3results about How to "Compensate for positioning errors" patented technology

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.