31results about How to "Guaranteed working accuracy" patented technology

The invention relates to a method for repairing hidden dangers of a power transmission line, and the method achieves the precise repair of the hidden dangers of the power transmission line through constructing a basic generalization robot motion model based on deep learning, and combining the three-dimensional point cloud data of the power transmission line collected by an unmanned plane and the fine-grained operation data of remote teaching. The model outputs an angle attitude matrix of an operation robotic arm by inputting hidden danger point cloud data, and predicts the angle attitude matrix according to the hidden danger point cloud data at the current moment when wind exists. The motion decision at the last moment is obtained, self-adaptive compensation is carried out in combination with the pose offset, the motion track of the robotic arm is optimized, and high-precision execution of the robot in the complex dynamic environment is ensured. Through the unstructured dynamic scene transfer learning and self-adaptive motion compensation technology, full-autonomous and high-precision hidden danger repairing operation of the robot under the wind disaster condition is achieved, and the autonomy and execution efficiency of the robot in the complex environment are remarkably improved.

The invention provides a disordered grabbing device and method for multiple layers of steel balls in a ball milling workshop. The device comprises a steel ball storage pool (1), a mechanical arm (2), a visual module (3) and a control module. The mechanical arm, the visual module and the control module are electrically connected, and the visual module and the mechanical arm are arranged on the two sides of the steel ball storage pool respectively. The steel ball storage pool is used for storing multiple layers of disorderly arranged steel balls; the visual module is used for performing point cloud identification on the positions of the steel balls in the stock bin; the mechanical arm grabs the calibrated steel balls through an end effector electromagnet (12) and places the calibrated steel balls at designated points of the conveying belt. The control module is used for controlling the vision module to obtain the 3D coordinates of the multiple layers of stacked steel balls and controlling the pose, the tail end path and the grabbing rhythm of the mechanical arm.

The invention discloses a mobile behavior interference method and device, mobile equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme, the method comprises the steps that after a positioning system of the mobile equipment is powered on, first position information of the mobile equipment is solved in a self-differential positioning mode, and second position information of the mobile equipment is solved in a precise single-point positioning mode; under the condition that the second position information is not calculated, determining that the first position information is target position information of the mobile equipment, and determining an actual convergence speed of a precise point positioning mode; comparing the actual convergence speed with the expected convergence speed; and under the condition that the actual convergence speed is smaller than the expected convergence speed, interfering with the moving behavior of the mobile equipment. Through the technical means, when the speed or the position of the mobile equipment affects the resolving efficiency of the precise single-point positioning mode, the moving behavior of the mobile equipment is interfered so as to lower the moving speed of the mobile equipment or move the mobile equipment out of the shielding area, and the resolving efficiency is improved.

This utility model provides an auxiliary device for the installation of ground source heat pump well pipelines, belonging to the field of ground source heat pump engineering technology, aiming to solve the problems of cumbersome fixed installation and inconvenient storage of existing auxiliary devices. The device includes a shell and a second fixing plate fixedly connected to the shell, as well as a rotating mechanism disposed at the end of the second fixing plate. The rotating mechanism includes a second rotating rod, a rotating wheel, a bottom cone rod, a first fixing rod, and a limiting component. The first fixing rod passes through the rotating wheel and drives the bottom cone rod to rotate between a storage position and a working position. The limiting component includes a second fixing block and a force-bearing block. In addition, the device is equipped with a disassembly mechanism for quick and detachable connection between the upper support and the shell. This utility model, through the bottom cone rod and the self-locking limiting mechanism, achieves rapid deployment, stable fixation, and convenient retraction of the device, improving the efficiency and safety of ground source heat pump pipeline installation operations.

The folding and pressing structure is suitable for vest bags of different specifications, and comprises a folding synchronous adjustment mechanism, a folding pressure hook mechanism, a pressure plate pressing mechanism, a pressure plate synchronous adjustment mechanism, a bag ear pressing and folding mechanism, a bag ear pressing and folding driving mechanism, an adjustable pressure rod pressing mechanism, a lower fork mechanism, a fixing mechanism, an adjustable tube straightening plate mechanism and an adjustable material receiving mechanism. The present invention synchronously adjusts the distance between the folding beams according to the sizes of the handles of the different vest bags after folding, thereby controlling the folding positions of the bag head and the bag tail of the vest bag, and the pressure plate synchronous adjustment mechanism can synchronously adjust the distance between the pressure plate positioning structures to adapt to vest bags of different widths, and there is no need to change the size of the pressure plate or manually adjust the distance between the pressure plates. The pressure plate presses the bag body of the vest bag, thereby solving the problem of left-right and front-back deviation and swinging of the vest bag during the folding process, and improving the flatness of the finished product.

The present invention relates to a mushroom bag capping machine, comprising a feeding device, a mushroom bag sealing disk, a bag mouth arranging device, a feeding device and a discharging device arranged on a workbench; along the rotation direction of the mushroom bag sealing disk, the feeding device, the feeding device, the bag mouth arranging device, another feeding device and the discharging device are fixed on the workbench in sequence; a power shaft device is arranged on the workbench; the power shaft device is transmission-connected with the mushroom bag sealing disk, and drives the mushroom bag sealing disk to rotate along its own rotation center; the mushroom bag sealing disk comprises a frame and a plurality of ring capping assemblies, each of which comprises, from top to bottom, a bag mouth tightening claw, a capping claw, a ring claw and a bag holding claw arranged on the frame in sequence. The mushroom bag capping machine can adapt to the production frequency of high-speed operation, and can be a fully automated machine for ringing, capping and shrinking, so as to achieve the purpose of fully automatic ring capping.

The embodiment of the present application belongs to the field of piezoelectric dispensing, and relates to a calibration method and dispensing device for a precision piezoelectric injection valve, wherein the precision piezoelectric injection valve comprises: a housing, a flow channel assembly, and a shot assembly, wherein the flow channel assembly is arranged on the inner side of the housing and penetrates the housing; the shot assembly is arranged on the inner side of the housing and is opposite to the flow channel assembly; the shot assembly comprises a screw, a piezoelectric drive assembly, a spring, and a striker, wherein the screw is threadedly connected to the housing, one end of the screw is arranged on the outer side of the housing, and the other end abuts against the top of the piezoelectric drive assembly; the spring is arranged at the bottom of the piezoelectric drive assembly, and one end abuts against the piezoelectric drive assembly and the other end abuts against the housing, and one end of the striker is connected to the bottom of the piezoelectric drive assembly and the other end is opposite to the flow channel assembly. The technical solution provided by the present application does not require the piezoelectric injection valve to be calibrated by adjusting the nozzle, and can maintain the accuracy of the piezoelectric injection valve from changing due to the loosening of the nozzle, thereby ensuring the operating accuracy of the piezoelectric injection valve.

The invention discloses an SCR injection control method, relates to the technical field of SCR injection, and solves the technical problem of poor SCR injection amount precision. The method comprises: before installation, determining the injection error of each SCR nozzle, grouping each SCR nozzle according to the injection error, and marking the group number; calibrating the deviation between the target injection amount and the actual injection amount of each group of SCR nozzles, and formulating a deviation compensation table or a deviation compensation curve according to the deviation of each group; during installation, determining the group number of the SCR nozzle according to the group number mark of the installed SCR nozzle, and storing the group number and the deviation compensation table or the deviation compensation curve in an ECU; when the engine is actually working, the ECU calculates the target injection amount according to NOx detection data, and queries the deviation compensation table or the deviation compensation curve according to the group number of the SCR nozzle to obtain the deviation compensation value, the target injection amount plus the deviation compensation value to obtain the final injection amount, and the ECU controls the operation of the SCR system according to the final injection amount.

The invention belongs to the technical field of hilly and mountainous region tractor pose resolving, and particularly relates to a hilly and mountainous region tractor pose resolving system based on a laser radar global coordinate system, which comprises an adjustable direct current stabilized power supply, an industrial personal computer, a display module, a GPS / INS combination module, a base station module and a C16 line laser radar module, the GPS / INS combined module is integrated in a moving station to measure position and attitude information of a carrier coordinate system in real time, and the base station module and the GPS / INS module are used in a matched manner to mutually calculate position and attitude information measured by satellite signals; according to the hilly and mountainous region tractor pose resolving system, a global coordinate system is taken as a reference, the position and the pose of a carrier coordinate system are estimated in real time by acquiring parameters of a laser radar and an IMU (Inertial Measurement Unit), and then the precision of the real-time pose of a tractor in a hilly and mountainous region environment is improved by fusing data of the IMU and the laser radar by using an unscented Kalman filtering algorithm.

The utility model relates to an energy -saving locomotive fittings bending device of locomotive fittings machining technical field, including the workstation, the upper deck middle part of workstation is equipped with the biaxial hydraulic cylinder along the longitudinal arrangement, the both ends of workstation upper deck part are equipped with fixed mounting seat respectively, two telescopic shafts of biaxial hydraulic cylinder are connected with mobile mounting plate respectively, still including the replaceable module, the replaceable mould seat and replaceable die head of replaceable module are installed respectively in the opposite side of corresponding fixed mounting seat and mobile mounting plate, the utility model has adopted biaxial hydraulic cylinder as drive source and two sets of replaceable module, when one telescopic shaft extends and carries out bending operation, another telescopic shaft can be synchronous and withdrawn, contrarily, when the shaft backstroke, another shaft can synchronous and extend and carry out operation. This design makes hydraulic cylinder in the whole working cycle of extension and withdrawal, always has a direction in effective bending operation.

The invention discloses a multi-degree-of-freedom mechanical arm trajectory tracking control method and system based on decomposition type Q learning. According to the method, a drifting dynamic matrix and an input dynamic matrix of the mechanical arm system do not need to be known in advance, online learning and optimization can be carried out by directly utilizing input and output data through the Q learning algorithm, and the dependence of a traditional adaptive dynamic programming (ADP) method on an accurate mathematical model is effectively overcome. According to the method, a Q function is innovatively decomposed into three independent components, and three sub neural network channels are used for approximation respectively. Compared with a direct approximation integral Q function, the distributed design has the advantages that the complexity of a single network is reduced, the fitting capability of the neural network to a nonlinear system is fully utilized, and the convergence speed and learning efficiency of the algorithm are improved. In conclusion, high-precision trajectory tracking can be achieved, the error curve convergence is rapid and stable, the speed and position change of each joint is smooth, no obvious jitter exists, and the method has good engineering application value.

This invention discloses a UAV contouring flight system and method based on multi-sensor fusion and adaptive planning. The system includes a multi-sensor module for simultaneously acquiring 3D point cloud data, image data, and UAV inertial measurement data of the environment; a localization and mapping module for processing the acquired data through a tightly coupled fusion algorithm to output the UAV's real-time pose and a 3D map of the environment; an adaptive path planning module for identifying target objects based on the 3D environmental map and adaptively selecting and executing a matching path generation strategy to generate a contouring flight path that conforms to the target object's surface; and a flight control module for controlling the UAV according to the contouring flight path. This invention solves the problems of low positioning accuracy, inaccurate environmental modeling, and inability to generate high-precision 3D contouring paths for UAVs in environments lacking GPS signals, achieving efficient contouring for regular targets and high-precision contouring flight for complex targets.

The utility model discloses a double-sided rotary type spot tin welding device, which belongs to the technical field of circuit board tin soldering and comprises two mounting seats, a push cylinder is fixedly mounted on the side surface of one mounting seat, a mounting disc is fixed at the end part of a piston rod of the push cylinder, and a rotary motor is fixedly mounted on the side surface of the other push cylinder; a pushing air cylinder is used for driving a mounting disc to rotate, a clamping air cylinder is used for driving a hinge seat to move, a hinge arm is matched for driving a clamping plate to move, the clamping plate is used for clamping and fixing an element, and a rotating motor and a rotating shaft are matched for use, so that double-sided rotary spot tin welding can be carried out; elements which cannot be used by a general patch welding machine do not need to be manually welded, the operation efficiency is improved, the operation precision is guaranteed, the reworking rate is effectively reduced, the PCBA can be assembled and welded on the reverse side so as to achieve the effect of one-time welding, and meanwhile, the PCBA welding device is erected on an assembly line so as to reduce turnover waste.

The invention relates to the technical field of mechanical automation, in particular to a gear welding flaw detection connecting line manipulator device and a working method thereof. Comprising a support unit, a power unit, a grabbing unit and a transmission unit, the support unit comprises a truss Z shaft and a bottom plate, the bottom of the truss Z shaft is connected with the bottom plate, and an opening is formed in the bottom plate; the power unit is located above the bottom plate and provides power for the mechanical arm device. The grabbing unit is located below the bottom plate and used for grabbing gear products. The transmission unit penetrates through the opening in the bottom plate, the upper end of the transmission unit is connected with the power unit, and the lower end of the transmission unit is connected with the grabbing unit. The problem that the production takt is wasted due to the fact that gear products need to be repeatedly taken and placed in traditional welding flaw detection connecting line automatic production can be solved, the production efficiency is improved, and great popularization value is achieved.

The present application belongs to the technical field of oil and gas well drilling and completion, and relates to a method for treating micro-gap at the cementing interface between casing and cement sheath by locally and non-uniformly expanding the casing, and the specific steps are as follows: (1) calculating the thickness of the micro-gap between the cement sheath and the casing according to the cause of the micro-gap; (2) calculating the expansion amount of the casing according to the cause and thickness of the micro-gap; and (3) plugging the micro-gap according to the expansion amount of the casing. The method directly seals the micro-gap by remodeling the interface contact stress through controllable plastic deformation of the casing, thereby breaking through the dependence of traditional repair technology on the size of the gap. Compared with conventional methods, the present application does not need to rely on the permeability of the material, can avoid secondary damage to the wellbore, is suitable for high temperature, high pressure and complex well conditions, and provides an efficient solution for the integrity management of the whole life cycle of oil and gas wells.

The application relates to the field of leveling machines and discloses an intelligent high-stability laser leveling machine, which comprises a leveling machine head, an adjustable driving arm and a vehicle body, the adjustable driving arm is provided with a damping frame, the leveling machine head comprises a fixed plate, a first lifting frame, a scraper and a stirring mechanism, the fixed plate is connected to the lower end of the damping frame, the fixed plate is provided with a first lifting driving mechanism, the first lifting frame is connected to the power output end of the first lifting driving mechanism, the scraper is installed on the first lifting frame, the stirring mechanism comprises a second lifting frame, a first motor, a stirring shaft and a stirring claw, the first lifting frame is provided with a second lifting driving mechanism, the second lifting frame is connected to the second lifting driving mechanism, the stirring shaft is rotationally connected to the second lifting frame, the first motor is connected to the second lifting frame and drives the stirring shaft to rotate, the stirring claw is connected to the stirring shaft, and the first lifting frame is provided with a screening claw which is arranged at intervals from the stirring claw. The integrated leveling machine head is adopted, and the overall construction efficiency and stability are improved.

The application provides a numerical control machine tool leveling structure and a leveling method. The numerical control machine tool leveling structure comprises a first displacement sensor (1), a second displacement sensor (2), a support column (3), a base (4) and a leveling device, the support column (3) is configured to support the numerical control machine tool, the support column (3) is arranged on the base (4), the leveling device is arranged on the base (4) and is configured to be capable of adjusting the height of the support column (3), the first displacement sensor (1) is arranged on the support column (3), and the second displacement sensor (2) is arranged on the base (4). According to the numerical control machine tool leveling structure, the cause of the precision deviation of the numerical control machine tool can be detected in time and accurately, the numerical control machine tool can be leveled, and the machining precision of the machine tool is ensured.

The present invention belongs to the field of optical engineering technology, and particularly relates to a temperature-adaptive clamping mechanism for optical elements. The mechanism comprises a mounting reference plate and a plurality of flexible hinges, wherein the mounting reference plate is used to place optical elements, and the plurality of flexible hinges are arranged on the mounting reference plate along the circumferential direction for clamping the optical elements. The bottom of the optical element is provided with a truncated cone seat matched with the flexible hinge, and the plurality of flexible hinges realize axial and radial positioning of the optical element by clamping the truncated cone seat. The present invention not only increases the temperature adaptability of the clamping system, but also realizes more precise control of the clamping force.

The present invention relates to a multi-station blowing device, including a station moving mechanism, a blowing control component, a displacement mechanism, a main bracket and a control system. The station moving mechanism and the blowing control component are arranged on the main bracket. The displacement mechanism includes a blowing component and a cylinder. The blowing component is arranged at the movable end of the cylinder, and the fixed end of the cylinder is arranged on the station moving mechanism. The blowing control component is electrically connected to the blowing component. The control system is electrically connected to the blowing control component and controls the blowing action of the blowing component through the blowing control component. The control system is used to adjust the movement of the station moving mechanism and the action of the cylinder to control the station of the blowing component. The present invention can be applied to different workpieces and can effectively increase the work beat. When the production line workpiece is changed, the corresponding station position and number of the workpiece can be adjusted, thereby improving the automation and flexibility of the production line.

The utility model relates to the technical field of automation equipment, and discloses an automatic feeding mechanism and attaching equipment of narrow foam, the automatic feeding mechanism comprises a label discharging feeder, a material taking module and a sensor, the label discharging feeder and the material taking module are arranged adjacently, the sensor is used for sensing the foam in-place condition at the label discharging tail end of the label discharging feeder, and the label discharging feeder is connected with the material taking module. The material taking module comprises a position adjustment driving assembly and a clamping assembly, the clamping assembly is connected with the driving end of the position adjustment driving assembly, and the clamping assembly is used for clamping a non-glue area on foam; the automatic feeding device has the following technical effects: 1, automatic feeding of narrow foam is realized; 2, the operation efficiency is improved, and the operation precision is ensured;

The utility model discloses a wagon balance and trailer combined intelligent weighing device, which belongs to the technical field of wagon balances and comprises a wagon balance main body, a trailer head is arranged at the upper end of the wagon balance main body, a trailer flat plate is arranged on one side of the trailer head, a license plate is arranged on the surface of one side, far away from the trailer flat plate, of the trailer head, and a fixed fence is arranged on one side of the wagon balance main body. A wagon balance controller is arranged on the surface of the fixed fence, and an adjustment identification assembly is arranged on one side of the wagon balance controller; according to the utility model, the weight of the trailer flat plate is stored for later use, the technical difficulty that the'trailer head and flat plate 'double combination cannot be identified is solved, the manual weighing of trailer assembly grocery is transformed into automatic weighing by combining the hand-held tallying and the trailer combination weighing mode, the weighing efficiency is improved, and the defect of manual mistake recording is eliminated; and two groups of cameras are adopted to accurately identify a trailer head and a license plate, so that data of a weighing vehicle body can be recorded, and the use quality of equipment is improved.

The present invention aims to provide a periscope camera coupling device with reasonable design, high working efficiency and high assembly precision. The present invention comprises a rotating disc, on which a plurality of product jigs are detachably provided, and a loading and unloading module, a dispensing module, an AA module, a UV curing module and a sensor loading module are arranged around the rotating disc, and the loading and unloading module, the dispensing module, the AA module, the UV curing module and the sensor loading module are all matched with the product jigs, and a projection detection module is also arranged above the rotating disc, and the projection detection module is matched with the AA module. The present invention can be applied to the technical field of automation equipment.

The invention relates to the technical field of potato seeding, and provides a potato seeding device with an adjustable crawler chassis, comprising: a frame; the seeding mechanism is arranged on the frame; the two adjusting frames are arranged on the frame in a sliding mode, the caterpillar bands are arranged on the adjusting frames in a sleeving mode, the two adjusting frames are used for bearing the frame, and the two adjusting frames get close to or get away from each other after sliding; the two first telescopic pieces are arranged on the frame, and the two first telescopic pieces independently drive one adjusting frame to ascend and descend. By means of the technical scheme, the problem that in the prior art, when a potato seeding device faces complex terrains such as mountains and hills, adaptive adjustment cannot be achieved, and seeding is difficult is solved.

The utility model discloses an adjustable contact pin press-fitting device, the press-fitting device is used for press-fitting a contact pin on a contact pin seat, the press-fitting device comprises a bottom plate and a base arranged on the bottom plate, one side of the bottom plate is provided with a side plate, the side plate is provided with a driving assembly, and the driving assembly is connected with the base. The end part of the driving assembly is connected with a stamping assembly for placing a contact pin; a plurality of groups of mounting grooves are formed in the base at equal angles along the circumference by taking the contact pin seat as the center, a positioning rod for placing the contact pin seat is arranged at the central position of the joint of the mounting grooves, and an adjusting assembly for clamping the side part of the contact pin seat is also slidably mounted in each group of mounting grooves. According to the utility model, the adjusting assembly is arranged on the base, so that the device can be applied to pin seats with different sizes, the application range of the device is expanded, and the use flexibility of the device is enhanced; meanwhile, an annular pressure sensor is arranged at the bottom of the pin seat, so that the pressure of the pin seat in the stamping process can be detected, and the assembly consistency is improved while accurate press fitting is realized.

The utility model belongs to the technical field of drilling rig equipment, and particularly relates to a detachable rod loading and unloading device for a water well drilling rig, which comprises a support structure, a centering disc, a tower fixing seat and a drill rod unloading mechanism, the support structure is provided with a stepped groove and a first positioning hole and is detachably connected with the water well drilling rig through the first positioning hole, and the centering disc is clamped in the stepped groove. The tower fixing seat is provided with a through hole, the support structure is detachably connected with a water well drilling rig, a drill rod unloading mechanism hydraulic oil cylinder support, an adjustable hydraulic oil cylinder and a drill rod unloading plate fork through the tower fixing seat, the hydraulic oil cylinder support is fixedly connected with the support structure, and the two ends of the adjustable hydraulic oil cylinder are hinged to the hydraulic oil cylinder support and the drill rod unloading plate fork respectively through movable pin shafts. The device has the beneficial effects that the problem of uncontrollable concentric accuracy caused by thermal deformation in an integrated welding structure is solved, and the modular production and disassembly and assembly of the device are facilitated at the same time.

The utility model relates to the technical field of blasting needle valves, in particular to a blasting needle valve with a replaceable blasting needle, which comprises a main valve body, a plurality of support members are fixedly mounted on the upper end face of the main valve body, a valve rod is slidably mounted in the main valve body, and a pressure plate is fixedly mounted at the upper end of each support member. A blasting needle is inserted in the center of the pressing disc, the lower end of the blasting needle is inserted in the head of the valve rod, a limiting plate for limiting the head of the blasting needle is installed on the upper end face of the pressing disc, and the limiting plate is horizontally and slidably connected with the pressing disc. Through the design of the limiting plate and the elastic stretching assembly, the blasting needle is easy and convenient to replace, complex tools and steps are not needed, the replacement time is greatly shortened, the production stagnation time is shortened, and the production efficiency is improved. And through the design of the positioning block of the blasting needle and the placing groove and the center hole on the pressure plate, the accuracy and the stability of the installation of the blasting needle are ensured.

The invention relates to the technical field of navigation, and discloses a six-axis redundant fiber-optic gyroscope inertial navigation device. The device comprises a shell, an inertial measurement unit, a circuit assembly and a cable, the shell comprises an upper circuit cavity used for installing the circuit assembly and the cable and a lower inertial cavity used for installing the inertial measurement unit, and the inertial measurement unit comprises a six-axis fiber-optic gyroscope, a six-axis accelerometer, an inertial combined support, a plurality of gyroscope light sources and a light source support. The six-axis fiber-optic gyroscopes are arranged on the outer surfaces of the six side walls of the inertia combined support, the six-axis accelerometers are arranged on the inner surfaces of the six side walls of the inertia combined support, the gyroscope light sources are arranged on the upper portion of the inertia combined support through light source supports, and the circuit assembly comprises a functional circuit and a circuit support used for arranging the functional circuit. The functional circuit is in a dual-redundancy design and comprises two independent direct-current power supply circuits and two independent navigation computer circuits. Therefore, the survivability of the device is effectively improved.

The forklift portal cross beam positioning tool comprises a machine frame (1) and is characterized in that translation sliding rails (1.1) are arranged on the two sides of the machine frame (1) in the length direction of the machine frame (1), a left guide rail sliding block installation assembly (2) and a right guide rail sliding block installation assembly (2) are arranged on the translation sliding rails (1.1) in a sliding mode, and a transmission assembly (3) is connected between the two guide rail sliding block installation assemblies (2). The transmission assembly (3) drives the guide rail slide block mounting assembly (2) to translate along the translation slide rail (1.1); the air cylinder assembly (4) on the transmission assembly (3) lifts the positioning, clamping and installing assembly (5) to ascend and descend, and the positioning, clamping and installing assembly (5) clamps the portal cross beam (101). The forklift portal frame cross beam positioning tool has the advantages of being high in operation efficiency and wide in application range.