CN206087367U - 6 -degree of freedom transfers control system of appearance platform - Google Patents
6 -degree of freedom transfers control system of appearance platform Download PDFInfo
- Publication number
- CN206087367U CN206087367U CN201620984556.3U CN201620984556U CN206087367U CN 206087367 U CN206087367 U CN 206087367U CN 201620984556 U CN201620984556 U CN 201620984556U CN 206087367 U CN206087367 U CN 206087367U
- Authority
- CN
- China
- Prior art keywords
- posture adjustment
- assembled
- industrial computer
- wing
- motion controller
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model relates to a 6 -degree of freedom transfers control system of appearance platform to suspension type wing body butt joint characteristics, uses the platform as aircraft component transportation and automated docking, under digital measuring equipment's guide, realizes qxcomm technology's transportation and digital quickmelt assembly between the aircraft structure. Can be in certain range of size the automatic big component size of aircraft that adapt to, realize that the big parts of aircraft are sociablely dismantled, the transportation, safeguard, heavily location installation integration, improve aircraft operation and maintenance efficiency greatly. In view of above reason, the utility model discloses the intelligent assembly field that can extensively be used for aircraft component.
Description
Technical field
The utility model is related to Intelligent assembly field, especially with regard to a kind of control system of six degree of freedom posture adjustment platform.
Background technology
Assembling is a link the most key during aircraft manufacturing, and the final matter of aircraft is determined to a great extent
Amount, manufacturing cost and cycle, are leading, the crucial and core technologies of whole aircraft manufacturing process.The flexibility of airplane parts, assembling
Deform, number of parts is big, error source is more, product structure is complicated, design evaluation is difficult, assembly technology is complicated, detection controls difficulty etc. and leads
Cause the control of aircraft assembly precision extremely difficult.At present Domestic Aircraft general assembly be by frock and technological compensa tion come ensure part it
Between coordination, this method precision is low, efficiency is low, poor reliability, overproof problem easily occurs.
After nineteen nineties, with the fast lifting of airborne combat performance so that airframe is manufactured more
Complicated, difficult, manufacturing cost steeply rises, and then the volume production and workmanship to aircraft all generates considerable influence.For this
One problem, external Airplane Manufacturing Enterprise proposes high-quality, high efficiency, low cost and adapts to multi items to aircraft mounting technology
The production requirement of product, it is more and more stronger with the demand of mounting technology to aircraft flexible transport.At the same time, sending out with technology
Exhibition, various new assembling process techniques cause aircraft digital, the realization of Automated assembly with developing by leaps and bounds for computer technology
Possesses necessary technical foundation.Aircraft digital, Automated assembly have been developed and applied to the Aviation Enterprise of advanced country
Technology achieves remarkable effect in the development and production of various aircrafts.
At present, China's Aviation Industry has welcome new developing period, not only carries great of urgent high newly built construction
Business, but also the division of labor and competition of international aircraft industry are participated in, therefore in the urgent need to lifting aircraft development production capacity to increase
Strong China Aviation Enterprise international competitiveness.Particularly China the next generation aircraft development, its cruise property, mobility, security,
The high request of the aspects such as service life, production cost and production capacity has made aircraft assembling structure form, material, assembling quality relatively pass
System aircraft there occurs great change.On the one hand lack right using the backward mounting technology of frock and technological compensa tion at present by China
Multi-series, the adaptability of polymorphic type aircraft components assembling, technological equipment precision poor repeatability affects the market of enterprise quickly anti-
Should be able to power, it is impossible to meet the requirement of aircraft volume production and economy；Installation accuracy and efficiency of assembling are low, while traditional assembly method
The requirement of aircraft digital and Automated assembly cannot be met.Therefore research is needed to integrate comprehensive light, mechanical, electrical, computer
Omni-mobile automatic flexible mounting plate.Aircraft digital based on the Omni-mobile automatic flexible mounting plate of measurement auxiliary
Flexible assembly is that modern civil aircraft manufactures indispensable indispensable technology, and the blockade on new techniques of foreign countries colleague makes autonomous research based on intelligence
Mobile aircraft flexible assembly platform becomes unique selection.
The content of the invention
In order to solve the deficiencies in the prior art, the purpose of this utility model is to provide a kind of six certainly to the utility model
By the control system of degree posture adjustment platform, feature is docked for suspension type wing body, using described as aircraft components transport and automatic
The platform of docking, under the guiding of digitized measurement equipment, realizes that the omnidirectional's transport between Flight Vehicle Structure is quick with digitlization right
Tipping is matched somebody with somebody.Large Aircraft Components size can be automatically adapted in the range of certain size, realize Large Aircraft Components outfield dismounting, transport,
Safeguard, integration is installed in reorientation, greatly improve aircraft utilization and safeguard efficiency.
To reach above-mentioned purpose, the utility model mainly provides following technical scheme：A kind of six degree of freedom posture adjustment platform
Control system, it is characterised in that：It includes an industrial computer, a laser tracker, a motion controller, some posture adjustment localization machines
Structure, some grating scales and some three-axis force square sensors；Wherein, the industrial computer wirelessly connects the laser tracker；It is described
Motion controller described in industrial computer wired connection, posture adjustment detent mechanism described in the motion controller wired connection, the posture adjustment
Wing to be assembled is set on detent mechanism；Each posture adjustment detent mechanism includes four posture adjustment locators, each posture adjustment
Locator arranges three grating scales, and motion controller described in the grating scale wired connection；Each posture adjustment positioning
Device top arranges three-axis force square sensor described in, motion controller described in the three-axis force square sensor wired connection；It is above-mentioned
Pre-set in the industrial computer and the coordinate information of fuselage to be assembled and wing to be assembled is changed into the formula of attitude information, treats group
Installation wing targeted attitude, the conversion formula of attitude, machine to be assembled are adjusted according to the attitude and targeted attitude of wing to be assembled
The conversion formula of wing attitude and the posture adjustment positioner motion, the torque value scope of the posture adjustment locator and targeted attitude
Range of tolerable variance；The laser tracker sends the coordinate information of the fuselage to be assembled for detecting and wing to be assembled to the industry control
Machine；Coordinate information is converted into attitude information by the industrial computer, and the industrial computer is interior in advance with it by the attitude information for obtaining
The targeted attitude information of the wing to be assembled for arranging compares, and draws the tune below the adjustment attitude information and wing of wing
The motion final position information of appearance locator, and the control command of the attitude information is sent to institute by the motion controller
State each described posture adjustment locator in posture adjustment detent mechanism, the posture adjustment locator according to control command adjust corresponding X-axis,
Y-axis, Z axis, around X-axis, distance around Y-axis and about the z axis, realize the six degree of freedom posture adjustment of wing to be assembled thereon；Posture adjustment is completed
Afterwards, the final coordinate information transmission of the fuselage to be assembled of detection and wing to be assembled is given the industry control by the laser tracker
Machine, the industrial computer is changed into final carriage information, and is judged according to the range of tolerable variance of built-in targeted attitude, if treating
The final carriage of assembling wing completes fuselage to be assembled within range of tolerable variance set in advance, then and treats with targeted attitude error
The assembling of assembling wing, otherwise, continues adjustment and completes assembling until meeting range of tolerable variance；The grating scale gathers each tune
The positional information of appearance locator, and the positional information is sent to the industrial computer by the motion controller, with the work
The motion final position information of the posture adjustment locator in control machine compares, if identical, does not process, if it is different, then described
Industrial computer assigns control command to the posture adjustment locator by the motion controller, until obtaining the institute in the industrial computer
State the motion final position information of posture adjustment locator；The three-axis force square sensor is by the power of the posture adjustment locator by described
Motion controller sends the industrial computer, torque value of the industrial computer according to the posture adjustment locator pre-set in it to
Scope is compared, if not within the scope of this, the control command of stop motion is sent to institute by the motion controller
Posture adjustment locator is stated, otherwise, is not processed.
Due to taking above technical scheme, it has advantages below to the utility model：1st, the utility model is due to using sharp
Optical tracker system sends the coordinate information of the fuselage to be assembled for detecting and wing to be assembled to industrial computer；Industrial computer is by coordinate information
Attitude information is converted into, and industrial computer believes the targeted attitude of the wing to be assembled pre-set in the attitude information of acquisition and its
Breath compares, and draws the motion final position information of the posture adjustment locator below the adjustment attitude information and wing of wing, and will
The control command of the attitude information sends each posture adjustment locator in posture adjustment detent mechanism to by motion controller, that is, move
Controller drives the servomotor of appearance locator by way of electric cam and electronic gear, and servomotor is according to the letter for receiving
Number corresponding adjustment X, tri- directions of Y, Z or the public cooperation of each two posture adjustment locator realize around X-axis, Y-axis and Z axis six from
By degree adjustment, so as to realize wing six degree of freedom posture adjustment thereon.After the completion of posture adjustment, the machine to be assembled that laser tracker will be detected
The final coordinate information industrial computer of body and wing to be assembled, industrial computer is changed into final carriage information, and according to built-in appearance
Difference scope is judged, if the final carriage of wing to be assembled and targeted attitude error are within range of tolerable variance set in advance,
The assembling of fuselage to be assembled and wing to be assembled is then completed, otherwise, is continued adjustment and is completed assembling, this reality until meeting range of tolerable variance
With new due to the automation mounting technique using more than, therefore installation accuracy and efficiency are all higher such that it is able to adapt to aircraft
Digitlization and the requirement of Automated assembly, and due to the automatic installation using unartificial mode, therefore technological equipment precision weight
Renaturation is good, disclosure satisfy that the demand of aircraft volume production and economy.2nd, the utility model using grating scale due to gathering each posture adjustment
The positional information of locator, and the positional information is sent to industrial computer by motion controller, determine with the posture adjustment in industrial computer
The motion final position information of position device compares, if identical, does not process；If it is different, then industrial computer is by under motion controller
Posture adjustment locator is given up to control command, the motion final position information until obtaining the posture adjustment locator in industrial computer, so as to reality
Full closed loop control on present tri- directions of X, Y, Z, so as to improve the posture adjustment precision and efficiency of the utility model device.3rd, this practicality
New employing three-axis force square sensor sends the power of posture adjustment locator to industrial computer by motion controller, and industrial computer is according to it
The torque value scope of the posture adjustment locator for inside pre-setting is compared, if not within the scope of this, illustrating treat group
The installation wing is installed on fuselage to be assembled but still installing or posture adjustment locator is damaged, therefore power just gradually increases.By fortune
Movement controller sends the control command of stop motion and gives posture adjustment locator, so as to play certain safety effect, protects corresponding portion
Part.4th, the utility model carries out attitude measurement using laser tracker, and technology maturation, certainty of measurement is high, so as to ensure what is obtained
Precision of information is higher.5th, the motion controller that the utility model is adopted carries multi-axis electronic gear and electric cam control function,
Programming is convenient, the construction cycle is short and synchronism is good.In view of above reason, the utility model can be widely applied to aircraft components
Intelligent assembly field.
Description of the drawings
In order to be illustrated more clearly that the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative work
Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the overall structure diagram of the utility model device；
In figure, 1 be industrial computer, 2 be laser tracker, 3 be motion controller, 4 be posture adjustment detent mechanism, 5 be grating scale,
6 is three-axis force square sensor, and 41 is posture adjustment locator.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
As shown in figure 1, a kind of control system of six degree of freedom posture adjustment platform, it includes an industrial computer 1, a laser tracker
2nd, a motion controller 3, some posture adjustment detent mechanisms 4, some grating scales 5 and some three-axis force square sensors 6.
Wherein, industrial computer 1 be wirelessly connected to the laser of the coordinate information for measuring fuselage to be assembled and wing to be assembled with
Track instrument 2, the wired connection motion controller 3 of industrial computer 1.The wired connection posture adjustment detent mechanism 4 of motion controller 3, posture adjustment localization machine
Wing to be assembled is set on structure 4, and each posture adjustment detent mechanism 4 includes four posture adjustment locators 41, and each posture adjustment locator 41 sets
Put three grating scales 5, and the wired connection motion controller 3 of grating scale 5.Each top of posture adjustment locator 41 arranges one to be used to measure
The three-axis force square sensor 6 of the torque of posture adjustment locator 41, the wired connection motion controller 3 of three-axis force square sensor 6.Above-mentioned industry control
Pre-set in machine 1 and the coordinate information of fuselage to be assembled and wing to be assembled is changed into into the formula of attitude information, wing to be assembled
Targeted attitude, the conversion formula that attitude is adjusted according to the attitude and targeted attitude of wing to be assembled, wing attitude to be assembled
The torque value scope and the range of tolerable variance of targeted attitude of conversion formula, posture adjustment locator 41 with posture adjustment positioner motion.
In above-described embodiment, posture adjustment locator 41 is existing equipment, therefore is no longer described in detail, and posture adjustment locator 41 has three and watches
Motor i.e. X-axis servomotor, Y-axis servomotor and Z axis servomotor are taken, three servomotors control respectively X-axis, Y-axis and Z axis
Motion on three directions, each servomotor electrically connects motion controller 3, and by motion controller 3 different controls are assigned
Corresponding motion is realized in order.Two collective effects of posture adjustment locator 41 realize wing to be assembled turning around X-axis, Y-axis or Z axis
It is dynamic, so as to realize that six degree of freedom adjusts the attitude of wing to be assembled.
Further, the motion controller 3 of the utility model device can also include wired connection touching type operation panel,
Or wireless connection handheld operation panel, so as to by the two observation control situation or carrying out being input into corresponding information and carry out
Control.
Further, the utility model device can also include Omni-mobile platform (this for transporting fuselage to be assembled
For part commonly used in the art, therefore no longer describe in detail), Omni-mobile platform connects industrial computer 1 by motion controller 3, by work
Control machine 1 realizes automatic transportation fuselage to be assembled.
Further, with multi-axis electronic gear, (this two functions are existing to motion controller 3 with electric cam control function
Have technology, therefore no longer describe in detail), programming is convenient, the construction cycle is short and synchronism is good.
Further, motion controller 3 adopts PROFINET for the control of the servomotor of posture adjustment locator 41.
When the utility model device works：
Wing to be assembled is lifted to posture adjustment locator 41 and locks bulb and fixes wing to be assembled in posture adjustment positioning
Device 41；
Laser tracker 2 sends the coordinate information of the fuselage to be assembled for detecting and wing to be assembled to industrial computer 1；
Coordinate information is converted into attitude information by industrial computer 1, and industrial computer 1 by the attitude information of acquisition with its in set in advance
The targeted attitude information of the wing to be assembled put compares, and draws the posture adjustment positioning below the adjustment attitude information and wing of wing
The motion final position information of device 41, and the control command of the attitude information is sent to posture adjustment positioning by motion controller 3
In-house each posture adjustment locator 41, i.e. motion controller 3 drives appearance to position by way of electric cam and electronic gear
The servomotor of device 41, servomotor adjusts accordingly X according to the signal for receiving, and tri- directions of Y, Z or each two posture adjustment are fixed
Device 41 public cooperation in position is realized being adjusted around the six degree of freedom of X-axis, Y-axis and Z axis, so as to realize that wing six degree of freedom thereon is adjusted
Appearance.
After the completion of posture adjustment, laser tracker 2 by detect fuselage to be assembled and wing to be assembled final coordinate information work
Control machine 1, industrial computer 1 is changed into final carriage information, and is judged according to built-in range of tolerable variance, if wing to be assembled
Final carriage and targeted attitude error complete fuselage to be assembled and wing to be assembled within range of tolerable variance set in advance, then
Assembling, otherwise, continues adjustment and completes assembling until meeting range of tolerable variance；
During above-mentioned posture adjustment, grating scale 5 gathers the positional information of each posture adjustment locator 41, and the positional information is led to
Cross motion controller 3 and send industrial computer 1 to, compare with the motion final position information of posture adjustment locator 41 in industrial computer 1,
If identical, do not process；If it is different, then industrial computer 1 assigns control command to posture adjustment locator 41 by motion controller 3, directly
To the motion final position information of the posture adjustment locator 41 obtained in industrial computer 1, the closed-loop control on tri- directions of X, Y, Z is realized
System, so as to improve the posture adjustment precision and efficiency of the utility model device.
During above-mentioned posture adjustment, three-axis force square sensor 6 by motion controller 3 sends the power of posture adjustment locator 41 to
Industrial computer 1, industrial computer 1 is compared according to the torque value scope of the posture adjustment locator 41 pre-set in it, if not in the model
Within enclosing, then illustrate by wing to be assembled be installed on fuselage to be assembled but still install or posture adjustment locator 41 damage
It is bad, therefore power just gradually increases.The control command of stop motion is sent to posture adjustment locator 41 by motion controller 3, so as to
Certain safety effect is played, corresponding component is protected；Otherwise, do not process.
Above-mentioned is enlightenment according to desirable embodiment of the present utility model, by above-mentioned description, relevant staff
Completely various change and modification can be carried out in the range of without departing from this invention technological thought.The skill of this invention
Art scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (4)
1. a kind of control system of six degree of freedom posture adjustment platform, it is characterised in that：It include an industrial computer, a laser tracker,
One motion controller, some posture adjustment detent mechanisms, some grating scales and some three-axis force square sensors；
Wherein, the industrial computer wirelessly connects the laser tracker；Motion controller described in the industrial computer wired connection, institute
Posture adjustment detent mechanism described in motion controller wired connection is stated, wing to be assembled is set on the posture adjustment detent mechanism；Each institute
Posture adjustment detent mechanism is stated including four posture adjustment locators, each posture adjustment locator arranges three grating scales, and described
Motion controller described in grating scale wired connection；Each posture adjustment locator top arranges three-axis force square sensor described in,
Motion controller described in the three-axis force square sensor wired connection；Pre-set fuselage to be assembled in industrial computer described above
With the coordinate information of wing to be assembled change into the formula of attitude information, wing targeted attitude to be assembled, according to wing to be assembled
Attitude and targeted attitude are adjusted the conversion of the conversion formula, wing attitude to be assembled and the posture adjustment positioner motion of attitude
The range of tolerable variance of formula, the torque value scope of the posture adjustment locator and targeted attitude；
The laser tracker sends the coordinate information of the fuselage to be assembled for detecting and wing to be assembled to the industrial computer；Institute
State industrial computer and coordinate information is converted into into attitude information, and the industrial computer will pre-set in the attitude information of acquisition and its
The targeted attitude information of wing to be assembled compares, and draws the posture adjustment positioning below the adjustment attitude information and wing of wing
The motion final position information of device, and the control command of the attitude information is sent to the posture adjustment by the motion controller
Each described posture adjustment locator in detent mechanism, the posture adjustment locator adjusts corresponding X-axis, Y-axis, Z according to control command
Axle, around X-axis, distance around Y-axis and about the z axis, realize the six degree of freedom posture adjustment of wing to be assembled thereon；After the completion of posture adjustment, institute
Laser tracker is stated by the final coordinate information transmission of the fuselage to be assembled for detecting and wing to be assembled to the industrial computer, it is described
Industrial computer is changed into final carriage information, and is judged according to the range of tolerable variance of built-in targeted attitude, if machine to be assembled
The final carriage of the wing completes fuselage to be assembled and machine to be assembled with targeted attitude error within range of tolerable variance set in advance, then
The assembling of the wing, otherwise, continues adjustment and completes assembling until meeting range of tolerable variance；
The grating scale gathers the positional information of each posture adjustment locator, and by the positional information by the motion control
Device sends the industrial computer to, compares with the motion final position information of the posture adjustment locator in the industrial computer, if
It is identical, then do not process, if it is different, then the industrial computer by the motion controller assign control command give the posture adjustment positioning
Device, the motion final position information until obtaining the posture adjustment locator in the industrial computer；
The three-axis force square sensor sends the power of the posture adjustment locator to the industrial computer by the motion controller,
The industrial computer is compared according to the torque value scope of the posture adjustment locator pre-set in it, if not the scope it
It is interior, then the control command of stop motion is sent to the posture adjustment locator by the motion controller, otherwise, do not process.
2. the control system of a kind of six degree of freedom posture adjustment platform according to claim 1, it is characterised in that：Also include touching
Formula guidance panel, motion controller described in the touching type operation panel wired connection.
3. the control system of a kind of six degree of freedom posture adjustment platform according to claim 1, it is characterised in that：Also include hand-held
Formula guidance panel, the handheld operation panel wirelessly connects the motion controller.
4. the control system of a kind of six degree of freedom posture adjustment platform according to claim 1, it is characterised in that：Also include for
The Omni-mobile platform of fuselage to be assembled is transported, the Omni-mobile platform connects the industry control by the motion controller
Machine, by the industrial computer fuselage positions to be assembled are controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984556.3U CN206087367U (en) | 2016-08-30 | 2016-08-30 | 6 -degree of freedom transfers control system of appearance platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984556.3U CN206087367U (en) | 2016-08-30 | 2016-08-30 | 6 -degree of freedom transfers control system of appearance platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206087367U true CN206087367U (en) | 2017-04-12 |
Family
ID=58474680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620984556.3U Withdrawn - After Issue CN206087367U (en) | 2016-08-30 | 2016-08-30 | 6 -degree of freedom transfers control system of appearance platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206087367U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275501A (en) * | 2016-08-30 | 2017-01-04 | 深圳市劲拓自动化设备股份有限公司 | The control system of a kind of six degree of freedom posture adjustment platform and control method |
| CN107352044A (en) * | 2017-07-07 | 2017-11-17 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
-
2016
- 2016-08-30 CN CN201620984556.3U patent/CN206087367U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275501A (en) * | 2016-08-30 | 2017-01-04 | 深圳市劲拓自动化设备股份有限公司 | The control system of a kind of six degree of freedom posture adjustment platform and control method |
| CN107352044A (en) * | 2017-07-07 | 2017-11-17 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
| CN107352044B (en) * | 2017-07-07 | 2019-11-19 | 浙江大学 | The layout method of large aircraft trailing edge component posture adjusting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106275501B (en) | A kind of control system and control method of six degree of freedom posture adjustment platform | |
| CN107538042B (en) | A kind of the circular orbit punching system and its operation method of rigid flexible system | |
| CN104690551B (en) | A kind of robot automation's assembly system | |
| CN102092478B (en) | Positioning device for butting wing body | |
| CN104354157B (en) | A kind of tire transfer robot and control method thereof | |
| CN104865897B (en) | The processing method of curved surface part and the process equipment of curved surface part | |
| CN101695814B (en) | Method and device for precisely positioning large part of airplane in place | |
| CN103640022A (en) | Flexible follow-up control method for spacecraft mechanical arm | |
| CN105806251A (en) | Four-axis measuring system based on line laser sensor and measuring method thereof | |
| CN105015799A (en) | Mobile automated overhead assembly tool for aircraft structures | |
| US10371646B2 (en) | Method and system for automated data collection and part validation | |
| CN110861091A (en) | Industrial robot sharp point type revolving body tool calibration method based on cross laser beams | |
| CN103274055A (en) | Indoor-GPS-based (indoor global positioning system-based) stress-free assembly system for large-size airplane parts, and application thereof | |
| CN108332640A (en) | A kind of aircraft door arc surface error detection method | |
| CN206087367U (en) | 6 -degree of freedom transfers control system of appearance platform | |
| CN102085611A (en) | Automatic assembly method and assembly system for strain gauge | |
| CN113636348A (en) | Glass transfer system for building installation | |
| CN108528755B (en) | Digital installation method of acceleration sensor | |
| CN205272071U (en) | Error correction device of equipment zero -bit of robot | |
| CN201744691U (en) | Automatic hole making system for butt joint of wing bodies | |
| CN207249486U (en) | A kind of fixed point track control system of AGV trolleies | |
| CN116540598A (en) | Intelligent drilling and riveting integrated management and control system for double robots of complex parts of airplane | |
| CN114488814A (en) | High-precision laying tension control method for eliminating gravity disturbance | |
| CN102765063A (en) | Blind hole docking and positioning system and method for non-magnetic workpiece assembly | |
| CN113752883B (en) | AGV material delivery car positioning system based on high-speed information communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170412 Effective date of abandoning: 20180814 |