53results about How to "Improve continuous operation ability" patented technology

The invention provides a trajectory tracking control method and system for a high-load omni-directional AGV, the omni-directional AGV is driven by a plurality of steering wheel mechanisms which are independently steered and driven, and the trajectory tracking control method is characterized by comprising the following steps: acquiring vehicle state information and expected trajectory information of the omni-directional AGV in real time; on the basis of the vehicle state information and the expected track information, core parameters of a model prediction controller are optimized online through a chaos simulated annealing algorithm, and the core parameters comprise a state weight matrix, a control increment weight matrix, a prediction time domain and a control time domain; wherein the model prediction controller performs state prediction based on a longitudinal-transverse decoupling dynamic model adaptive to a high-load working condition; performing rolling horizon optimization through the model prediction controller by utilizing the optimized core parameters, and solving to obtain an optimal control increment; and converting the optimal control increment into a driving instruction for a multi-steering-wheel mechanism, and controlling the omnidirectional AGV to track an expected trajectory.

The utility model relates to the technical field of positioning stamping, and discloses special-shaped metal sheet positioning stamping equipment which comprises an operation table, an electric push rod is fixedly connected into the operation table, a sliding plate is fixedly connected to the top of the electric push rod, and two supporting columns are fixedly connected to the top of the sliding plate. The top of each supporting column is fixedly connected with a sliding block, the sides, far away from each other, of the sliding blocks are fixedly connected with two first square sliding blocks, the exteriors of the first square sliding blocks are slidably connected with triangular sliding blocks, the exteriors of the triangular sliding blocks are slidably connected with supporting frames, and the tops of the triangular sliding blocks are fixedly connected with clamping plates. According to the stamping die, it is guaranteed that the position of a thin plate is fixed without deviation during stamping, stamping size errors or workpiece scrapping caused by positioning deviation are avoided, vibration and shaking are reduced, the stamping die is particularly suitable for stamping scenes with complex shapes or high-precision requirements, and the consistency of machining quality is improved.

The utility model relates to welding equipment technical field, concretely relates to a kind of intelligent gantry submerged arc automatic welding machine, it includes: piece platform, top is equipped with multiple piece grooves along length direction, and both sides are equipped with machine tool track respectively;Welding machine tool, welding machine tool is transversely placed above piece platform, and two ends are respectively equipped with with machine tool track cooperation walking mechanism, welding machine tool top is respectively equipped with welding machine power supply corresponding each piece groove;Movable crossbeam, movable crossbeam is horizontally arranged in welding machine tool middle part, and movable crossbeam is equipped with with each piece groove corresponding cross slide;Telescopic arm, respectively with each cross slide corresponding each cross slide connection, bottom end is respectively equipped with welding torch, welding torch is connected with corresponding welding machine power supply;Controller, controller is set in one side of welding machine tool, and walking mechanism, telescopic arm, welding machine power supply and welding torch are respectively electrically connected with controller.The utility model is integrated, and automation design has significantly improved the efficiency and quality of I-shaped steel structure welding.

The invention discloses a data processing service dynamic data flow prediction method for industrial big data, and relates to the technical field of data processing, and the method comprises the steps: calculating a tail section proportion, a tail section concentration ratio and a front and back section balance degree based on the distance measurement distance of intelligent material handling equipment; performing scene judgment on the current time window based on the tail section proportion, the tail section concentration degree and the front and back section balance degree to obtain a scene marking result; calculating a re-interpretation occupation evidence value corresponding to the current time window based on the scene marking result; and determining the re-explanation occupation evidence value corresponding to the next time window through the re-explanation occupation evidence value corresponding to the current time window. According to the invention, the continuous operation capability of the intelligent material carrying equipment in the cold-chain low-temperature scene is improved.

This invention discloses a traction winding and unloading device, belonging to the field of roll material production technology. The device includes a traction device, a floating fly knife device, a dual-shaft alternating winding device, and an unloading device. The traction device has edge trimming and tension adjustment functions. The floating fly knife device is equipped with a floating roller assembly and an L-shaped flipping guide groove to achieve clamping traction during cutting and automatic knife lifting after cutting. The dual-shaft alternating winding device realizes alternating winding of the two air-expanding shafts at two workstations through a flipping disc and a clamping assembly, and is equipped with a moving pressure roller that adjusts with the roll diameter. The unloading device consists of a moving trolley, a shaft pulling device, and an unloading trolley, which can automatically complete full roll grabbing, shaft pulling, air release unloading, and transfer. This invention realizes full-process automation from traction, edge trimming, fixed-length cutting, continuous winding to automatic unloading, and has the advantages of high production efficiency, good cutting and winding accuracy, stable operation, and wide applicability. It is suitable for the continuous production of roll materials such as film, non-woven fabric, paper, and aluminum foil.

This invention discloses a machine for machining slotted round nuts, comprising a frame and a worktable. The worktable is equipped with a feeding unit, a clamping unit, a moving unit, and a machining unit. The feeding unit includes a drive assembly and a material box inclinedly mounted on one side of the drive assembly. A turntable is located at the center of the material box, and a waiting plate is located on one side of the material box. One end of the waiting plate is connected to the turntable via a guide plate. The waiting plate includes a horizontal plate and two vertical plates. One end of the horizontal plate has a through hole, and a material drop pipe is located below the through hole. The clamping unit is located below the material drop pipe. The moving unit drives the clamping unit to transport the material to the machining unit. The machining unit is mounted on the worktable via a bracket and includes a lifting assembly and a spindle fixed to the lifting assembly for mounting cutting tools. In this invention, the various units cooperate closely, resulting in more continuous workpiece machining, reducing manual intervention, and improving the continuous operation capability of the equipment.

The utility model relates to the technical field of rubber colored rubber zipper pull slicing, in particular to a combined rubber colored rubber zipper pull slicing device which comprises a supporting frame, a supporting plate is arranged on the supporting frame, a protective cover is arranged on the supporting plate, a mounting frame is arranged on one side of the protective cover, the mounting frame is also arranged on the supporting plate, and a driving air cylinder is arranged on the mounting frame. An output shaft is arranged at the output end of the driving air cylinder, a control cabinet is arranged on one side of the mounting frame, a conveying belt is arranged on the supporting plate, a driving source is arranged at one end of the conveying belt, and a discharging plate is arranged at one end of the supporting plate and obliquely arranged. A cutting knife is arranged at one end of the output shaft, and a guide assembly is arranged on the inner wall of the protective cover. A cleaning assembly is arranged on the inner wall of the mounting frame; the guide assembly is used for guiding the rubber color glue on the conveying belt to be centered during operation; and the cleaning assembly is used for cleaning the surface of the cutting knife after cutting. Compared with the prior art, the cutting effect is prevented from being affected by residual glue accumulation.

This utility model discloses a bin feeding and receiving mechanism, including a bin conveying component, a bin recycling component, a lifting drive component, and a bin grabbing hook component. The bin conveying component and the bin recycling component are arranged in layers on different planes. The lifting drive component includes a first linear drive module, a slider, a support arm, and a lifting plate. The first linear drive module drives the slider to move. One end of the support arm is connected to the slider, and the other end is connected to the lifting plate. The first linear drive module drives the slider to move the lifting plate up and down, allowing the lifting plate to switch between the plane where the bin conveying component and the plane where the bin recycling component are located. The bin grabbing hook component is used to grab bins on the lifting plate and place them onto the bin recycling component. The bin feeding and receiving mechanism disclosed in this utility model can realize a continuous cycle of full bin conveying and empty bin recycling. This utility model also discloses a fully automatic material handling machine.

The application relates to the field of mica sheet double-sided adhesive tape sticking, in particular to a double-sided adhesive tape sticking device for power battery mica, which comprises a rack, a conveying device for conveying mica sheets is arranged on the inner side of the rack, a vertical plate is fixed to the top of the rack, a position adjusting air cylinder is fixed to one side of the vertical plate, an installation plate is fixed to the output end of the position adjusting air cylinder, an ear plate is fixed to one side of the installation plate, a fixing rod is fixed to the top of the ear plate, a sliding plate is slidably connected to the fixing rod, and springs are arranged on the outer side of the fixing rod. The double-sided adhesive tape sticking device for power battery mica realizes accurate double-sided adhesive tape sticking of the mica sheets through steps such as motor driving, belt conveying, air cylinder adjusting and automatic cutting, greatly reduces the manual operation links, and improves the production efficiency.

The application discloses a numerical control gantry milling machine and belongs to the technical field of machine tools, which comprises a bearing plate, a linear module fixedly installed on the upper surface of the bearing plate, a bearing plate fixedly installed on the upper surface of a moving block of the linear module, gantry frames fixedly installed at both ends of the upper surface of the bearing plate, a liquid collecting and spraying mechanism fixedly installed between the upper halves of the two sets of gantry frames, and a cooling mechanism fixedly installed between the lower halves of the two sets of gantry frames and connected with the liquid outlet end of the liquid collecting and spraying mechanism. The application realizes a high-efficiency cooling liquid closed-loop circulation system through the design of the cooling mechanism and the liquid collecting and spraying mechanism, reduces the material cost and environmental protection pressure, guarantees the stable cooling effect, and realizes the accurate cooling of the cutting area through the ball tube rotation adjustment and the double-path nozzle design.

This invention discloses a method and apparatus for collaborative warehouse robot operation, including warehouse planning and task allocation. Its features include: real-time acquisition and updating of real-time dynamic information of the robot's working environment; updating a digital twin virtual model based on this real-time dynamic information; responding to robot tasks by performing initial path planning for each warehouse robot using a multi-objective optimization algorithm based on the robot's task and a first preset optimization objective, thus determining initial path planning information; allocating task strategies for each warehouse robot using a preset task allocation model based on a second preset optimization objective and the initial path planning information, thus determining the task allocation strategy; and performing dynamic replanning based on the task allocation strategy and real-time dynamic information to determine the task execution path for each warehouse robot. This achieves high-precision, all-around perception of the dynamic warehouse environment; real-time capture of obstacle changes, warehouse robots, and new tasks, enhancing adaptability and responsiveness to complex and changing environments.

The application discloses a waste organic solvent recycling device based on environmental protection engineering and belongs to the technical field of recycling devices.The waste organic solvent recycling device based on environmental protection engineering comprises a separation box and a desorption box, a flow guide seat and a guide plate are fixedly connected inside the separation box, a partition A and a partition B are fixedly connected to the inner wall of the desorption box, a vertical plate is fixedly connected to the inner wall of the separation box, an adsorption plate B is fixedly connected between the vertical plate and the separation box, and a gas outlet pipe is assembled at the top of the separation box and the desorption box.The intermittent meshing of the half gear and the two full gears realizes the control of the opening and closing of the baffle and the rotation of the adsorption plate, the liquid inlet is cut off when the baffle is closed, the adsorption plate rotates synchronously to complete switching, the liquid inlet is restored after the baffle is opened, meanwhile, the stability of the baffle after being closed is ensured by the one-way clutch, waste liquid leakage is avoided, and the continuous operation capacity of adsorption and desorption is improved.

The utility model discloses a test platform for a compression bearing capacity test for a wind power test, and belongs to the technical field of wind power construction, the test platform for the compression bearing capacity test for the wind power test comprises a base, and the front end and the rear end of a lower pressing plate are rotationally connected with pushing mechanisms; the front end and the rear end of the sliding shaft are fixedly connected with sliding mechanisms, the top of the base is slidably connected with a limiting mechanism, and the outward end of the sliding shaft is fixedly connected with a reset mechanism. According to the utility model, the lower pressing plate is driven by the electric push rod, so that the compression bearing capacity of the wind power equipment can be quickly and accurately tested, the automation degree of the test process is high, the manual intervention is reduced, and the test efficiency is improved; the bearing plate is automatically inclined after the test is completed, and automatic unloading is realized by utilizing the dead weight of the wind power equipment, so that tedious operation of manual carrying is avoided, and time and labor cost are saved; and through cooperation of the tension spring and the guide rail, the bearing plate can be automatically reset to the initial position after unloading, and extra operation is not needed.

The invention discloses an unmanned aerial vehicle container continuous launching device based on friction wheels, and relates to the technical field of unmanned aerial vehicle launching. The problems that in the prior art, friction wheel driving efficiency is insufficient, continuous launching supply is difficult, and an unmanned aerial vehicle is damaged are solved. Comprising a container forming a launching system frame, a first transportation carrier used for transferring the unmanned aerial vehicle in the container, a second transportation carrier used for bearing the unmanned aerial vehicle in the launching stage, a friction wheel launching mechanism providing launching power and an unlocking mechanism achieving separation of the unmanned aerial vehicle and the carriers. The stability of friction wheel launching and the cluster continuous launching efficiency are improved, the storage, transfer and launching functions of the unmanned aerial vehicle are highly integrated, and the method is suitable for scenes with extremely high deployment speed requirements.

The utility model relates to the technical field of conveying devices, and discloses continuous conveying equipment for milk powder cans, which comprises a rack, belt wheels are rotatably connected to two ends of the rack, the belt wheels at two ends of the rack are connected through a conveying belt, and transmission components are fixedly connected to rotating shafts of the belt wheels at two ends of the rack. A driving assembly is arranged on the side portion of the machine frame, one end of the driving assembly is connected with the transmission assembly in a meshed mode, a tensioning assembly is fixedly connected to the side wall of the machine frame, and one end of the tensioning assembly elastically abuts against the transmission assembly. The hydraulic piston group is driven by the electric push rod to control the diameter of the reducing wheel, the conveying step pitch can be quickly adjusted, the production requirements of various tank types are met, the continuous operation capability is improved, the tension degree of the synchronous belt is automatically maintained through the spring-pressurized tensioning wheel mechanism, slipping is effectively prevented, rigid locking is formed after a hydraulic loop is adjusted, and the service life of the hydraulic loop is prolonged. And the accuracy and the stability of the conveying step pitch are guaranteed.

The utility model relates to a flywheel auxiliary heat dissipation technical field of ramming equipment, more specifically, relate to an eccentric shaft rotation energy storage heat dissipation structure. The utility model discloses a hub and annular rim, and the rim is installed around the hub outer periphery, and the hollow ring is formed between the rim and the hub, and the vane assembly is installed in the hollow ring, and the rim is connected with the hub through the vane assembly, and the kinetic energy is stored in the form of mechanical energy, and then energy storage release is realized, and simultaneously the vane assembly inhales air and generates high pressure airflow and blows out to realize heat dissipation cooling, improve the continuous operation ability of equipment, and reduce the maintenance cost of equipment.

The application belongs to the field of submerged liquid pumps, and provides a liquid ammonia submerged liquid pump with a self-balancing assembly, which comprises a pump body, a long rod bolt, a pump suction pipe, a motor, a motor shaft, a magnetic coupling, a pump shaft, a multi-stage impeller, an inducer and a self-balancing assembly. The magnetic coupling comprises a driving magnetic rotor, a driven magnetic rotor and a spacer sleeve. One end of the spacer sleeve is directed towards the driving magnetic rotor and seals the space where the driving magnetic rotor is located. The other end of the spacer sleeve is directed towards the multi-stage impeller. The self-balancing assembly comprises a balancing flow channel. An active sleeve is arranged at the output end of the balancing flow channel. An active nozzle in communication with the balancing flow channel is arranged on the active sleeve. A normally closed port is arranged in the interior of the active nozzle. A branch port for connecting the normally closed port is arranged on the pump suction pipe. First and second balancing springs are arranged at the top and bottom of the active sleeve, respectively. The application has the advantages of reasonable design, good self-balancing performance, high space utilization rate and improved comprehensive utilization rate of the pump, and is suitable for large-scale promotion.

The present application relates to a kind of mobile patrol emergency command system based on vehicle-mounted unmanned aerial vehicle and method thereof, system includes unmanned aerial vehicle carrier, and vehicle-mounted command terminal, power supply management module, unmanned aerial vehicle launching platform and vehicle-mounted unmanned aerial vehicle carried thereon.Vehicle-mounted command terminal integrates intelligent processing unit and first wireless communication module, for task planning and information processing;Power supply management module uniformly manages vehicle-mounted, unmanned aerial vehicle and external emergency power;Launching platform supports the dynamic launching and automatic charging of unmanned aerial vehicle in the process of vehicle movement;Vehicle-mounted unmanned aerial vehicle integrates data acquisition module, second wireless communication module and positioning module, real-time back information and receive instruction.The present application is based on the above-mentioned system implementation, realizes real-time processing acquisition data to identify event and alarm.The present application has high mobility, dynamic launching, multi-link communication, multi-source sensing and multi-machine cooperation capability, and is suitable for various emergency patrol command scenarios.

The technical scheme belongs to the technical field of medical instrument production equipment and specifically relates to a filter paper feeding device of a lancet bottle needle assembling system, which comprises a workbench, a filter paper roll warehouse, a filter paper conveying wheel mechanism, a filter paper punching mechanism, a filter paper feeding mechanism, a waste paper recycling mechanism, a filter paper roll tightness detection mechanism and a guide rod. The filter paper roll warehouse is installed on the workbench, the filter paper conveying wheel mechanism is installed on the workbench and located beside the filter paper roll warehouse, the filter paper conveying wheel mechanism is used for sending the filter paper in the filter paper roll warehouse to the filter paper punching mechanism, the filter paper punching mechanism is installed on the workbench and used for punching the filter paper conveyed by the filter paper conveying wheel mechanism, and the filter paper feeding mechanism is installed on the workbench. The filter paper roll tightness detection mechanism is used for detecting the tightness of the filter paper roll and making the waste paper recycling mechanism collect the waste paper after punching, ensuring the stability of the tension in the filter paper conveying process, avoiding the conveying deviation caused by the uneven tightness of the filter paper roll, realizing the recycling of the waste paper and avoiding the accumulation of the waste paper.

The invention provides an anti-explosion robot, and relates to the technical field of robots, the anti-explosion robot comprises a machine body, a walking assembly and a control module; the machine body comprises a first cavity, a plurality of cavity mounting covers and a load mounting seat, the first cavity is provided with a plurality of first connecting ports, the load mounting seat is in threaded connection with one first connecting port, and the rest first connecting ports are in threaded connection with the cavity mounting covers; the walking assembly comprises a buffer module, a steering module, a steering driving module, a tire module and a walking module; the control module is located in the first cavity and electrically connected with the steering driving module and the first driving unit. The anti-explosion robot is small in size, high in universality and capable of effectively improving the maintenance efficiency.

The dust filtering device of the grain elevator comprises a grain distributing box and a dust removing mechanism, a grain conveying mechanism is fixedly arranged at the top end of the grain distributing box, a first supporting frame is fixedly arranged on the periphery of the lower end of the grain distributing box, and a second vibration motor is fixedly arranged on one side of the grain distributing box. A volute fan is fixedly arranged on one side of the dust removal mechanism, a first vibration motor is fixedly arranged on the other side of the dust removal mechanism, a dust removal pipe is fixedly arranged at the position, close to the lower end of the first vibration motor, of the other side of the dust removal mechanism, a collection box is arranged at the bottom end of the dust removal mechanism, and second supporting frames are fixedly arranged on the periphery of the lower end of the dust removal mechanism. The dust removal mechanism comprises a shell. The grain distribution box has the beneficial effects that most dust of grains can be stripped in front of a dust removal system through the grain distribution box, the device is provided with a quick disassembly structure, the filter screen can be disassembled and assembled without tools, and daily cleaning and maintenance are facilitated.

This utility model discloses a watch dial polishing device, including a support frame. A worktable is rotatably mounted on the top of the support frame, and a reducer and a stepper motor are fixedly mounted on the bottom of the support frame. In this device, the arrangement of the worktable, reducer, stepper motor, and mounting slot allows multiple watch dials to be processed simultaneously. The rotation enables the synchronous execution of processes such as loading, polishing, and unloading, avoiding the time wasted due to frequent downtime for parts replacement in single-station mode. This significantly improves the continuous operation capability and processing volume per unit time. In addition, the inclusion of a dust collector, dust box, first connecting pipe, dust hood, tee, and telescopic hose allows for the cleaning of metal shavings, dust, and other impurities generated during the polishing process, thereby reducing contamination of the watch dial surface and minimizing the impact of dust on the equipment and operators.

The application relates to the technical field of multi-agent collaborative control, and discloses a data inversion enhanced multi-machine group wisdom collaborative operation method based on a vertical domain large model. The method comprises the following steps: an agent collects real-time multi-modal perception data of a target operation environment and sends the data to a control server; the control server identifies a hidden interference source by using a pre-trained vertical domain large model in combination with a data inversion mechanism and constructs a global environment state mapping; semantic analysis and sub-task decomposition are performed on multi-machine collaborative operation requirements, a conflict-free task sequence is generated in combination with a space-time dependence relationship, and a grid execution track is planned for each agent; a segmented instruction sequence with a preset time window is generated in combination with communication delay and sensor refresh frequency; inversion verification, environment mapping update and instruction dynamic adjustment are performed according to state feedback data in a task execution process, a collaborative operation execution process is generated in real time through iteration, and the operation requirement execution is completed. The application realizes adaptive closed-loop control of a multi-machine collaborative operation process in a complex environment.

The application discloses a water and fertilizer integrated irrigation system and relates to the technical field of agricultural irrigation control. The water and fertilizer integrated irrigation system comprises a water source interface, a source end voltage stabilizing and purifying unit, a double-path mother liquor unit, a pulse mixing and reaction unit, a partition transportation and distribution gate control unit, a root zone state sensing unit, a mechanical energy recovery and energy buffer unit, a three-link referee unit, a liquid return recovery and rebalancing unit, a degraded safety shell layer and a control unit. The control unit calculates the root zone absorbability state based on pressure characteristics, phase characteristics, energy characteristics and root zone state quantity, executes the fertilizer injection and release in combination with the minimum executable irrigation volume threshold, the maximum concentration slope threshold and the unit volume available mechanical energy threshold, switches the pure water voltage stabilization or the degraded track when the thresholds are out of bounds, the state is missing or abnormal events occur, and updates the next round of scheduling by using the write-back parameters after the round ends.

The present application relates to copper aluminum composite waste treatment technical field, provide a kind of copper aluminum composite waste continuous feeding stripping device, including main unit, it includes chassis, the right end top surface of the chassis is fixedly arranged with work stand, the left end of the work stand and the left end top surface of chassis is fixedly arranged with device cylinder;Conveying unit is arranged in the inside of main unit, it includes binding part and the conveying part located in its right side;Stripping unit is arranged in the side of conveying unit, it includes stripping part and the cutting part located in its left side.The present application is cooperated by being provided with binding part and conveying part, so that when copper aluminum composite waste feeding stripping is carried out, copper aluminum waste existing in loose roll form can be quickly wound and positioned, and is quickly conveyed by fixed shape, subsequent stripping operation is facilitated, the feeding time of copper aluminum composite waste can be greatly saved, and subsequent skin cutting stripping is facilitated, work efficiency is greatly improved.

The utility model belongs to the field of electric furnace smelting, especially relates to a double position ladle refining furnace electrode rotating device, including rotating frame, electrode rotating oil jar, rotating oil jar trunnion base, slewing bearing, rotating base, stand hanger, rotating locking device, oil cylinder support, proximity switch arrangement, the inner ring of slewing bearing is fixed in rotating base, the outer ring is connected with rotating frame, electrode rotating oil jar is driven rotating frame around slewing bearing centre axis between 1# work position and 2# work position through piston rod telescopic, the proximity switch arrangement detects the work position of rotating frame and triggers rotating locking device and locks rotating frame, through structural optimization and function cooperation, synchronous realization has been achieved to accurate positioning, stable operation, space saving, life extension and efficiency promotion, and the demand of modernization steel smelting to equipment high performance, low energy consumption, easy maintenance has been satisfied comprehensively.

This utility model provides an integrated corn planting and mulching machine, relating to the field of corn planting technology. It includes a vehicle body with wheels at its four corners; a planting component located on the right side of the vehicle body's top for planting corn; and an irrigation and fertilization mechanism located at the center of the vehicle body's top, comprising a storage tank, a driving and stirring unit, and a spraying unit. The driving and stirring unit stirs the mixed solution inside the storage tank and sprays it onto the soil after planting. By integrating the planting component, irrigation and fertilization mechanism, mulching mechanism, and tension control mechanism into the vehicle body, the entire corn planting process from planting to mulching is integrated. The winding component and the driving and rotating unit are connected by bolts, eliminating the cumbersome process of disassembling bolts with tools as in traditional patents. Operators can directly disassemble and assemble the winding component, significantly shortening the single-roll film replacement time and effectively improving the equipment's continuous operation capability.

The application discloses an intelligent group crane control method and system based on Ethernet communication, comprising: allocating node identifiers and initial communication time slot parameters for slave nodes, sending a state request instruction and receiving a running state data packet; determining a task allocation weight and a torque optimization coefficient based on a dynamic load balancing algorithm, and generating a task instruction; sending the task instruction to the corresponding slave node and broadcasting a synchronous motion instruction; constructing a three-dimensional anti-collision model and generating conflict resolution parameters of each slave node; performing fault self-diagnosis, generating a fault node identifier and a redundant communication link switching instruction; controlling other normal slave nodes to switch to a backup Ethernet link, migrating the task allocation weight to other normal slave nodes, updating the task instruction and sending it to other normal slave nodes through the backup Ethernet link to restore group crane cooperative control. The application can significantly improve hoisting efficiency and safety.

The utility model discloses a kind of EMAT electromagnetic ultrasonic transduction detection devices for pipeline nondestructive testing, including detection device, pipeline, crack and forward power wheel, the upper end of the detection device is equipped with fixator, the outer surface of one side of the detection device is fixedly installed with energy supply battery, the other end of the detection device is equipped with detection head rotating track, the outer surface of the detection head rotating track is equipped with rotating device, the upper end of the rotating device is equipped with emitter, the lower end of the rotating device is equipped with receiver, the upper end of the energy supply battery is fixedly installed with signal transmission antenna. A kind of EMAT electromagnetic ultrasonic transduction detection device for pipeline nondestructive testing described in the utility model effectively avoids to break the internal structure performance of pipeline by probe-in processing method, greatly reduces the working time of operating personnel, improves the continuous operation ability of equipment, provides safety guarantee and economic value for industrial production.

The utility model discloses a kind of multi-directional limiting toughened glass drilling devices, for the problems of low positioning accuracy, easy to break, inflexible processing etc of traditional device, provide a kind of multi-directional limiting, stable lifting and multi-axis processing solution.The device comprises: multi-directional limiting assembly (forward roller, left and right clamping roller and adjustable angle rear / inclined roller cooperation push mechanism realizes three-dimensional accurate limiting);Hidden lifting assembly (multiple parallel jacking rods and support ball dispersed stress, avoid glass breakage);Multi-axis drilling assembly (XY drive and replaceable drill bit realize X-Y plane multi-coordinate processing).It improves positioning accuracy, reduces breakage rate by structure optimization, and enhances processing flexibility, suitable for toughened glass efficient finish machining.