CN109870253B - Airplane assembly process stress monitoring method based on appearance detection - Google Patents
Airplane assembly process stress monitoring method based on appearance detection Download PDFInfo
- Publication number
- CN109870253B CN109870253B CN201910165728.2A CN201910165728A CN109870253B CN 109870253 B CN109870253 B CN 109870253B CN 201910165728 A CN201910165728 A CN 201910165728A CN 109870253 B CN109870253 B CN 109870253B
- Authority
- CN
- China
- Prior art keywords
- component
- framework
- data
- assembly
- measuring
- 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
- 238000000034 method Methods 0.000 title claims abstract description 74
- 230000008569 process Effects 0.000 title claims abstract description 64
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 230000007704 transition Effects 0.000 claims abstract description 28
- 238000013500 data storage Methods 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 230000008439 repair process Effects 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 9
- 230000013011 mating Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 11
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an airplane assembly process stress monitoring method based on appearance detection, which comprises the following steps: hoisting the component A and the component B into position; establishing an airplane coordinate system, measuring appearance key points of the component A and the component B respectively, recording the appearance key point coordinates of the component A and the component B after posture adjustment to an initial data storage unit, and transmitting the coordinates to a data operation unit; pre-mating the component A and the component B; trial assembly of the transition section framework and the skin, monitoring the process position of the appearance key point by using a measuring instrument, and sending the position to a data operation unit; and the data operation unit compares the position degree of the appearance key point, the change exceeds a preset threshold value, an alarm is given, and otherwise, a transition section framework and a skin are installed. The invention installs the transition section framework under the condition of monitoring the coordinates of the shape key points, avoids the deformation of parts at the butt joint part caused by assembly stress generated by forced assembly, improves the assembly quality, prolongs the service life of the airplane and the like, and reduces the assembly stress in the airplane butt joint process.
Description
Technical Field
The invention relates to the technical field of aircraft manufacturing and assembly, in particular to a method for monitoring stress in an aircraft assembly process based on appearance detection.
Background
Aircraft manufacture is generally divided into a number of large components, such as the forward fuselage, the mid fuselage, the aft fuselage, and the wings. As a key link in aircraft manufacturing, an important task in aircraft component assembly is to combine these components into a whole by using tooling and equipment according to the principle of size coordination. The assembly of the traditional large parts of the airplane is guaranteed by a special closing tool, the measurement is carried out by adopting optical instruments such as a level, a theodolite and the like, the posture adjustment and the butt joint of the parts are carried out by means of the matching of a crane and traction, the efficiency is low, the stress assembly is easy to generate, and the assembly quality is poor. With the development of a digital assembly technology, the position and the posture of a large airplane component are measured and detected by a digital measuring device, the position and the posture of the component are adjusted by a flexible supporting and positioning tool, the whole assembly process of the airplane component is controlled by measuring software, an integrated control platform and the like, the assembly efficiency of the component is improved, and the stress assembly is reduced. Taking two major components as an example, the process steps can be divided into: (1) hoisting a large part (A, B) into position; (2) the large part adjusts the posture. Establishing an airplane coordinate system and measuring the shape key points of the components through the ground common measuring points, and adjusting the postures according to the shape key points to enable the two involuted large components (A, B) to be at or close to the theoretical positions to the maximum extent; (3) fixing the large component A, moving the large component B to be close to a theoretical position along the course, and performing large component pre-involution; (4) mounting a transition section framework and a skin; (5) the large part is put on the shelf. Because the aircraft assembly coordination route is long, the factors are many, and in addition, the manufacturing errors of the parts are accumulated, if an effective monitoring means is lacked in the whole large part combination process, the deformation of the parts at the joint part is easily caused due to the assembly stress generated by forced assembly, the attitude of the aircraft is changed, the assembly quality is seriously influenced, and the service life of the aircraft is influenced.
Disclosure of Invention
The invention aims to provide a method for monitoring stress of an airplane in an assembling process based on appearance detection, which is used for solving the problem that part deformation is easily caused by lack of monitoring in the assembling process in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for monitoring stress in an aircraft assembly process based on shape detection comprises the following steps:
step S100: hoisting the component A and the component B into position;
step S200: setting a ground common measuring point, establishing an airplane coordinate system, measuring appearance key points of the component A and the component B respectively, and adjusting the posture of the component A and the component B according to the appearance key points; selecting the shape key point coordinates of the component A and the component B after the posture adjustment is finished as initial values, recording the initial values to an initial data storage unit, and simultaneously transmitting the initial values and the frame number records to a data operation unit;
step S300: the fixed component A moves the component B along the course to approach the component A, and pre-alignment of the component A and the component B is carried out;
step S400: trial assembly of the transition section framework and the skin, monitoring the process position of the appearance key point by using a measuring instrument in the installation of the transition section framework and the skin, recording the process position of the appearance key point to a process data storage unit, and simultaneously transmitting the process position and the information of the measuring stage to a data operation unit;
step S500: the data operation unit compares the initial position of the key point with the process position of the shape key point, if the change of the position degree of the shape key point exceeds a preset threshold value, an alarm is given out, and the result is sent to a data display unit which displays early warning information, otherwise, the next step is carried out;
step S600: and installing a transition section framework and a skin.
The working principle is as follows:
firstly, hoisting a component A and a component B with larger structures into a position by using a hoisting tool, establishing airplane coordinates according to a ground common measuring point, measuring appearance key points of the component A and the component B by using a measuring instrument, adjusting postures according to the coordinates of the appearance key points, storing initial positions and frame times information of the appearance key points after posture adjustment to an initial data storage unit, and inputting the initial positions and the frame times information into a data operation unit by the initial data storage unit. And moving the component A and the component B to enable the component A and the component B to be at the theoretical position or close to the theoretical position to the maximum extent. And then fixing the part A, moving the part B to be close to the theoretical position along the heading direction, and carrying out pre-alignment on the part A and the part B. In the moving process, the measuring instrument tracks the process position of the shape key point, sends the process position and the measuring stage information to the process data storage unit, and transmits the process position and the measuring stage information to the data operation unit through the process data storage unit. And the data operation unit compares the initial position of the appearance key point with the process position, and if the position degree change exceeds a set threshold value, an alarm is given out, and the comparison result is sent to the data display unit to remind an operator to find the reason. And measuring the interference amount of the airplane framework, the component A and the component B at the moment to guide framework repair, and if the transition section framework and the skin are installed in a threshold range, starting to move the component B to know the qualified state. The hole positions for connecting the airplane framework with the component A and the component B are manufactured, the transition section framework is installed under the condition of monitoring the coordinates of the appearance key points, the deformation of parts at the butt joint part due to the assembly stress generated by forced assembly is avoided, the assembly quality is improved, the service life of the airplane is prolonged, and the assembly stress of the airplane in the butt joint process is reduced.
Further, the step S400 specifically includes:
step S410: the component A is fixed, the component B is moved to be close to the theoretical position by 2mm along the course, the framework of the transition section is pre-closed, the interference amount of the framework with the component A and the interference amount of the framework with the component B are measured, and after the measurement is finished, the component B moves towards the direction far away from the component A and exits from the original state;
step S430: measuring shape key points of the component A and the component B by using a measuring instrument, marking the measurement stage information of the data as 'pre-alignment 1', and sending the data to a process data storage unit;
step S440: the process data storage unit synchronously sends the data to the data operation unit, and the data operation unit transmits the result to the data display unit in real time after the data operation unit finishes the calculation.
The working principle is as follows:
when the component A and the component B are moved to the theoretical positions, the measuring instrument is used for monitoring the coordinates of the shape key points, and the first measurement stage information of the shape key points is collected and sent to the process data storage unit. The data operation unit reads data from the initial data storage unit and the process data storage unit in real time, compares the position degree change between the initial outlook of the outline key point and the process position, and displays the calculation result through the data display unit. Therefore, the coordinates of the outline key points can be monitored in real time, and when the outline key points deviate, the coordinates can be displayed in time to remind an operator.
Further, the step S500 specifically includes:
step S510: the data arithmetic unit compares the received data with the initial position of the outline key point, and if the position degree change does not exceed the set threshold value, the step S600 is executed; otherwise, go to step S520;
step S520: if the framework repair amount does not meet the assembly requirement, sending an alarm, and returning to the step S410; otherwise, the process proceeds to step S600.
The working principle is as follows:
if the change in the position degree exceeds the set threshold, an alarm is issued, and the process returns to step S410 to move the positions of the component A and the component B again. And starting the installation of the transition section framework and the skin until the process positions and the initial positions of the component A and the component B are within the set threshold range.
Further, the step S600 specifically includes:
step S610: respectively manufacturing hole sites for connecting the framework with the component A and the component B;
step S620: measuring the shape key points of the component A and the component B by using a measuring instrument, and marking a data measurement stage as a skeleton pre-fabricated hole;
step S630: and respectively connecting the component A and the component B by using a framework, and installing a transition section framework.
The working principle is as follows:
and connecting the framework with hole sites on the parts A and B, mounting the framework at the transition section, separating the parts A and B from the framework after the mounting is finished, and putting the parts A and B on the shelf.
Further, the measuring instrument in step S400 is a laser tracker.
The working principle is as follows:
the digital laser tracker is a high-precision large-size measuring instrument in an industrial measuring system. The system integrates various advanced technologies such as a laser interference ranging technology, a photoelectric detection technology, a precision mechanical technology, a computer and control technology, a modern numerical calculation theory and the like, tracks a space moving target and measures the space three-dimensional coordinate of the target in real time. The device has the characteristics of high precision, high efficiency, real-time tracking measurement, quickness in installation, simplicity and convenience in operation and the like, and is suitable for assembling and measuring large-size workpieces.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention installs the transition section framework under the condition of monitoring the coordinates of the shape key points, avoids the deformation of parts at the butt joint part caused by assembly stress generated by forced assembly, improves the assembly quality, prolongs the service life of the airplane and the like, and reduces the assembly stress in the airplane butt joint process.
(2) The laser tracker is adopted to track the space moving target and measure the space three-dimensional coordinate of the target in real time, has the characteristics of high precision, high efficiency, real-time tracking measurement, quick installation, simple and convenient operation and the like, and is suitable for the assembly measurement of large-size workpieces.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
a method for monitoring stress in an aircraft assembly process based on shape detection comprises the following steps:
step S100: hoisting the component A and the component B into position;
step S200: setting a ground common measuring point, establishing an airplane coordinate system, measuring appearance key points of the component A and the component B respectively, and adjusting the posture of the component A and the component B according to the appearance key points; selecting the shape key point coordinates of the component A and the component B after the posture adjustment is finished as initial values, recording the initial values to an initial data storage unit, and simultaneously transmitting the initial values and the frame number records to a data operation unit;
step S300: the fixed component A moves the component B along the course to approach the component A, and pre-alignment of the component A and the component B is carried out;
step S400: trial assembly of the transition section framework and the skin, monitoring the process position of the appearance key point by using a measuring instrument in the installation of the transition section framework and the skin, recording the process position of the appearance key point to a process data storage unit, and simultaneously transmitting the process position and the information of the measuring stage to a data operation unit;
step S500: the data operation unit compares the initial position of the key point with the process position of the shape key point, if the change of the position degree of the shape key point exceeds a preset threshold value, an alarm is given out, and the result is sent to a data display unit which displays early warning information, otherwise, the next step is carried out;
step S600: and installing a transition section framework and a skin.
The working principle is as follows:
firstly, hoisting a component A and a component B with larger structures into a position by using a hoisting tool, establishing airplane coordinates according to a ground common measuring point, measuring appearance key points of the component A and the component B by using a measuring instrument, adjusting postures according to the coordinates of the appearance key points, storing initial positions and frame times information of the appearance key points after posture adjustment to an initial data storage unit, and inputting the initial positions and the frame times information into a data operation unit by the initial data storage unit. And moving the component A and the component B to enable the component A and the component B to be at the theoretical position or close to the theoretical position to the maximum extent. And then fixing the part A, moving the part B to be close to the theoretical position along the heading direction, and carrying out pre-alignment on the part A and the part B. In the moving process, the measuring instrument tracks the process position of the shape key point, sends the process position and the measuring stage information to the process data storage unit, and transmits the process position and the measuring stage information to the data operation unit through the process data storage unit. And the data operation unit compares the initial position of the appearance key point with the process position, and if the position degree change exceeds a set threshold value, an alarm is given out, and the comparison result is sent to the data display unit to remind an operator to find the reason. And measuring the interference amount of the airplane framework, the component A and the component B at the moment to guide framework repair, and if the transition section framework and the skin are installed in a threshold range, starting to move the component B to know the qualified state. The hole positions for connecting the airplane framework with the component A and the component B are manufactured, the transition section framework is installed under the condition of monitoring the coordinates of the appearance key points, the deformation of parts at the butt joint part due to the assembly stress generated by forced assembly is avoided, the assembly quality is improved, the service life of the airplane is prolonged, and the assembly stress of the airplane in the butt joint process is reduced.
Further, the step S400 specifically includes:
step S410: the component A is fixed, the component B is moved to be close to the theoretical position by 2mm along the course, the framework of the transition section is pre-closed, the interference amount of the framework with the component A and the interference amount of the framework with the component B are measured, and after the measurement is finished, the component B moves towards the direction far away from the component A and exits from the original state;
step S430: measuring shape key points of the component A and the component B by using a measuring instrument, marking the measurement stage information of the data as 'pre-alignment 1', and sending the data to a process data storage unit;
step S440: the process data storage unit synchronously sends the data to the data operation unit, and the data operation unit transmits the result to the data display unit in real time after the data operation unit finishes the calculation.
The working principle is as follows:
when the component A and the component B are moved to the theoretical positions, the measuring instrument is used for monitoring the coordinates of the shape key points, and the first measurement stage information of the shape key points is collected and sent to the process data storage unit. The data operation unit reads data from the initial data storage unit and the process data storage unit in real time, compares the position degree change between the initial outlook of the outline key point and the process position, and displays the calculation result through the data display unit. Therefore, the coordinates of the outline key points can be monitored in real time, and when the outline key points deviate, the coordinates can be displayed in time to remind an operator.
Further, the step S500 specifically includes:
step S510: the data arithmetic unit compares the received data with the initial position of the outline key point, and if the position degree change does not exceed the set threshold value, the step S600 is executed; otherwise, go to step S520;
step S520: if the framework repair amount does not meet the assembly requirement, sending an alarm, and returning to the step S410; otherwise, the process proceeds to step S600.
The working principle is as follows:
if the change in the position degree exceeds the set threshold, an alarm is issued, and the process returns to step S410 to move the positions of the component A and the component B again. And starting the installation of the transition section framework and the skin until the process positions and the initial positions of the component A and the component B are within the set threshold range.
Further, the step S600 specifically includes:
step S610: respectively manufacturing hole sites for connecting the framework with the component A and the component B;
step S620: measuring the shape key points of the component A and the component B by using a measuring instrument, and marking a data measurement stage as a skeleton pre-fabricated hole;
step S630: and respectively connecting the component A and the component B by using a framework, and installing a transition section framework.
The working principle is as follows:
and connecting the framework with hole sites on the parts A and B, mounting the framework at the transition section, separating the parts A and B from the framework after the mounting is finished, and putting the parts A and B on the shelf.
Further, the measuring instrument in step S400 is a laser tracker.
The working principle is as follows:
the digital laser tracker is a high-precision large-size measuring instrument in an industrial measuring system. The system integrates various advanced technologies such as a laser interference ranging technology, a photoelectric detection technology, a precision mechanical technology, a computer and control technology, a modern numerical calculation theory and the like, tracks a space moving target and measures the space three-dimensional coordinate of the target in real time. The device has the characteristics of high precision, high efficiency, real-time tracking measurement, quickness in installation, simplicity and convenience in operation and the like, and is suitable for assembling and measuring large-size workpieces.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (2)
1. A method for monitoring stress in an aircraft assembly process based on shape detection is characterized by comprising the following steps:
step S100: hoisting the component A and the component B into position;
step S200: setting a ground common measuring point, establishing an airplane coordinate system, measuring appearance key points of the component A and the component B respectively, and adjusting the posture of the component A and the component B according to the appearance key points; selecting the shape key point coordinates of the component A and the component B after the posture adjustment is finished as initial values, recording the initial values to an initial data storage unit, and simultaneously transmitting the initial values and the frame number records to a data operation unit;
step S300: the fixed component A moves the component B along the course to approach the component A, and pre-alignment of the component A and the component B is carried out;
step S400: trial assembly of the transition section framework and the skin, monitoring the process position of the appearance key point by using a measuring instrument in the installation of the transition section framework and the skin, recording the process position of the appearance key point to a process data storage unit, and simultaneously transmitting the process position and the information of the measuring stage to a data operation unit;
step S500: the data operation unit compares the initial position of the key point with the process position of the shape key point, if the change of the position degree of the shape key point exceeds a preset threshold value, an alarm is given out, and the result is sent to a data display unit which displays early warning information, otherwise, the next step is carried out;
step S600: mounting a transition section framework and a skin;
the step S400 specifically includes:
step S410: the component A is fixed, the component B is moved to be close to the theoretical position by 2mm along the course, the framework of the transition section is pre-closed, the interference amount of the framework with the component A and the interference amount of the framework with the component B are measured, and after the measurement is finished, the component B moves towards the direction far away from the component A and exits from the original state;
step S430: measuring shape key points of the component A and the component B by using a measuring instrument, marking the measurement stage information of the data as 'pre-alignment 1', and sending the data to a process data storage unit;
step S440: the process data storage unit synchronously sends the data to the data operation unit, and the data operation unit transmits the result to the data display unit in real time after completing the calculation;
the step S500 specifically includes:
step S510: the data arithmetic unit compares the received data with the initial position of the outline key point, and if the position degree change does not exceed the set threshold value, the step S600 is executed; otherwise, go to step S520;
step S520: if the framework repair amount does not meet the assembly requirement, sending an alarm, and returning to the step S410; otherwise, go to step S600;
the step S600 specifically includes:
step S610: respectively manufacturing hole sites for connecting the framework with the component A and the component B;
step S620: measuring the shape key points of the component A and the component B by using a measuring instrument, and marking a data measurement stage as a skeleton pre-fabricated hole;
step S630: and respectively connecting the component A and the component B by using a framework, and installing a transition section framework.
2. The method for monitoring the stress of the aircraft assembling process based on the shape detection as claimed in claim 1, wherein the measuring instrument in the step S400 is a laser tracker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165728.2A CN109870253B (en) | 2019-03-06 | 2019-03-06 | Airplane assembly process stress monitoring method based on appearance detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165728.2A CN109870253B (en) | 2019-03-06 | 2019-03-06 | Airplane assembly process stress monitoring method based on appearance detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109870253A CN109870253A (en) | 2019-06-11 |
| CN109870253B true CN109870253B (en) | 2021-08-03 |
Family
ID=66919844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910165728.2A Active CN109870253B (en) | 2019-03-06 | 2019-03-06 | Airplane assembly process stress monitoring method based on appearance detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109870253B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964577B (en) * | 2020-07-24 | 2022-06-28 | 中国航空工业集团公司济南特种结构研究所 | Technological method for surface test point position recurrence of radar antenna housing |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2560091A1 (en) * | 2004-03-16 | 2005-09-29 | Telezygology Inc. | Fastener networks |
| CN101746510B (en) * | 2010-02-03 | 2012-12-19 | 北京航空航天大学 | Assembly method of leading edge flap based on laser measuring technique |
| CN102001451B (en) * | 2010-11-12 | 2013-05-29 | 浙江大学 | Aircraft component attitude adjustment and docking system and method based on four numerically controlled positioners, attitude adjustment platform and mobile bracket |
| CN103274055B (en) * | 2013-06-14 | 2015-06-10 | 沈阳飞机工业（集团）有限公司 | Indoor-GPS-based (indoor global positioning system-based) stress-free assembly system for large-size airplane parts, and application thereof |
| CN104698983A (en) * | 2014-12-29 | 2015-06-10 | 西北工业大学 | System and method for controlling pre-positioning flexible tool of wallboard assembly of airplane |
| CN106403809A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | High-speed dynamic measurement method of part digitalization flexible assembling |
| CN107194057B (en) * | 2017-05-19 | 2020-07-14 | 西北工业大学 | Prediction method of torsional deformation of wall panel riveting |
| CN108408080B (en) * | 2018-03-29 | 2019-11-12 | 南昌航空大学 | A kind of aircraft wing body Butt Assembling device, method and system |
| CN108917723B (en) * | 2018-05-14 | 2020-08-07 | 西北工业大学 | An online pose measurement system and method for cylindrical cabin docking |
-
2019
- 2019-03-06 CN CN201910165728.2A patent/CN109870253B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109870253A (en) | 2019-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109794938B (en) | A robot hole making error compensation device suitable for curved surface structure and method thereof | |
| CN109773786B (en) | Industrial robot plane precision calibration method | |
| CN1221500B (en) | Accuracy modified machine tool system and method for improving accuracy of machines | |
| CN102198857B (en) | Assessment method for wing level of airplane based on robot and height detection unit | |
| CN108151660B (en) | A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system | |
| US7305277B2 (en) | Methods and systems for position sensing of components in a manufacturing operation | |
| CN109591019B (en) | An accurate spatial positioning method for objects without deterministic positioning features | |
| CN113681563B (en) | Assembling method and system based on double cameras | |
| CN210819622U (en) | Large-scale space high-precision online calibration system of mobile operation robot | |
| CN114239170B (en) | Error compensation method for aircraft assembly | |
| CN105698678B (en) | A kind of basis coordinates system scaling method of the horizontal automatic drill riveter of aircraft target ship | |
| CN105678023B (en) | A kinematic parameter identification method of a horizontal automatic drilling and riveting machine for aircraft panels | |
| CN109870253B (en) | Airplane assembly process stress monitoring method based on appearance detection | |
| CN105509655A (en) | Moving optical coordinate measuring machine (CMM) vehicle door hinge axis angle measurement apparatus and method | |
| CN109062139B (en) | Robot linear axis positioning error compensation method based on data driving | |
| CN110539309A (en) | Mechanical arm hole-making positioning system and method based on laser alignment and vision measurement | |
| CN113134848A (en) | Measurement mode based on six-axis robot repeated positioning precision | |
| CN112484722A (en) | Visual sensor global positioning method combined with inertial navigation system | |
| CN114800542A (en) | Spiral bevel gear all-angle flexible polishing machine device, polishing method and system | |
| CN116077190B (en) | System for improving accuracy of surgical robot system | |
| CN112304221A (en) | Flexible measuring device and measuring method for intelligent production line of aviation structural part | |
| CN110587615A (en) | Accurate product feature identification method based on multi-sensor measurement | |
| EP4396772A1 (en) | Feature inspection system | |
| KR20050039350A (en) | Method for compensating position of body panel welding robot | |
| Feng et al. | Design of a Visual Guidance Robotic Assembly System for Flexible Satellite Equipment Unit Assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |