CN213646526U - High-precision assembling device - Google Patents
High-precision assembling device Download PDFInfo
- Publication number
- CN213646526U CN213646526U CN202022857550.9U CN202022857550U CN213646526U CN 213646526 U CN213646526 U CN 213646526U CN 202022857550 U CN202022857550 U CN 202022857550U CN 213646526 U CN213646526 U CN 213646526U
- Authority
- CN
- China
- Prior art keywords
- product
- robot
- degree
- assembling
- displacement table
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a high-precision assembling device, wherein the assembling system comprises a product feeding area, a robot, a six-degree-of-freedom displacement table, a measuring device and a product assembling table; the robot and the six-degree-of-freedom displacement table are arranged on the same side of the product feeding area, and the grabbing end of the robot can move right above the six-degree-of-freedom displacement table; the six-degree-of-freedom displacement table is arranged on the product assembly table and used for assembling a product; the measuring device comprises a line laser sensor and a vision camera, wherein the line laser sensor and the vision camera are in communication connection with the six-degree-of-freedom displacement table. The utility model can realize the product transportation through the robot on the plane, and realize the precise posture adjustment of the product in the assembling process through the six-freedom-degree displacement table; the robot and the six-degree-of-freedom displacement table are matched with each other, and the product assembling process with high-precision assembling requirements is achieved together.
Description
Technical Field
The utility model relates to a mechanical assembly technical field, concretely relates to high accuracy assembly quality.
Background
For large-size products which have matching seam allowances, high-precision assembly requirements and good rigidity, the technologies of a multi-degree-of-freedom robot motion mechanism, force-machine vision-laser displacement sensing multi-information coupling pose adjustment and the like can be adopted to overcome the flexible butt joint, flexible grabbing and flexible assembly of the products. However, for large-size products which are made of special materials, have weak rigidity and are not matched with the seam allowance, the products cannot collide with each other in the assembling process, flexible butt joint is not suitable, and high-precision small-gap assembly is difficult to realize. Precision loss exists between a clamp of the robot and the tail end of the robot, precision loss exists between the clamp and a part to be assembled, the posture of the part has uncertainty, and the assembly precision can be influenced to a certain extent.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a high accuracy assembly quality, solve prior art and adopt the robot assembly to lead to the lower problem of assembly precision, can realize the low high accuracy little clearance assembly of the jumbo size product that the rigidity is more weak and do not cooperate the tang.
The utility model discloses a following technical scheme realizes:
the high-precision assembling device comprises a product feeding area, a robot, a six-degree-of-freedom displacement table, a measuring device and a product assembling table;
the robot and the six-degree-of-freedom displacement table are arranged on the same side of the product feeding area, and the grabbing end of the robot can move right above the six-degree-of-freedom displacement table;
the six-degree-of-freedom displacement table is arranged on the product assembly table and used for assembling a product;
the measuring device comprises a line laser sensor and a vision camera, wherein the line laser sensor and the vision camera are in communication connection with the six-degree-of-freedom displacement table.
Required various brackets, fixed establishment, elevating system etc. when the product material loading district is mainly including the assembly, robot and six degrees of freedom displacement platforms constitute the assembly operation module, install industrial automation components such as vision camera, six-dimensional force transducer, anchor clamps quick change at the end of robot for supplementary various actions of accomplishing the robot, its function is accomplishing snatching, the transport action of assembly system. The six-degree-of-freedom displacement table is arranged on the product assembly table and mainly has the function of high-precision pose adjustment. The robot and the six-degree-of-freedom displacement table are matched with each other to finish the precision assembly of the product together.
The measuring device is one part of a measuring module, and the measuring module mainly comprises a motor, a driver, a PLC, a PC, upper computer software, various control algorithms, a robot control cabinet and the like. The main function of the device is to drive mechanical components to operate according to the designed functions and acquire various information in the assembly process.
High accuracy assembly quality still includes the assembly information module, and the assembly information module is the brain of whole assembly model machine. The system collects information of the assembly process, performs data processing, storage and other work according to artificially designed logic, and sends instructions to each module in the assembly system by combining human-computer interaction instructions.
For a conventional robot with a load of less than 200kg, the precision of the repeated positioning is about 0.01mm to 0.05mm, the single-axis resolution is about 0.02mm, and the angular position resolution is about 0.02 °. If no matching seam allowance is arranged between the products to be assembled, the products are special in material, large in size, low in rigidity and strength, the robot cannot precisely adjust the posture after grabbing the products, and the high-precision assembling requirement of the products cannot be met.
For example, for a hemisphere with a diameter of 500mm, an upper hemisphere and a lower hemisphere are assembled, and the coaxiality is required to be less than or equal to 0.10mm, the adjusting angle of the robot is at least 0.01 degrees. Even if the product attitude can be measured and the information is fed back to the robot during assembly, the adjustment of the precise angle is difficult to realize for the traditional robot.
The six-degree-of-freedom displacement table has high precision in movement in six degrees of freedom, generally, the repeated positioning precision of the six-degree-of-freedom displacement table with 200kg load can reach 0.01mm, and the angular position indexing rate can achieve 0.001 degrees, so that the posture adjustment of a product can be accurately achieved.
However, the travel of the six-degree-of-freedom displacement table itself in the three directions of X, Y, Z is small, and the six-degree-of-freedom displacement table cannot achieve the functions of grabbing and carrying by itself.
Therefore, the utility model discloses make up six degree of freedom displacement platforms and robot, the robot realizes snatching the transport of product, and six degree of freedom displacement platforms realize the accurate appearance of transferring of product, realize the product assembling process that has the high accuracy assembly requirement jointly.
In the present invention, the robot is used to grab and move the product to be assembled above the six-degree-of-freedom displacement table; the linear laser sensor and the vision camera are used for measuring the position information of a product to be assembled above the six-degree-of-freedom displacement table, and the six-degree-of-freedom displacement table is used for integrally assembling the attitude according to the position information measured by the linear laser sensor;
to sum up, the utility model can realize the transportation of the product through the robot on the plane, and realize the precise posture adjustment of the product in the assembling process through the six-degree-of-freedom displacement table; the robot and the six-degree-of-freedom displacement table are matched with each other, and the product assembling process with high-precision assembling requirements is achieved together.
Furthermore, the measuring device consists of 2 groups of measuring units which are symmetrically arranged, each measuring unit comprises a horizontal mounting plate, a horizontal direction translation mechanism and a vertical direction translation mechanism, and a semicircular groove is formed in the horizontal mounting plate;
the horizontal direction translation mechanism and the vertical direction translation mechanism are respectively arranged at the top and the bottom of the horizontal mounting plate, the horizontal direction translation mechanism is arranged on the outer side of the six-degree-of-freedom displacement table, and the line laser sensor and the vision camera are arranged on the horizontal direction translation mechanism.
The utility model discloses a set up horizontal direction translation mechanism and vertical direction translation mechanism and can adjust line laser sensor in the position of horizontal direction and vertical direction, realize the not unidimensional positional information who treats the assembly product and measure.
Further, line laser sensor is provided with 3 at least, line laser sensor and horizontal direction translation mechanism one-to-one setting.
Further, horizontal direction translation mechanism includes two sets of horizontal linear displacement platform, and two sets of horizontal linear displacement platform are 90 contained angles and arrange on horizontal mounting board, two sets of horizontal linear displacement platform are radially parallel with the semicircle recess, line laser sensor and vision camera are installed on horizontal linear displacement platform.
Further, vertical direction translation mechanism includes vertical support, install guide bar and elevating system along the vertical direction on the vertical support.
Generally, the measurement distance between the Z axis and the X axis of a line laser displacement sensor with high precision repetition precision is relatively short (for example, the Z axis repetition precision can reach 0.2 μm for a certain type of line laser, but the Z axis measurable range is only 18 mm). There is a lack of versatility for products with large dimensional variations. Set up the high accuracy motion module (horizontal direction translation mechanism and vertical direction translation mechanism) of level and two perpendicular directions, carry line laser sensor and vision camera and carry out axis and radial removal, adjust the measuring space of line laser, can make high accuracy line laser adapt to the measurement requirement of wider scope.
The assembly fixture is detachably connected with the six-degree-of-freedom displacement table and used for fixing one product to be assembled; the movable fixture is detachably connected with the product feeding area and used for fixing a product to be assembled.
Further, the robot support device also comprises a base and a robot support seat;
the robot is installed on the robot supporting seat, and the robot supporting seat and the product assembling table are both installed on the base.
Further, the assembly system further comprises a guardrail, and the guardrail is arranged on the outer side of the whole assembly system.
Further, still include the robot control cabinet, the robot control cabinet is connected with the end communication that snatchs of robot.
An assembling method of a high-precision assembling device comprises the following steps:
s1, the robot grabs the first product to be assembled from the product feeding area and moves the first product to be assembled right above the six-degree-of-freedom displacement table;
s2, stopping when the robot moves the first product to be assembled downwards to a position 5-10mm away from the top end of the assembly tool on the six-degree-of-freedom displacement table;
s3, scanning the first product to be assembled by the line laser sensor to obtain the position information of the first product to be assembled, and calculating the axis attitude of the first product to be assembled according to the position information;
s4, feeding the obtained axis attitude information back to the six-degree-of-freedom displacement table by the line laser sensor;
s5, adjusting the posture of the six-degree-of-freedom displacement table according to the received axis posture information, and aligning the axis of the six-degree-of-freedom displacement table with the axis of the first product to be assembled;
s6, moving the six-degree-of-freedom displacement table upwards along the axis direction to enable a first product to be assembled to be loaded into the assembly tool;
and S7, the robot grabs a second assembled product matched with the first assembled product to assemble.
Adopt the method not only can realize the high accuracy little clearance assembly of the less strong and not having the jumbo size product of cooperation tang of rigidity, solve prior art and adopt the robot assembly to lead to the lower problem of assembly precision, and have the advantage that the precision is high.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model can realize the product transportation through the robot on the plane, and realize the precise posture adjustment of the product in the assembling process through the six-freedom-degree displacement table; the robot and the six-degree-of-freedom displacement table are matched with each other, and the product assembling process with high-precision assembling requirements is achieved together.
2. The utility model discloses set up the high accuracy motion module of level and two perpendicular directions, carry line laser and carry out axis and radial removal, adjust the measuring space of line laser, can make high accuracy line laser adapt to wider measurement requirement.
3. The utility model discloses a set up horizontal direction translation mechanism and vertical direction translation mechanism and can adjust line laser sensor in the position of horizontal direction and vertical direction, realize the not unidimensional positional information who treats the assembly product and measure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural view of an assembly system;
FIG. 2 is a front view of the measuring device;
FIG. 3 is a side view of the measuring device;
FIG. 4 is a top view of the measuring device
Fig. 5 is an assembly schematic diagram of a first product to be assembled and a second product to be assembled.
Reference numbers and corresponding part names in the drawings:
the method comprises the following steps of 1-guardrail, 2-product feeding area, 3-robot, 4-six-degree-of-freedom displacement table, 5-measuring device, 6-product assembling table, 7-base, 8-robot supporting seat, 9-robot control cabinet, 10-first product to be assembled, 11-second product to be assembled, 51-line laser sensor, 52-horizontal direction linear displacement table, 53-horizontal mounting plate, 54-vertical support and 55-lifting mechanism.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
Example 1:
as shown in fig. 1-5, the high-precision assembling device comprises a product feeding area 2, a robot 3, a six-degree-of-freedom displacement table 4, a measuring device 5 and a product assembling table 6;
the robot 3 and the six-degree-of-freedom displacement table 4 are arranged on the same side of the product feeding area 2, the grabbing end of the robot 3 can move to the position right above the six-degree-of-freedom displacement table 4, a moving tool is installed at the top of the product feeding area 2 through a bolt and used for fixing a product to be assembled, the robot control cabinet 9 is further included, and the robot control cabinet 9 is in communication connection with the grabbing end of the robot 3;
the six-degree-of-freedom displacement table 4 is mounted on a product assembly table 6, an assembly tool is mounted at the top of the six-degree-of-freedom displacement table 4 through a bolt and used for fixing one product to be assembled, and the six-degree-of-freedom displacement table 4 is used for assembling the product;
the measuring device 5 comprises a line laser sensor 51 and a vision camera, the line laser sensor 51 and the vision camera are in communication connection with the six-degree-of-freedom displacement table 4, the line laser sensor 51 is used for measuring position information of a product to be assembled above the six-degree-of-freedom displacement table 4, and the six-degree-of-freedom displacement table 4 is in integral assembly posture according to the position information measured by the line laser sensor 51.
In this embodiment, the line laser sensors 51 and the vision cameras are respectively provided with 4, the 4 line laser sensors 51 and the vision cameras are uniformly arranged on the outer side of the six-degree-of-freedom displacement table 4 in the same circumferential direction, and the 4 line laser sensors 51 are distributed on four control surfaces of the circumference and are perpendicular to each other.
In this embodiment, required various brackets, fixed establishment, elevating system etc. when product material loading district 2 mainly includes the assembly, robot 3 and six degrees of freedom displacement platform 4 constitute the assembly operation module, install industrial automation components such as vision camera, six-dimensional force transducer, anchor clamps quick change at robot 3's end for supplementary various actions of accomplishing robot 3, its function is the snatching of accomplishing assembly system, the transport action. The six-degree-of-freedom displacement table 4 is arranged on the product assembly table 6 and mainly has the function of high-precision pose adjustment. The robot 3 and the six-degree-of-freedom displacement table 4 are matched with each other to finish the precision assembly of the product together.
The measuring device is one part of a measuring module, and the measuring module mainly comprises a motor, a driver, a PLC, a PC, upper computer software, various control algorithms, a robot control cabinet and the like. The main function of the device is to drive mechanical components to operate according to the designed functions and acquire various information in the assembly process.
High accuracy assembly quality still includes the assembly information module, and the assembly information module is the brain of whole assembly model machine. The system collects information of the assembly process, performs data processing, storage and other work according to artificially designed logic, and sends instructions to each module in the assembly system by combining human-computer interaction instructions.
In the embodiment, a rotating body product with a maximum outer diameter of 500mm, a total weight of 50kg and an assembly coaxiality requirement of less than or equal to 0.1mm is taken as an example to illustrate an assembly and adjustment process, as shown in fig. 3.
The assembly method comprises the following steps:
s1, the robot 3 grabs the first product to be assembled 10 from the product feeding area 2 and moves the product to be assembled to a position right above the six-degree-of-freedom displacement table 4;
s2, stopping when the robot 3 moves the first product to be assembled 10 downwards to a distance of 5-10mm from the top end of the assembly fixture on the six-degree-of-freedom displacement table 4;
s3, scanning the first product to be assembled 10 by 4 line laser sensors 51, acquiring position information of at least two sections of the first product to be assembled 10, thereby acquiring coordinates of circle centers of the two sections, and calculating to obtain an axis attitude of the first product to be assembled 10;
s4, feeding back the obtained axial attitude information to the six-degree-of-freedom displacement table 4 by the line laser sensor 51;
s5, the six-degree-of-freedom displacement table 4 adjusts the posture according to the received axial posture information, and the angular position resolution of the six-degree-of-freedom displacement table 4 can reach 0.001 degrees, so that the six-degree-of-freedom displacement table 4 can be adjusted to enable the self axial line of the six-degree-of-freedom displacement table 4 to be aligned with the axial line of the first product to be assembled 10;
s6, moving the six-degree-of-freedom displacement table 4 upwards along the axis direction to enable the first product to be assembled 10 to be assembled in the assembly tool;
and S7, the robot 3 grabs the second assembled product 11 matched with the first assembled product 10 for assembly.
In this embodiment, the first product to be assembled 10 and the second product to be assembled 11 are both of a hemispherical structure.
In the embodiment, the product can be transported through the robot 3 on the plane, and the precise posture adjustment of the product in the assembling process is realized through the six-degree-of-freedom displacement table 4; the robot 3 and the six-degree-of-freedom displacement table 6 are matched with each other, and the product assembling process with high-precision assembling requirements is achieved together.
Example 2:
as shown in fig. 1 to 5, in this embodiment, based on embodiment 1, the measuring device 5 is composed of 2 sets of measuring units symmetrically arranged, each measuring unit includes a horizontal mounting plate 53, a horizontal direction translation mechanism and a vertical direction translation mechanism, and a semicircular groove is formed in the horizontal mounting plate 53;
the horizontal direction translation mechanism and the vertical direction translation mechanism are respectively arranged at the top and the bottom of the horizontal mounting plate 53, the horizontal direction translation mechanism is arranged at the outer side of the six-degree-of-freedom displacement table 4, and the line laser sensor 51 and the vision camera are arranged on the horizontal direction translation mechanism;
the horizontal direction translation mechanism comprises two groups of horizontal linear displacement tables 52, the two groups of horizontal linear displacement tables 52 are arranged on a horizontal mounting plate 53 at an included angle of 90 degrees, the two groups of horizontal linear displacement tables 52 are parallel to the radial direction of the semicircular groove, the line laser sensor 51 and the vision camera are arranged on the horizontal linear displacement tables 52, and the line laser moves in the radial direction through the movement of the horizontal linear displacement tables 52;
the vertical direction translation mechanism comprises a vertical support 54, a guide rod and a lifting mechanism 55 are arranged on the vertical support 54 along the vertical direction, the horizontal mounting plate 53 is driven to translate up and down, and the movement of the measurement components (the line laser sensor 51 and the vision camera) in the vertical direction is realized.
In the present embodiment, the line laser sensors 51 are provided with 4, and 4 line laser sensors 51 are uniformly arranged in the same circumferential direction outside the six-degree-of-freedom displacement table 4.
In this embodiment, the positions of the line laser sensor 51 and the vision camera in the horizontal direction and the vertical direction can be adjusted by providing the horizontal direction translation mechanism and the vertical direction translation mechanism, so as to measure the position information of products to be assembled with different sizes.
In this embodiment, the measuring device uses four groups of line laser sensors 51, the measuring heads are arranged at an included angle of 90 °, position information of four points on a circular section is obtained by respectively measuring the highest point of a circular surface, a circle is determined according to the point information, circle center position information is obtained, and circle center coordinates of the two circular sections are obtained by measuring the two sections in a lifting manner, so that the posture of the axis where the circle center is located can be determined, namely, the posture (direction) information of the central axis is determined.
In this embodiment, the entire measuring unit is in the shape of "Γ", and includes measuring components (including the line laser displacement sensor 51, the vision camera, and the like), a horizontal mounting plate 53, a horizontal linear displacement table 52, a vertical support 54, a lifting mechanism 55, and the like. The cross sliding table movement mechanism is adopted to realize the functions of integral up-down lifting and back-and-forth movement, and the interference with a robot is avoided by planning the position of the moving sliding table in the use process.
The measuring device 5 described in this embodiment can be applied to other products except hemispheroids, both cylinders and cones, and the stroke of the displacement mechanism in the horizontal and vertical directions can be adjusted only according to the specific size of the product, so that the measuring requirement is met, and meanwhile, the measuring device does not interfere with the device and the product.
Example 3:
as shown in fig. 1 to 5, this embodiment is based on embodiment 1, and further includes a base 7 and a robot supporting base 8;
the robot 3 is arranged on a robot supporting seat 8, and the robot supporting seat 8 and the product assembling table 6 are both arranged on a base 7; the assembly system further comprises a guardrail 1, and the guardrail 1 is arranged on the outer side of the whole assembly system.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only a detailed description of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The high-precision assembling device is characterized by comprising a product feeding area (2), a robot (3), a six-degree-of-freedom displacement table (4), a measuring device (5) and a product assembling table (6);
the robot (3) and the six-degree-of-freedom displacement table (4) are arranged on the same side of the product feeding area (2), and the grabbing end of the robot (3) can move to the position right above the six-degree-of-freedom displacement table (4);
the six-degree-of-freedom displacement table (4) is arranged on the product assembling table (6), and the six-degree-of-freedom displacement table (4) is used for assembling a product;
the measuring device (5) comprises a line laser sensor (51) and a vision camera, and the line laser sensor (51) and the vision camera are in communication connection with the six-degree-of-freedom displacement table (4).
2. A high-precision assembling device according to claim 1, wherein the measuring device (5) is composed of 2 groups of symmetrically arranged measuring units, the measuring units comprise a horizontal mounting plate (53), a horizontal direction translation mechanism and a vertical direction translation mechanism, and a semicircular groove is arranged on the inner side of the horizontal mounting plate (53);
the horizontal direction translation mechanism and the vertical direction translation mechanism are respectively arranged at the top and the bottom of the horizontal mounting plate (53), the horizontal direction translation mechanism is arranged on the outer side of the six-degree-of-freedom displacement table (4), and the line laser sensor (51) and the vision camera are arranged on the horizontal direction translation mechanism.
3. A high-precision assembling apparatus according to claim 2, wherein at least 3 line laser sensors (51) are provided, and the line laser sensors (51) are provided in one-to-one correspondence with the horizontal direction translation mechanism.
4. A high precision assembling apparatus according to claim 2, wherein said horizontal direction translation mechanism comprises two sets of horizontal linear displacement tables (52), said two sets of horizontal linear displacement tables (52) are arranged on the horizontal mounting plate (53) with an included angle of 90 °, said two sets of horizontal linear displacement tables (52) are parallel to the radial direction of the semicircular groove, said line laser sensor (51) and the vision camera are mounted on the horizontal linear displacement tables (52).
5. A high accuracy assembling apparatus according to claim 2, wherein said vertical direction translation mechanism comprises a vertical support (54), and a guide bar and a lifting mechanism (55) are vertically mounted on said vertical support (54).
6. The high-precision assembling device according to claim 1, further comprising an assembling tool detachably connected with the six-degree-of-freedom displacement table (4), wherein the assembling tool is used for fixing one product to be assembled; the assembling machine further comprises a movable tool detachably connected with the product feeding area (2), and the movable tool is used for fixing a product to be assembled.
7. A high precision assembling apparatus according to claim 1, characterized by further comprising a base (7) and a robot support base (8);
the robot (3) is installed on the robot supporting seat (8), and the robot supporting seat (8) and the product assembling table (6) are installed on the base (7).
8. A high precision assembling device according to claim 1, characterized by further comprising a guardrail (1), wherein the guardrail (1) is arranged outside the whole assembling system.
9. A high precision assembling apparatus according to claim 1, characterized by further comprising a robot control cabinet (9), wherein the robot control cabinet (9) is connected with the grabbing end of the robot (3) in communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022857550.9U CN213646526U (en) | 2020-12-02 | 2020-12-02 | High-precision assembling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022857550.9U CN213646526U (en) | 2020-12-02 | 2020-12-02 | High-precision assembling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213646526U true CN213646526U (en) | 2021-07-09 |
Family
ID=76689239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022857550.9U Active CN213646526U (en) | 2020-12-02 | 2020-12-02 | High-precision assembling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213646526U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112427911A (en) * | 2020-12-02 | 2021-03-02 | 中国工程物理研究院机械制造工艺研究所 | High-precision assembling system and assembling method |
-
2020
- 2020-12-02 CN CN202022857550.9U patent/CN213646526U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112427911A (en) * | 2020-12-02 | 2021-03-02 | 中国工程物理研究院机械制造工艺研究所 | High-precision assembling system and assembling method |
| CN112427911B (en) * | 2020-12-02 | 2024-04-30 | 中国工程物理研究院机械制造工艺研究所 | High-precision assembly system and assembly method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112427911B (en) | High-precision assembly system and assembly method | |
| US6668466B1 (en) | Highly accurate articulated coordinate measuring machine | |
| US6519860B1 (en) | Position feedback control system | |
| US8650767B2 (en) | Coordinates measuring head unit and coordinates measuring machine | |
| US8290618B2 (en) | Determining positions | |
| EP1988357B1 (en) | Coordinate measuring method and device | |
| US7395606B2 (en) | CMM arm with exoskeleton | |
| US6718626B2 (en) | Apparatus for detecting positioning error of a component with respect to a suction nozzle | |
| CN1952597A (en) | System for finding the position of a 3d coordinate measuring machine or of a machining apparatus in a fixed reference system | |
| CN113375559B (en) | Online measurement centering device, system and method based on multi-source sensing | |
| CN210819622U (en) | Large-scale space high-precision online calibration system of mobile operation robot | |
| CN105737735B (en) | Portable self calibration end effector repetitive positioning accuracy measuring device and method | |
| CN110220454B (en) | Pose calibration method of three-coordinate positioning mechanism | |
| CN213646526U (en) | High-precision assembling device | |
| JP2831610B2 (en) | measuring device | |
| JP2018060390A (en) | Mobile work robot support device and operation method for the same | |
| CN113600702B (en) | Pre-construction system of end effector and control method thereof | |
| US20200386531A1 (en) | Articulating Probe | |
| JP2001157951A (en) | Shape accuracy measuring device by sequential two-point method, and method for measuring space between laser displacement meter for measuring shape accuracy by sequential two-point method | |
| CN116067302A (en) | Pipe fitting three-dimensional dimension universe scanning detection system and method based on laser scanning | |
| CN215952489U (en) | High-precision non-contact measuring system for butt joint of concave-convex sections of cylindrical objects | |
| CN115284079A (en) | Magnetorheological polishing calibration method | |
| CN101746670B (en) | Three-dimensional detecting tool for realizing high repeat precision with three-dimensional hanging tool | |
| CN109719701A (en) | Mechanical arm configuration, numerically-controlled machine tool rest, numerically-controlled machine tool | |
| CN220741157U (en) | Mechanical arm combined gesture adjusting mechanism with large working range |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |