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| CN111468835A (en) * | 2020-06-23 | 2020-07-31 | 中国航空制造技术研究院 | Positioning device and positioning method for layer surface bus in bent cylinder |
| CN111468835B (en) * | 2020-06-23 | 2020-10-16 | 中国航空制造技术研究院 | Positioning device and positioning method for layer surface bus in bent cylinder |
| CN111890326A (en) * | 2020-08-05 | 2020-11-06 | 中国第二重型机械集团德阳万航模锻有限责任公司 | Three-coordinate positioning machining reference marking method |
| CN111982024A (en) * | 2020-08-21 | 2020-11-24 | 南京中车浦镇城轨车辆有限责任公司 | Automatic three-dimensional measuring system for traction, bolster and buffering |
| CN112476395A (en) * | 2020-10-26 | 2021-03-12 | 西安航天精密机电研究所 | Industrial robot-oriented three-dimensional vision scribing equipment and method |
| CN112454317A (en) * | 2020-11-20 | 2021-03-09 | 爱佩仪测量设备有限公司 | Power-assisted scribing module for three-coordinate measuring and scribing machine |
| CN113427488A (en) * | 2021-07-13 | 2021-09-24 | 西安交通大学 | Digital marking method, system and device based on geometric feature recognition |
| CN113635281A (en) * | 2021-07-20 | 2021-11-12 | 西安交通大学 | Robot automatic scribing method, system and device based on position error compensation |
| CN113714794A (en) * | 2021-08-03 | 2021-11-30 | 哈尔滨工程大学 | Ultrasonic wave-based automatic measurement and adjustment device and method for pose of precision part |
| CN114310906A (en) * | 2022-01-24 | 2022-04-12 | 武汉惟景三维科技有限公司 | Coordinate conversion method in double-robot automatic measuring and marking system |
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