CN219379663U - Assembly system of medium-heavy-duty gear shaft robot - Google Patents
Assembly system of medium-heavy-duty gear shaft robot Download PDFInfo
- Publication number
- CN219379663U CN219379663U CN202221159028.6U CN202221159028U CN219379663U CN 219379663 U CN219379663 U CN 219379663U CN 202221159028 U CN202221159028 U CN 202221159028U CN 219379663 U CN219379663 U CN 219379663U
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- fixed
- hand
- camera
- gear shaft
- 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
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot assembly system for a medium-heavy-duty gear shaft, which is used for assembling gears and gear shafts and comprises a robot, an end effector, an assembly platform, a hand-eye camera, a first adjustable bracket capable of adjusting the front, back, left and right positions of the hand-eye camera, a fixed camera, a second adjustable bracket capable of adjusting the front, back, left and right positions of the fixed camera, an industrial personal computer and a control cabinet; the end effector comprises a clamping jaw used for clamping the gear shaft, the clamping jaw is connected with a first adjustable bracket, and the hand-eye camera is arranged on the first adjustable bracket; the gear is fixed on an assembly platform which is connected with a second adjustable bracket, and the stationary phase machine is arranged on the second adjustable bracket. The hand-eye camera and the fixed camera can adjust the front, back, left and right pose, enlarge the visual field range, realize the axial accurate centering between shaft holes, and further realize the circumferential registration of keys and key grooves for workpieces with keys installed on the gear shafts and matched key grooves arranged on the assembly holes.
Description
Technical Field
The utility model relates to an application of an industrial robot, in particular to a medium-heavy-duty gear shaft robot assembly system.
Background
The industrial robot has the advantages of good universality, large working area range, high repeated positioning precision and the like, is widely applied to the industries of machinery, electronics, automobiles and the like in the field of industrial automation, and is mostly applied to a method for teaching and reproducing by using the robot at present. However, in a task involving a precise and complicated task, when the robot is brought into contact with an environment or an object to be worked, such as assembly, polishing, or the like, the conventional teaching method for the robot cannot meet the control requirements. In precision assembly, under conventional positional control, small deviations of the industrial robot from the environment or work object may fail the task of assembly and even generate large contact forces that damage the equipment.
CN201610757364.3 discloses a force sense and vision based precise assembly system and method for slender shaft of robot, including industrial robot, upper computer system and sensor system; the sensor system is used for obtaining the current state and the terminal stress condition of the industrial robot and the current state and the pose data of an assembly object; the upper computer system is used for acquiring and generating a motion instruction according to the current state and the terminal stress condition of the industrial robot and the current state and the pose data of the assembly object, and sending the motion instruction to the execution system; the execution system comprises a joint driver of the industrial robot and a control cabinet of the joint driver, and is used for executing a motion instruction sent by the upper computer system to enable the industrial robot to move according to a specified track. However, the hand-eye camera device and the fixed camera device of the visual sensor of the assembly system are both fixed and unadjustable, have limited visual field range, and cannot realize precise and flexible assembly for axial centering and axial registration between the shaft workpiece with the key on the shaft and the corresponding hole workpiece.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a middle and heavy load gear shaft robot assembly system, wherein the front, back, left and right pose of a camera can be adjusted by a hand-eye camera moving by a random robot and a fixed camera moving by a non-random robot, the visual field range of the camera is enlarged, the problem of axial accurate centering between shaft holes is solved, the problem of circumferential registration of a key and a key groove can be solved for a workpiece with a key and an assembly hole provided with a matched key groove, and the precise and flexible assembly of the middle and heavy load gear shaft is realized.
In order to solve the technical problems, the technical solution of the utility model is as follows: a middle-heavy duty gear shaft robot assembly system is used for assembling gears and gear shafts and comprises a robot, an end effector, an assembly platform, a hand-eye camera, a first adjustable bracket capable of adjusting the front, back, left and right positions of the hand-eye camera, a fixed camera, a second adjustable bracket capable of adjusting the front, back, left and right positions of the fixed camera, an industrial personal computer and a control cabinet; the robot tail end is connected with an end effector, the end effector comprises a clamping jaw used for clamping the gear shaft, the clamping jaw is connected with a first adjustable bracket, and the hand-eye camera is arranged on the first adjustable bracket; the gear is fixed on an assembly platform which is connected with a second adjustable bracket, and the stationary phase machine is arranged on the second adjustable bracket; the industrial personal computer is connected with the hand-eye camera, the fixed camera and the control cabinet.
Preferably, the gear is provided with an assembly hole, the middle part of the assembly platform is provided with a through hole, the through hole is larger than the assembly hole, and a fixed camera is arranged below the through hole through a second adjustable bracket.
Preferably, the end effector further comprises a flange plate connecting plate, a sensor connecting plate, a force sensor and a clamping jaw connecting plate, wherein the end of the robot is connected with the flange plate connecting plate, the force sensor is arranged between the flange plate connecting plate and the sensor connecting plate, the sensor connecting plate is connected with the clamping jaw connecting plate, and the clamping jaw connecting plate is provided with the clamping jaw.
Preferably, the first adjustable bracket comprises a first connecting plate a, a first connecting plate b and a first connecting plate c which are sequentially and mutually perpendicular; the first connecting plate b and the first connecting plate c are respectively provided with a waist-shaped hole, and the first connecting plate b is fixed on the first connecting plate a through the fastener penetrating through the two waist-shaped holes respectively, so that the first connecting plate c is fixed on the first connecting plate b; the hand-eye camera is fixed on the first connecting plate c, and the lens of the hand-eye camera faces the gear shaft.
Preferably, the hand-eye camera is further connected with a hand-eye camera light source through a hand-eye camera light source bracket; the hand-eye camera light source is an annular light source, and a lens of the hand-eye camera is positioned in the center of the annular light source.
Preferably, the second adjustable bracket comprises a second connecting plate a, a second connecting plate b and a second connecting plate c which are sequentially and mutually perpendicular; the second connecting plate b and the second connecting plate c are respectively provided with a waist-shaped hole, and the second connecting plate b is fixed on the second connecting plate a through the two waist-shaped holes respectively by a fastener, and the second connecting plate c is fixed on the second connecting plate b; the stationary phase machine is fixed on the second connecting plate c, and the lens of the stationary phase machine faces the gear.
Preferably, the fixed camera is further connected with a fixed camera light source through a fixed camera light source bracket; the fixed camera light source is an annular light source, and the lens of the fixed camera is positioned at the center of the annular light source.
Preferably, a sliding rail is arranged below the through hole of the assembly platform, and the fixed camera is fixed on the sliding rail through a second adjustable bracket.
Preferably, the gear is fixed on the assembly platform by a plurality of cylinders.
Preferably, the pneumatic clamping device further comprises an air pump, the clamping jaw is a pneumatic clamping jaw, the air pump is connected with the pneumatic clamping jaw and the air cylinder through a pipeline, and a steering valve for controlling the opening, closing and stroke of the pneumatic clamping jaw and the air cylinder is arranged on the pipeline.
After the scheme is adopted, the utility model has at least the following beneficial effects:
1. the hand-eye camera is arranged on the clamping jaw of the end effector for clamping the gear shaft through the first adjustable bracket, the fixed camera is arranged around the assembly platform for fixing the gear through the second adjustable bracket, the front, back, left and right pose of the hand-eye camera can be adjusted by the first adjustable bracket, the front, back, left and right pose of the fixed camera can be adjusted by the second adjustable bracket, the acquisition range of the visual field of the camera is enlarged, and the acquisition of the gear shaft and the gear is facilitated so as to realize the axial accurate centering between shaft holes; for the workpieces with keys and matched key grooves arranged on the assembly holes, pose information of the keys and the key grooves can be further acquired so as to realize circumferential registration of the keys and the key grooves, and precise and flexible assembly of the medium-heavy-duty gear shaft is carried out;
2. the hand-eye camera and the fixed camera are both provided with the annular light source, do not shade the camera and can provide a uniform light source.
Drawings
FIG. 1 is a schematic diagram of a heavy duty gear shaft robotic assembly system according to the present utility model;
FIG. 2 is a schematic diagram of a robotic end effector of the present utility model;
FIG. 3 is a schematic diagram of a hand-eye camera structure of the present utility model;
fig. 4 is a schematic view of the mounting platform and stationary camera structure of the present utility model.
In the figure: 1-a robot; 2-gear shaft; a 21-bond; 3-gear; 31-fitting holes; 32-keyway; 4-an assembly platform; 41-cylinder; 42-through holes; 43-slide rail; 51-a flange connection plate; 52-sensor connection plate; 53-clamping jaw connecting plates; 6-clamping jaws; 7-force sensor; 8 hand-eye cameras; 81-a first adjustable bracket; 811-a first connection plate a;812—first connection plate b; 813-a first connection plate c; 814-kidney shaped aperture of a first adjustable support; 82-a camera light source holder; 821-a first annular plate; 822-a first side plate; 83-hand-eye camera light source; 9-fixing the camera; 91-a second adjustable bracket; 911-a second connection plate a; 912-a second connection plate b; 913-a second connection plate c; 914-kidney shaped aperture of a second adjustable support; 92-fixing a camera light source bracket; 921-a second annular plate; 922-a second side plate; 93-fixing a camera light source; 10-a control cabinet; 11-an air pump.
Detailed Description
The utility model will be described in further detail with reference to the drawings and the specific examples.
The utility model discloses a medium-heavy-duty gear shaft robot assembly system, which is used for assembling a gear 3 and a gear shaft 2, and is a preferred embodiment of the utility model as shown in fig. 1, and comprises a robot 1, an end effector, an assembly platform 4, a hand-eye camera 8, a first adjustable bracket 81 for adjusting the front-back, left-right pose of the hand-eye camera 8, a fixed camera 9, a second adjustable bracket 91 for adjusting the front-back, left-right pose of the fixed camera 9, an industrial personal computer (not shown in the figure) and a control cabinet 10.
The end of the robot 1 is connected with an end effector. Specifically, the robot 1 may be a six-axis industrial robot, and the end of the robot can move within a range to realize any pose in a cartesian coordinate system.
The end effector includes a jaw 6 and may further include a force sensor 7. The clamping jaw 6 clamps the gear shaft 2, the clamping jaw 6 is connected with a first adjustable bracket 81, and the hand-eye camera 8 is arranged on the first adjustable bracket 81. Further, the gear shaft 2 is provided with a key 21, and the gear shaft 2 of the present embodiment is a gear shaft provided with an a-type flat key. The force sensor 7 is arranged between the end of the robot 1 and the clamping jaw 6, and the hand-eye camera 8 is connected with the clamping jaw 6 through a first adjustable bracket 81.
Further, as shown in fig. 2, the end effector further includes a flange connection plate 51, a sensor connection plate 52, and a jaw connection plate 53, the end of the robot 1 is connected to the flange connection plate 51, the force sensor 7 is installed between the flange connection plate 51 and the sensor connection plate 52, the sensor connection plate 52 is connected to the jaw connection plate 53, and the jaw 6 is installed on the jaw connection plate 53.
Further, the force sensor 7 may be a six-dimensional force sensor, which is used for detecting three-dimensional forces Fx, fy, fz and three-dimensional moments Mx, my, mz received by the robot end under a cartesian coordinate system in real time, and transmitting information through ethernet communication and an industrial personal computer. The clamping jaw 6 may be a pneumatic clamping jaw.
Further, as shown in fig. 3, the hand-eye camera 8 is connected to the side of the jaw connecting plate 53 through a first adjustable bracket 81, so as to adjust the visual field of the gear shaft 2 and the key 21 thereon in the hand-eye camera 8. Further, the first adjustable bracket 81 includes a first connection plate a 811, a first connection plate b 812, and a first connection plate c 813, which are disposed perpendicular to each other in this order. One end of the first connecting plate a 811 is connected to the jaw connecting plate 53; the first connecting plate b 812 and the first connecting plate c 813 are respectively provided with a kidney-shaped hole, and the first connecting plate b 812 is fixed on the first connecting plate a 811 by respectively penetrating through the two kidney-shaped holes through a fastener (not shown in the figure, such as a screw) to fix the first connecting plate c 813 on the first connecting plate b 812; the hand-eye camera 8 is fixed to the first connecting plate c 813 with its lens facing the gear shaft 2. The kidney-shaped hole 814 of the first adjustable support is used for adjusting the front, back, left and right pose of the hand-eye camera 8, and enlarging the acquisition range of the camera vision.
Further, the hand-eye camera 8 is further connected with a hand-eye camera light source 83 through a hand-eye camera light source bracket 82. The hand-eye camera light source 83 is an annular light source, and the lens of the hand-eye camera 8 is positioned at the center of the annular light source to provide uniform light for shooting by the hand-eye camera 8. The hand-eye camera light source bracket 82 includes a first annular plate 821 and a plurality of first side plates 822, wherein the first annular plate 821 provides a fixed position for the hand-eye camera light source 83, and the two can be connected through a hexagonal stud; the first annular plate 821 is connected to the first connection plate c 813 of the first adjustable bracket 81 through a plurality of first side plates 822. The overall arrangement of the hand-eye camera 8 and the hand-eye camera light source 83 can realize a wide range and collect objects with different brightness.
The gear 3 is fixed on the assembly platform 4. Further, the gear 3 is provided with a fitting hole 31, and the fitting hole 31 is provided with a key groove 32 matched with the key 21. Further, the gear 3 is fixed on the assembly platform 4 by a plurality of air cylinders 41, and three air cylinders 41 are provided in the embodiment.
The assembly platform 4 is connected to a second adjustable bracket 91, and the fixed camera 9 is mounted on the second adjustable bracket 91. Further, as shown in fig. 4, a through hole 42 may be provided in the middle of the mounting platform 4, the through hole 42 being larger than the mounting hole 31, and a fixed camera 9 that does not move with the robot is mounted under the through hole 42 through a second adjustable bracket 91. When the gear 3 is fixed, the specific position of the gear 3 is not determined, as long as the fitting hole 31 is inside the through hole 42. The fixed camera 9 is used for positioning the assembly hole 31 and monitoring the pose of the gear shaft 2, and specifically, in this embodiment, is used for positioning the center of the gear hole and the key slot of the gear and monitoring the pose of the gear shaft. Further, a cross beam is provided below the through hole 42 of the assembly platform 4, and the fixed camera 9 is fixed on the cross beam through a second adjustable bracket 91.
Further, the second adjustable bracket 91 includes a second connection plate a 911, a second connection plate b 912, and a second connection plate c 913 that are disposed perpendicular to each other in order. One end of the second connecting plate a 911 is horizontally connected to the cross beam; the second connecting plate b 912 and the second connecting plate c 913 are respectively provided with a waist-shaped hole, and the second connecting plate b 912 is fixed on the second connecting plate a 911 and the second connecting plate c 913 is fixed on the second connecting plate b 912 by respectively penetrating the two waist-shaped holes through a fastener (not shown in the figure, such as a screw); the fixed camera 9 is fixed on the second connecting plate c 913 with its lens facing the gear 3. The kidney-shaped hole 914 of the second adjustable bracket is used for adjusting the front, back, left and right pose of the fixed camera 9, so that the visual field range of the fixed camera is greatly increased.
Further, the cross beam is provided as a slide rail 43, and the fixed camera 9 is slidably mounted on the slide rail 43 through a second adjustable bracket 91, for adjusting the pose of the assembly hole 31, the key groove 32 and the gear shaft 2 in the field of view of the camera. Specifically, the sliding rail 43 may be made of an aluminum profile, and the slidable mounting may be that a sliding block (not shown) engaged with the sliding rail is fixed on the second adjustable bracket 91 by using a screw, and the sliding block is placed in the sliding rail 91.
Further, the fixed camera 9 is further connected with a fixed camera light source 93 through a fixed camera light source bracket 92. The fixed camera light source 93 is an annular light source, and the lens of the fixed camera 9 is positioned at the center of the annular light source to provide uniform light for shooting by the fixed camera 9. The fixed camera light source bracket 95 includes a second annular plate 921 and a plurality of second side plates 922, the second annular plate 921 providing a fixed position for the fixed camera light source 93, and the two plates can be connected by a hexagonal stud; the second annular plate 912 is connected to the second connection plate c 913 of the second adjustable bracket 91 through a plurality of second side plates 922. The integral arrangement of the fixed camera 9 and the fixed camera light source 93 allows a wide range of acquisition objects with different brightness.
The industrial personal computer is connected with the force sensor 7, the hand-eye camera 8, the fixed camera 9 and the control cabinet 10, and is in real-time communication with the force sensor 7, the hand-eye camera 8 and the fixed camera 9, receives data, processes the data to generate a motion instruction, and sends the motion instruction to the control cabinet 10. The control cabinet 10 can drive a joint driver of the robot 1 to execute a motion instruction sent by the industrial personal computer.
Further, the present utility model may further include an air pump 11, wherein the air pump 11 is connected to the pneumatic clamping jaw and the air cylinder 41 for fixing the gear through a pipeline (not shown in the figure), and a steering valve (not shown in the figure) for controlling the opening, closing and stroke of the pneumatic clamping jaw and the air cylinder 41 is provided on the pipeline.
When the utility model works, the visual field range of the fixed camera 9 can be changed by adjusting the second adjustable bracket 91, and images of the center of the assembly hole 31 and the key groove 32 are acquired from the lower part of the assembly platform 4, so as to acquire pose data and inclination degree data; the visual field range of the hand-eye camera 8 can be changed by adjusting the first adjustable bracket 81, and images of the gear shaft 2 and the keys 21 thereon are acquired to acquire pose data. The data information is sent to the industrial personal computer, and after the industrial personal computer receives the pose data, the industrial personal computer guides the robot 1 to clamp the gear shaft 2 to the center position of the assembly hole 31 through the control cabinet 10, and circumferential registration of the key 21 on the gear shaft 2 and the key groove 32 on the assembly hole 31 is realized. Meanwhile, the force sensor 7 collects three directional forces Fx, fy and Fz and three moments Mx, my and Mz, and controls the contact force and moment between the gear shaft 2 and the assembly hole 31 to adapt to environmental changes, so that the gear shaft 2 and the key 21 are flexibly inserted into the assembly hole 31 and the key groove 32. When it is detected that both the axial force Fz and the moment Mz reach the threshold value of the setpoint, it is indicated that the assembly between the gear shaft 2 and the assembly hole 31, the key 21 and the key groove 32 is completed.
The above description is only of the preferred embodiments of the present utility model, and should not be taken as limiting the technical scope of the present utility model, but all changes and modifications that come within the scope of the utility model as defined by the claims and the specification are to be embraced by the utility model.
Claims (10)
1. The utility model provides a well heavy duty gear shaft robot assembly system for the assembly of gear and gear shaft, its characterized in that: the robot comprises a robot, an end effector, an assembly platform, a hand-eye camera, a first adjustable bracket capable of adjusting the front, back, left and right positions of the hand-eye camera, a fixed camera, a second adjustable bracket capable of adjusting the front, back, left and right positions of the fixed camera, an industrial personal computer and a control cabinet; the robot tail end is connected with an end effector, the end effector comprises a clamping jaw used for clamping the gear shaft, the clamping jaw is connected with a first adjustable bracket, and the hand-eye camera is arranged on the first adjustable bracket; the gear is fixed on an assembly platform which is connected with a second adjustable bracket, and the stationary phase machine is arranged on the second adjustable bracket; the industrial personal computer is connected with the hand-eye camera, the fixed camera and the control cabinet.
2. The medium-and-heavy-duty gear shaft robot assembly system according to claim 1, wherein: the gear is provided with an assembly hole, the middle part of the assembly platform is provided with a through hole, the through hole is larger than the assembly hole, and a fixed camera is arranged below the through hole through a second adjustable bracket.
3. The medium-and-heavy-duty gear shaft robot assembly system according to claim 1, wherein: the end effector further comprises a flange plate connecting plate, a sensor connecting plate, a force sensor and a clamping jaw connecting plate, wherein the tail end of the robot is connected with the flange plate connecting plate, the force sensor is arranged between the flange plate connecting plate and the sensor connecting plate, the sensor connecting plate is connected with the clamping jaw connecting plate, and the clamping jaw connecting plate is provided with clamping jaws.
4. The medium-and-heavy-duty gear shaft robot assembly system according to claim 1, wherein: the first adjustable bracket comprises a first connecting plate a, a first connecting plate b and a first connecting plate c which are sequentially and mutually perpendicular; the first connecting plate b and the first connecting plate c are respectively provided with a waist-shaped hole, and the first connecting plate b is fixed on the first connecting plate a through the fastener penetrating through the two waist-shaped holes respectively, so that the first connecting plate c is fixed on the first connecting plate b; the hand-eye camera is fixed on the first connecting plate c, and the lens of the hand-eye camera faces the gear shaft.
5. The medium-heavy gear shaft robot assembly system according to claim 1 or 4, wherein: the hand-eye camera is also connected with a hand-eye camera light source through a hand-eye camera light source bracket; the hand-eye camera light source is an annular light source, and a lens of the hand-eye camera is positioned in the center of the annular light source.
6. The medium-and-heavy-duty gear shaft robot assembly system according to claim 1, wherein: the second adjustable bracket comprises a second connecting plate a, a second connecting plate b and a second connecting plate c which are sequentially and mutually perpendicular; the second connecting plate b and the second connecting plate c are respectively provided with a waist-shaped hole, and the second connecting plate b is fixed on the second connecting plate a through the two waist-shaped holes respectively by a fastener, and the second connecting plate c is fixed on the second connecting plate b; the stationary phase machine is fixed on the second connecting plate c, and the lens of the stationary phase machine faces the gear.
7. The medium-and-heavy gear shaft robot assembly system according to claim 1 or 6, wherein: the fixed camera is also connected with a fixed camera light source through a fixed camera light source bracket; the fixed camera light source is an annular light source, and the lens of the fixed camera is positioned at the center of the annular light source.
8. The medium-and-heavy-duty gear shaft robot assembly system according to claim 2, wherein: the lower part of the through hole of the assembly platform is provided with a slide rail, and the fixed camera is fixed on the slide rail through a second adjustable bracket.
9. The medium-and-heavy-duty gear shaft robot assembly system according to claim 1, wherein: the gear is fixed on the assembly platform by a plurality of air cylinders.
10. The medium-and-heavy gear shaft robot assembly system according to claim 9, wherein: the pneumatic clamping jaw is a pneumatic clamping jaw, the pneumatic clamping jaw is connected with the air cylinder through a pipeline, and a steering valve for controlling the opening, closing and stroke of the pneumatic clamping jaw and the air cylinder is arranged on the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221159028.6U CN219379663U (en) | 2022-05-13 | 2022-05-13 | Assembly system of medium-heavy-duty gear shaft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221159028.6U CN219379663U (en) | 2022-05-13 | 2022-05-13 | Assembly system of medium-heavy-duty gear shaft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219379663U true CN219379663U (en) | 2023-07-21 |
Family
ID=87188277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221159028.6U Active CN219379663U (en) | 2022-05-13 | 2022-05-13 | Assembly system of medium-heavy-duty gear shaft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219379663U (en) |
-
2022
- 2022-05-13 CN CN202221159028.6U patent/CN219379663U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Frommknecht et al. | Multi-sensor measurement system for robotic drilling | |
| CN106238969B (en) | Automatic welding processing system of non-standard part based on structured light vision | |
| CN105499953B (en) | Industrial robot based automobile engine piston and cylinder body assembly system and method | |
| Fang et al. | Motion control of a tendon-based parallel manipulator using optimal tension distribution | |
| CA2978520C (en) | Multi-jointed robot deviation under load determination | |
| CN113714789B (en) | Screw tightening device based on visual positioning and control method | |
| US11485010B2 (en) | Adapter system for connecting the last element of a kinematic chain to a handling device | |
| US4922436A (en) | Method and system for the automated driving of parts and device used therein | |
| CN107414474B (en) | Narrow space bolt positioning and mounting robot and control method | |
| WO2019150726A1 (en) | Robot system and method for controlling robot | |
| CN113601158A (en) | Bolt feeding and pre-tightening system based on visual positioning and control method | |
| CN106695784A (en) | Visual control system for robot | |
| US20060218780A1 (en) | Automated riveting machine | |
| US11878420B2 (en) | High-precision mobile robot management and scheduling system | |
| WO2021027245A1 (en) | Multi-robot machining apparatus for complex surface part | |
| WO2015097102A1 (en) | Method for automated assembly at an assembly station, and associated automated assembly station | |
| US7963017B2 (en) | Method for tightening a screwed joint on a component in an automated manner, and suitable industrial robot system | |
| CN219379663U (en) | Assembly system of medium-heavy-duty gear shaft robot | |
| Garnier et al. | A metrological device for robot identification | |
| US5771551A (en) | Tool for punching and riveting including a combination cylinder | |
| CN108638103B (en) | Robot end effector capable of automatically grabbing and adjusting pose and adjusting method | |
| CN110308731B (en) | High-precision secondary positioning device for mobile robot | |
| CN215471201U (en) | Flexible gripping apparatus of robot | |
| CN113843614A (en) | Multi-plane bolt assembling device based on mixed vision | |
| CN112872845A (en) | Machining positioning method and flexible tool system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |