In order to establish the design method for T-shaped tensile connector with high strength bolt,the theoretical analysis is carried out. Firstly,it analyzes the performance of the connector and establishes prying force...In order to establish the design method for T-shaped tensile connector with high strength bolt,the theoretical analysis is carried out. Firstly,it analyzes the performance of the connector and establishes prying force calculation model. Based on the model,prying force equation and function between bolt prying force and flange thickness is derived,and the min and max thickness requirement of flange plate under a certain tension load is then obtained. Finally,two simplified design methods of the connector are proposed,which are bolt pulling capacity method and flange plate bending capacity method.展开更多
机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D...机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D435i采集的图像,实现了角钢塔主材螺栓的实时检测、三维定位及重新排序等功能.经实验验证,YOLOv5s-T在基本不降低均值平均精度(mean average precision,mAP)的情况下,推理速度提高约31%;用RGB-D相机测得的三维坐标计算相邻螺栓间距,平均误差小于1 mm.对主材螺栓排序算法进行验证,RGB-D相机正对螺栓组模板时,模板的正确排序率不低于95%,可快速引导6自由度机械臂末端到达螺栓紧固点.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.51408620)the Major Science and Technology Project during the Third Five-Year Plan Period of China MCC(Grant No.0012013010)
文摘In order to establish the design method for T-shaped tensile connector with high strength bolt,the theoretical analysis is carried out. Firstly,it analyzes the performance of the connector and establishes prying force calculation model. Based on the model,prying force equation and function between bolt prying force and flange thickness is derived,and the min and max thickness requirement of flange plate under a certain tension load is then obtained. Finally,two simplified design methods of the connector are proposed,which are bolt pulling capacity method and flange plate bending capacity method.
文摘机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D435i采集的图像,实现了角钢塔主材螺栓的实时检测、三维定位及重新排序等功能.经实验验证,YOLOv5s-T在基本不降低均值平均精度(mean average precision,mAP)的情况下,推理速度提高约31%;用RGB-D相机测得的三维坐标计算相邻螺栓间距,平均误差小于1 mm.对主材螺栓排序算法进行验证,RGB-D相机正对螺栓组模板时,模板的正确排序率不低于95%,可快速引导6自由度机械臂末端到达螺栓紧固点.