31results about How to "High walking accuracy" patented technology

The invention provides a welding tractor with a steel structure being subjected to gas shielded welding. The welding tractor comprises a travelling mechanism and an axial welding gun adjusting mechanism, both of which are arranged on interior of a shell. The welding tractor further comprises a radial welding gun adjusting mechanism, a welding gun included angle swinging mechanism, a hanging locking mechanism, a guiding mechanism, a wire feeder and a welding wire plate, all of which are arranged on exterior of the shell; and the travelling mechanism, the axial welding gun adjusting mechanism, the radial welding gun adjusting mechanism, the welding gun included angle swinging mechanism and the wire feeder are respectively connected to a control mechanism. The tractor is automatically welded by running along a welding track under the control of the control mechanism. The welding tractor has the advantages of reasonable structure design, convenience in mounting and high control precision.

The invention discloses an AGV navigation angle compensation method and system, an AGV and a storage medium. The method comprises the steps that a vehicle body driving unit is controlled to operate toenable an AGV body to walk from a starting two-dimensional code to a predicted target two-dimensional code position in a preset direction; the actual driving distance of the AGV body in the whole movement process from the starting two-dimensional code to the target two-dimensional code is acquired; an image, collected by a camera, at the predicted target two-dimensional code position is acquired;the left-right offset distance of the center of the AGV body relative to the target two-dimensional code is calculated according to the image; the deviation angle of the target two-dimensional code relative to the starting two-dimensional code is calculated according to the left-right offset distance and the actual driving distance; and the preset direction is corrected according to the deviationangle to form a new preset direction. According to the AGV navigation angle compensation method and system, the AGV and the storage medium, the preset direction is compensated by calculating the deviation angle, so that the subsequent AGV can drive in the compensated preset direction when driving between the two-dimensional codes, and the walking precision of the AGV is improved.

The invention mainly discloses a linear guide rail. According to a technical scheme of the invention, the linear guide rail comprises a sliding block body and sliding columns which are in slidable connection, wherein two sides of the sliding block body are respectively provided with an automatic clearance adjusting device; and each automatic clearance adjusting device abuts against and matches with a sliding column. According to the invention, the internal structure of the sliding block body is changed from rolling transmission to sliding transmission; the sliding block body and the sliding columns are in slidable connection; a unique connection structure and transmission manner are adopted; two sides of the sliding block body are respectively provided with an automatic clearance adjustingdevice; thus, automatic clearance adjustment can be guaranteed in the normal use process, and sliding members and chutes can be closely matched to guarantee walking precision. The linear guide rail provided by the invention can maintain high walking precision in the operation process of the sliding block body, is simple to install and easy to operate, saves labor and improves work efficiency.

The embodiment of the invention relates to the field of movement control, and discloses a movement control method and a device of a mobile robot. The movement control method of the mobile robot comprises the following steps of: obtaining a motion path of the mobile robot; splitting the motion path into a plurality of motion points; calculating a curvature of the motion path at each of the motion points; and controlling the mobile robot to move towards to a next movement point according to the curvature at the movement point where the mobile robot is currently located until the mobile robot reaches the end point of the motion path. The movement control method and the device of the mobile robot have the advantage of improving the control precision of the mobile robot when the mobile robot moves along the movement path of a non-stationary curvature.

The invention provides an independent-tool-setting type 3D multi-functional numerical control carving machine which has the functions of periphery carving, 3D carving, planar carving and the like, and is high in carving precision and working efficiency. A left stand column and a right stand column are movably connected to a machine tool body through a left guide rail and a right guide rail, a Y-direction drive device is further arranged among the left stand column, the right stand column and the machine tool bed, a gantry is arranged above the left stand column and the right stand column, and multiple U-shaft clamping devices are arranged on the machine tool body below the gantry. A left inner guide rail and a right inner guide rail are arranged on the inner side of the machine tool body, an ejector pin supporting plate is movably arranged between the left inner guide rail and the right inner guide rail, a left locking device and a right locking device are arranged among the ejector pin supporting plate, the left inner guide rail and the right inner guide rail, and multiple ejector pins are arranged on the ejector pin supporting plate. The gantry is provided with multiple carving heads through an X-direction perpendicular guide rail and an X-direction horizontal guide rail, wherein the carving heads are mutually connected through an X-direction connecting rod, and the gantry further comprises an X-direction drive device connected with the carving heads. The carving heads are provided with independent Z-direction vertical structures.

The invention provides a Y-direction assembly of a numerical control carving machine. The Y-direction assembly comprises a left guide rail and a right guide rail which are arranged on the two sides of a tool body and a left Y-direction rack and a right Y-direction rack which are arranged on the tool body. A left column and a right column are movably connected onto the tool body through the left guide rail and the right guide rail. A left Y-direction drive motor and a right Y-direction drive motor are arranged on the left guide rail and the right guide rail respectively, left and right Y-direction drive motor spindle gears are arranged on spindles of the left and right Y-direction drive motors respectively, and left and right Y-direction large gears and left and right Y-direction small gears are arranged on the left column and the right column respectively. The left and right Y-direction large gears are connected with the left and right Y-direction small gears through transmission shafts respectively, the left and right Y-direction drive motor spindle gears are meshed with the left and right Y-direction large gears respectively, and the left and right Y-direction small gears are meshed with the left and right Y-direction racks respectively. The Y-direction assembly is flexible in walking, easy to control and capable of improving the carving accuracy and the service life effectively.

The invention discloses a two-dimensional code detecting robot, system and method. The detecting robot comprises a robot body, a camera module, a control unit and a first receiving and transmitting module; the robot body can comprise a power assembly capable of driving the whole of the robot body to move controllably; the camera module is installed on the robot body, and comprises the previous oneor both of a first camera and a second camera; the control unit is electrically connected with the power assembly and the camera module; and the first receiving and transmitting module is electrically connected with the control unit and used for receiving and transmitting data. According to the two-dimensional code detecting robot, system and method, the robot body moves along a preset path, so that the cameral module acquires an image of a position where each two-dimensional code is located in an operation area; by processing the images, the position deviation of the two-dimensional codes can be obtained, and therefore a basis is provided for subsequent manual correcting or automatic correcting during robot travelling, and it is guaranteed that the intelligent robot has high travelling precision when subsequently performing two-dimensional code navigation in the operation area.

The invention relates to a novel seam welder rotary head device. The novel seam welder rotary head device comprises a movable head frame. Supporting wheel mechanisms are fixed to the four corners of the movable head frame respectively. A rotor mechanism is fixed in the movable head frame through the four corners. A movable head connecting disc reinforcing a rotor is arranged in the rotor mechanism. A plurality of reinforcing steel bar fixing sleeves are arranged around the connecting disc. The movable head frame is fixed to a movable head bottom plate. A rotary power mechanism and a running power mechanism are installed on the movable head bottom plate. A guide wheel mechanism capable of moving reciprocally in a guide rail is installed on the movable head bottom plate. The novel seam welder rotary head device has the beneficial effects that the running power mechanism controls the position of the whole device on the guide rail in the whole operation process, and the rotary power mechanism controls the rotation speed of the rotor to operate; all the operations are controlled through a programmable logic controller (PLC) program; the working labor intensity is low; the automation degree is high; the working operation is stable and reliable; the production efficiency is improved; the quality is more reliable.

An intelligent running robot comprises a single-row track and a sliding table mechanism, wherein the single-row track is placed on a production field according to a preset trajectory; an intelligent robot is mounted on the sliding table mechanism; the sliding table mechanism is mounted on the single-row track to automatically run; the single-row track comprises metal tracks which are suspended onthe top surface in sections and laterally mounted on the wall surfaces in sections, and track surfaces symmetrically extend outwards from the two sides of the lower parts of the metal tracks; the sliding table mechanism comprises a longitudinal sliding table housing which is arranged in the middle of the upper part of the sliding table mechanism and used for the metal tracks to be embedded in; a driving motor and driving running wheel mechanisms are mounted in the sliding table housing, and the driving running wheel mechanisms are erected on the track surfaces on the two sides of the metal tracks; and the whole sliding table mechanism and the intelligent robot mounted on the sliding table mechanism are inversely suspended under the metal tracks. The intelligent running robot has the characteristics that the structure is reasonable and compact, the use operation is convenient, the placing is easy, the mounting is easy, the intelligent running robot is safe and reliable, rollover torquecan be effectively controlled, the running accuracy can be improved and so on.

The invention discloses a control system of a pipeline water detection robot, which comprises an upper pipeline control system and a lower pipeline execution mechanism, the upper pipeline control system is connected with the lower pipeline execution mechanism through a cable, and the upper pipeline control system is used for receiving information and transmitting the information to an industrial personal computer; the pipeline lower execution mechanism is arranged on the robot, is used for collecting information and transmitting the information to the pipeline upper control system, and is also used for sending a control instruction to control the robot and control the start and stop of a power supply; the content of controlling the robot comprises robot linear walking control and matching control between the pay-off speed of a control system on a pipeline and the running speed of the robot; the trolley has the advantages that the anti-interference, shockproof and moistureproof effects are better, the trolley is not prone to colliding with the pipe wall, the walking precision is high, the stability is good, in the trolley walking process, the cable is flexible in relaxation and free in take-up and pay-off, the occurrence of wire twisting accidents caused by trolley slipping is avoided, and manual take-up and pay-off intervention treatment is not needed.

The invention discloses an automatic pipeline crack scanning device for automatically scanning cracks on outer walls of fuel pipelines. The automatic pipeline crack scanning device is characterized bycomprising an axial scanning mechanism, an adjustment limiting mechanism and an adjustment rotating mechanism, wherein the adjustment limiting mechanism is mounted on the adjustment rotating mechanism, such that the automatic pipeline crack scanning device can clamp and fix pipelines with different pipe diameters and slide axially. The axial scanning mechanism is mounted on the adjustment rotating mechanism, such that the automatic pipeline crack scanning device can scan the cracks on the outer walls of the pipelines. The automatic pipeline crack scanning device is an automatic scanning device based on eddy-current nondestructive detection, which is automatic in detection, high in accuracy and comprehensive in detection of the outer walls of the pipelines. The automatic pipeline crack scanning device eliminates errors caused by the fact that a constructor needs to hold an eddy-current sensing probe by hand to scan the outer walls of the pipelines, solves the problems of low scanning efficiency and accurate detection result and can comprehensively detect the outer walls of the pipelines with high accuracy and efficiency.

The invention provides an independent-tool-setting type numerical control edge carving machine which is high in walking precision, good in carving effect, long in service life and flexible in installation mode. A left stand column and a right stand column are movably connected to a machine tool body through a left guide rail and a right guide rail, a Y-direction drive device is further arranged among the left stand column, the right stand column and the machine tool body, and a gantry is arranged above the left stand column and the right stand column. The independent-tool-setting type numerical control edge carving machine is characterized in that an X-direction perpendicular guide rail is arranged on the perpendicular surface of the gantry, and an X-direction horizontal guide rail is arranged on the horizontal surface. Multiple carving head bases are movably arranged on the gantry through the X-direction perpendicular guide rail and the X-direction horizontal guide rail, each carving head base is composed of a vertical plate and a transverse plate which are mutually connected, carving heads are fixed to the carving head bases, and the carving head bases are mutually connected through an X-direction connecting rod. The independent-tool-setting type numerical control edge carving machine further comprises an X-direction drive device connected with the carving heads, and the carving heads are provided with Z-direction independent vertical structures.

The invention relates to the technical field of robots, and discloses a mobile robot navigation system and a mobile robot. The mobile robot navigation system comprises a mobile robot and a target board. The mobile robot comprises a body, a walking mechanism, a navigation sensor set, a position sensor set and a control system. The navigation sensor set, the position sensor set and the walking mechanism are all in signal connection with the control system, the navigation sensor set comprises a center laser sensor and a deviation rectifying laser sensor, the deviation rectifying laser sensor is assembled on the body in a swinging mode in the horizontal direction, and a heading target is arranged on the target board. When the deviation rectification laser sensor receives a laser signal reflected by the heading target, the mobile robot deviates from a straight line; whether the mobile robot deviates leftwards or rightwards is determined according to the received position of the deviation rectification laser sensor, so that the walking direction of the walking mechanism is changed by the control system, the walking precision of the mobile robot is improved, special auxiliary equipment and algorithms are omitted, and the use cost of the mobile robot is reduced.

The invention discloses a petroleum pipeline weld seam trolley automatic walking method. Two driving wheels are arranged on the bottom face of a welding trolley frame and connected through a wheel axle; the wheel axle is mounted on the welding trolley frame through a suspension frame; a wheel axle bevel gear is arranged on the wheel axle; a transmission shaft for vertical transmission is arrangedon the part, corresponding to the welding trolley frame, of the bevel gear; a lower transmission shaft bevel gear engaged with the wheel axle bevel gear is arranged at the lower end of the transmission shaft; an upper transmission shaft bevel gear is arranged at the upper end of the transmission shaft; a driving motor is arranged on the welding trolley frame; a rotary shaft bevel gear is arrangedon a rotary shaft of the driving motor and is in engagement transmission with the transmission shaft bevel gear; guide rail clamping devices are arranged on the two sides of the welding trolley framecorrespondingly; each guide rail clamping device comprises an adjusting screw, an L-shaped sliding frame, a lower limiting wheel and an upper limiting wheel; the adjusting screws are connected with the upper ends of the L-shaped sliding frames; the L-shaped sliding frames are enabled to move left and right by rotating the adjusting screws; and the lower limiting wheels and the upper limiting wheels which are clamped on guide rails are arranged on the L-shaped sliding frames.

The invention discloses a double-lead-screw loading horizontal movement measuring mechanism. The double-lead-screw loading horizontal movement measuring mechanism comprises two first guide rails oppositely arranged at the top of a main machine, a supporting mechanism arranged on the guide rails in a matched mode, a cylinder which is fixedly arranged at the top of the main machine at one end and connected to the bottom of the supporting mechanism at the other end, and can drive the supporting mechanism to reciprocate on the first guide rails, a first driving motor arranged at the top of the supporting mechanism, a first lead screw mechanism connected to the output end of the first driving motor at one end, a second lead screw mechanism arranged opposite to the first lead screw mechanism, asynchronization mechanism, a lower cross beam, a loading cross beam, two second guide rails, two slide block connecting mechanisms, a second driving motor arranged at one side of the supporting mechanism, a moving mechanism arranged on the lower cross beam, and a measuring mechanism. The measuring mechanism has the movement functions in the X-axis direction, the Y-axis direction and the Z-axis direction, and has the straightness scanning function of a radial run-out measuring machine.

The invention discloses a layered feeding structure of a PET fabric. The layered feeding structure comprises a positioning mechanism, a stepping mechanism, an adsorption mechanism, and a counterweight, wherein the positioning mechanism comprises a bearing plate, positioning needles fixed on the bearing plate, limiting baffles fixed on the edge of the bearing plate, and a mistake-proof shifting plate fixed on the bearing plate, the stepping mechanism comprises a stand column and a forward extension frame fixed on the stand column, the front end of the forward extension frame is fixedly providedwith a guide rod air cylinder, the upper end of one side of the forward extension frame is fixed with a pressure reducing valve, the pressure reducing valve and the guide rod air cylinder are pneumatically connected, the adsorption mechanism comprises a connecting frame, four sucking devices fixed on the two sides of the connecting frame and an induction switch mounted at the front end of the connecting frame, the extending rod end of the guide rod air cylinder is fixed on the connecting frame to drive the adsorption mechanism to move up and down, and the counterweight is fixed on the stand column and is opposite to the fixing direction of the forward extension frame. According to the layered feeding structure of the PET fabric, for a damascene material used in an inlaid injection moldingmanufacturing process and process requirements, a single-layer fabric material can be provided through the structure, so that the full-automatic inlaid injection molding process is further realized,the repeated precision is high, the cost is low, and repair and maintenance are simple.