6results about How to "Compensate for positioning errors" patented technology

The present application relates to the technical field of industrial sewing visual control, in particular to a threading and back threading control method and system based on visual identification, comprising: acquiring a multi-view monitoring image sequence in real time through a high-definition industrial camera, obtaining visual data of a sewing needle, a sewing thread, cloth and a reference point through image enhancement and feature extraction. An improved algorithm is used to combine the sewing thread material and the cloth texture to construct a physical travel constraint model, generate an optimal threading path and convert it into a servo control instruction. The sewing thread deviation, tension abnormality and sewing needle drift are detected in real time, the correction amount is calculated according to the deviation vector and the cloth state, and the trajectory is re-planned. When the thread is broken or wound, the fault point is located through vision, and a back threading path that bypasses the obstacle area is planned. The present application improves the adaptability of the path to the actual working condition, realizes dynamic closed-loop correction, reduces the threading deviation and tension fluctuation, avoids secondary interference in the back threading process, and ensures stable and accurate execution of the threading and back threading actions.

The application discloses a three-level coordinated production line body intelligent control method and system, and belongs to the technical field of intelligent manufacturing. The method comprises the following steps: establishing a global task planning layer, performing semantic analysis and logical disintegration at a first preset frequency, and generating an atomic action sequence; establishing a local space perception layer, receiving the atomic action sequence at a second preset frequency, constructing a dynamic local map by using sensor data, determining a workpiece pose by point cloud registration, and mapping the atomic action sequence into a continuous motion trajectory flow; establishing a real-time action execution layer, receiving an instantaneous target pose at a third preset frequency, calculating a theoretical driving torque by combining a Lagrange dynamics equation, switching to an impedance control mode at a contact moment, and driving an execution mechanism to complete work; and establishing an asynchronous coordination layer, realizing three-layer asynchronous communication through an industrial network, and controlling the three-layer frequencies to be distributed in a ladder type in an increasing manner. The application has the effects of improving the flexibility, precision and safety of a production line.

The utility model belongs to wireless energy transmission technical field relates to a kind of unmanned vehicle wireless charging pile of self-adaptive matching, it include: ground fixed pile, telescopic support, torsional spring, charging emission plate, limit support and charging receiving plate, ground fixed pile is fixed in the ground or foundation of charging position by foundation bolt, the bottom of ground fixed pile and telescopic support is connected rigidly, the top of telescopic support is connected with charging emission plate by torsional spring, torsional spring is integrated between telescopic support and charging emission plate, charging emission plate is installed at the top of telescopic support, the lower end of limit support is fixedly connected with ground fixed pile, the upper structure of limit support is suspended and covers or surrounds the outer periphery of charging emission plate, the inner wall of limit support defines the movable boundary of charging emission plate, charging receiving plate is fixedly connected with vehicle chassis, and charging receiving plate is installed in the lower part of the chassis of unmanned vehicle.Full passive self-adaptive, high fault tolerance, self-recovery, easy to integrate, high safety.

This utility model discloses a palletizer gripper structure. It includes: a pneumatic lifting mechanism, comprising a lifting cylinder located at the center and a support guide column vertically surrounding the outside of the lifting cylinder; a piston rod extending vertically within the lifting cylinder, with a base connected below the piston rod, and a vacuum sponge suction cup for adsorbing cartons mounted on the lower end face of the base; symmetrical auxiliary gripping mechanisms on both sides of the base, each auxiliary gripping mechanism including an auxiliary gripping cylinder fixedly connected to the base, a telescopic rod located within the auxiliary gripping cylinder, and a gripping plate connected to the end of the telescopic rod, the middle of the gripping plate being connected to both sides of the base via a hinge. The advantages are: the composite gripping scheme utilizes vacuum adsorption to adapt to the irregular top surface of the packaging box, while providing reliable anti-fall protection through mechanical gripping, greatly improving the stability and reliability of the gripping and palletizing process.

The utility model belongs to the technical field of engine exhaust manifold processing, and discloses a manipulator clamp for engine exhaust manifold processing, which comprises a quick-change component connected with a mechanical arm, the other end of the quick-change component is connected with a support component, and two groups of wide pneumatic claw components are longitudinally arranged on the upper surface and the lower surface of the support component respectively. The wide pneumatic claw assembly comprises a first clamping claw air cylinder and a second clamping claw air cylinder, one end of the first clamping claw air cylinder is connected with a fixed clamping finger a, the other end of the first clamping claw air cylinder is connected with a floating clamping finger a, one end of the second clamping claw air cylinder is connected with a fixed clamping finger b, and the other end of the second clamping claw air cylinder is connected with a floating clamping finger b. And the finished product quality of the exhaust manifold cannot be affected in the clamping process, the two steps of feeding and discharging are integrated, and the production efficiency is improved.

This invention relates to the field of electronic motherboard testing technology, and in particular to an automated testing device for electronic motherboards, comprising a base plate, on the upper side of which are arranged a lower testing mechanism, an upper testing mechanism, and a cooperating testing mechanism. The invention, by setting up the upper testing mechanism and the cooperating testing mechanism, achieves a high degree of automation and flexibility in electronic motherboard testing, significantly improving testing efficiency and reducing reliance on manpower and operational difficulty. The upper testing mechanism is equipped with a cooperating frame with a multi-functional positioning slot, and important testing modules such as network card testing boards and graphics card testing boards are fixed to it using magnetic attraction and limiting blocks, making the entire testing fixture a modular unit that can be quickly disassembled and replaced. When changing product models, the operator only needs to move the locking group to remove the entire cooperating frame along with all the testing modules on it and replace it with another pre-assembled module, eliminating the need for tedious screw removal and position calibration of individual components.