An apparatus and method for cleaning the processing chamber of a strengthening grinding equipment.

Abstract

This disclosure provides an apparatus and method for cleaning the processing chamber of a strengthening grinding equipment. The apparatus includes: a detection module located at the top corner of the processing chamber, comprising a servo motor, an infrared sensor, and a mounting plate; and an implementation module located at the upper part of the processing chamber, comprising a stepper motor, a fixed bracket, a fixed frame, a rotary servo motor, a servo motor bracket, a rotary bracket, a nozzle, a tilting bracket, a lead screw, and a slider. The stepper motor is connected to the fixed bracket; the fixed bracket is connected to the center of the upper part of the processing chamber housing; the lead screw connects the spindle port of the stepper motor to the inside of the processing chamber housing; the hollow part of the slider is threadedly connected to the lead screw; the lower end of the tilting bracket is connected to the perimeter of the slider; the front end of the nozzle is connected to the upper end of the tilting bracket, and the rear end is connected to a high-pressure air pipe; the rotary bracket is connected to the rear end of the nozzle, and a gear is mounted on its upper end; the gear is embedded in the rack of the fixed frame, the rotary servo motor is fixed on the rotary bracket, and the output shaft of the servo motor is connected to the gear.

Description

Technical Field

[0001] This document relates to the field of enhanced grinding technology, and in particular to an apparatus and method for cleaning the processing chamber of enhanced grinding equipment. Background Technology

[0002] Intensive grinding is a composite processing method for strengthening the surface of metal materials. It uses a mixture of grinding powder, grinding fluid and steel balls to accelerate the impact on the material surface, causing severe plastic deformation, which in turn refines the grains of the surface material and increases the surface hardness.

[0003] Intensive grinding technology has been fully utilized in bearing production lines. However, because this technology pressurizes the abrasive material, it enhances the effect of the abrasive material scattering throughout the machining cavity after colliding with the workpiece. Some abrasive material adheres to the metal surface around the machining cavity in the form of abrasive material and abrasive powder. Over time, abrasive material foreign matter that is difficult to clean will condense around the cavity and in the corners. Existing intensive grinding equipment does not have the function of cleaning the machining cavity, which not only results in the loss of some abrasive material but also affects the intensive grinding processing effect and the work of recovering abrasive material.

[0004] Based on the above analysis of the development status of this technology field, the existing technology lacks a solution for cleaning the processing chamber of the enhanced grinding equipment immediately after each enhanced grinding cycle. Summary of the Invention

[0005] The purpose of this invention is to provide a device for cleaning the processing chamber of a strengthening grinding equipment, thereby solving the aforementioned problems in the prior art.

[0006] According to a first aspect of the present disclosure, the present invention provides an apparatus for cleaning the processing chamber of a strengthening grinding equipment, comprising:

[0007] The detection module, installed at the top corner of the processing chamber, includes: a servo motor, an infrared sensor, and a mounting plate. It is used to fix the servo motor to the surface of the chamber through the mounting plate, and to fix the infrared sensor to the servo motor through the spindle of the servo motor and drive the infrared sensor to detect whether there is accumulated abrasive material in the processing chamber.

[0008] The implementation module, installed on the upper part of the processing chamber, includes: a stepper motor, a fixed bracket, a fixed frame, a rotary servo, a servo bracket, a rotary bracket, a nozzle, a tilting bracket, a lead screw, and a slider. The stepper motor is fixedly connected to the fixed bracket by screws. The fixed bracket is fixedly connected to the center of the upper part of the processing chamber housing by screws. The lead screw is fixedly connected to the spindle port of the stepper motor to the inside of the processing chamber housing. The hollow part of the slider is threadedly connected to the lead screw. The lower end of the tilting bracket is fixedly connected to the periphery of the slider. The front end of the nozzle is connected to the upper end of the tilting bracket, and the tail end of the nozzle is connected to a high-pressure air pipe. The rotary bracket is fixedly connected to the rear end of the nozzle. A gear is installed on the upper end of the rotary bracket, and the gear is embedded in the rack of the fixed bracket. The rotary servo is fixed to the rotary bracket via the servo bracket. The output shaft of the rotary servo is connected to the gear to control the rotation of the gear. Based on the detection results of the detection module, the processing chamber of the grinding equipment is cleaned by high-pressure gas ejected from the nozzle.

[0009] According to a second aspect of the present disclosure, the present invention provides a method for cleaning the processing chamber of a strengthening grinding equipment, comprising:

[0010] The detection module detects whether there is abrasive material accumulation around the perimeter and corners of the processing chamber, and obtains the detection results.

[0011] The module is used to clean the processing chamber of the enhanced grinding equipment based on the test results.

[0012] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: cleaning the processing chamber of the strengthening grinding equipment reduces the loss of abrasive material, optimizes the processing effect of strengthening grinding, and cleaning is only performed when abrasive material accumulation is detected, thereby improving the cleaning efficiency.

[0013] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of a device for cleaning the processing chamber of a strengthening grinding equipment according to an embodiment of the present invention;

[0016] Figure 2This is a schematic diagram of the detection module according to an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the implementation modules of an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the process flow of the cleaning and strengthening grinding equipment processing chamber according to an embodiment of the present invention;

[0019] Figure 5 This is a flowchart of a method for cleaning the processing chamber of a strengthening grinding equipment according to an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0021] Device Examples

[0022] According to an embodiment of the present invention, a device for cleaning the processing chamber of a strengthening grinding equipment is provided. Figure 1 This is a schematic diagram of a device for cleaning the processing chamber of a strengthening grinding equipment according to an embodiment of the present invention, as shown below. Figure 1 As shown, the enhanced grinding equipment used in this embodiment is as follows: During operation, the workpiece to be processed is clamped on the spindle rotating fixture, with the workpiece located at the lower end of the spray gun nozzle and the surface to be processed facing the spray gun nozzle. Prepared abrasive material is placed in the hopper and falls into the storage tank. At this time, the ball valve at the working port of the storage tank is opened, and high-pressure air is introduced into the high-pressure air port at the upper end of the feed pipe. The abrasive material reaches the spray gun along the feed pipe, and high-pressure air is introduced into the upper air port of the spray gun to accelerate the material a second time, impacting the bearing surface and generating residual compressive stress, thus achieving the effect of enhanced grinding. After the abrasive material impacts the workpiece, it falls back into the hopper, returns to the storage tank, and is carried back to the spray gun by the airflow to impact and compress the workpiece. This cycle continues until the work is finished. Simultaneously with the impact of the abrasive material, the rotary drive motor drives the spindle rotating fixture to rotate, causing the workpiece's raceway to rotate at a uniform speed at the lower end of the spray gun nozzle. The device for cleaning the processing chamber of the enhanced grinding equipment according to this embodiment specifically includes:

[0023] The detection module 100 is installed at the top corner of the processing chamber. Figure 2 This is a schematic diagram of the detection module 100 according to an embodiment of the present invention, as shown below. Figure 2As shown, the detection module 100 includes: a servo motor 1, an infrared sensor 2, and a fixing plate 3. The servo motor 1 is fixedly connected to the surface of the chamber via the fixing plate 3. The servo motor 1 is fixedly connected to the infrared sensor 2 via the spindle and drives the infrared sensor 2 to detect whether there is accumulated abrasive material in the processing chamber. The detection direction of the infrared sensor 2 can be changed as the spindle of the servo motor rotates.

[0024] The detection module 100 is specifically used for: when there is no accumulated abrasive material, the standard value D detected by the infrared sensor is L0 / cosθ0, where θ0 is the rotation angle of the detection servo motor, and L0 is the side length of one side of the machine box inside the processing chamber. When the value Z detected by the infrared sensor is less than the standard value D, it is determined that there is abrasive material accumulation at that angle. When the value Z detected by the infrared sensor is equal to the standard value D, it is determined that there is no abrasive material accumulation at that angle.

[0025] Module 120 is installed on the upper part of the machining chamber. Figure 3 This is a schematic diagram of the implementation module 120 of an embodiment of the present invention, as shown below. Figure 3 As shown, implementation module 120 includes: a stepper motor 4, a fixed bracket 5, a fixed frame 6, a rotary servo motor 7, a servo motor bracket 9, a rotary bracket 10, a nozzle 12, a tilting bracket 13, a lead screw 14, and a slider 15. The stepper motor 4 is fixedly connected to the fixed bracket 5 by screws. The fixed bracket 5 is fixedly connected to the center of the upper part of the machining chamber housing by screws. The lead screw 14 is fixedly connected to the spindle port of the stepper motor to the inside of the machining chamber housing. The hollow part of the slider 15 is threadedly connected to the lead screw 14. The lower end of the tilting bracket 13 is fixed... The nozzle 12 is fixedly connected to the slider 15 around its perimeter. The front end of the nozzle 12 is connected to the upper end of the inclined bracket 13, and the tail end of the nozzle 12 is connected to the high-pressure air pipe 11. The rotating bracket 10 is fixedly connected to the rear end of the nozzle 12. The upper end of the rotating bracket 10 is equipped with a gear 8, which is embedded in the rack of the fixed bracket 6. The rotating servo 7 is fixed to the rotating bracket 10 through the servo bracket 9. The output shaft of the rotating servo 7 is connected to the gear 8 to control the rotation of the gear. According to the detection results of the detection module, the high-pressure gas ejected from the nozzle 12 cleans the processing chamber of the grinding equipment.

[0026] The implementation module 120 is specifically used for: when the infrared sensor 2 detects the accumulation of abrasive material, calculating the tilt angle and horizontal angle that the nozzle 12 needs to be adjusted, introducing high-pressure gas, adjusting the tilt angle of the nozzle 12 by controlling the stepper motor 4, and adjusting the horizontal angle of the nozzle 12 by controlling the rotary servo motor 7, until the detection result of the detection module 100 is that there is no abrasive material accumulation; when the infrared sensor 2 detects that there is no abrasive material accumulation, stopping the introduction of high-pressure gas, driving the stepper motor 4 and the rotary servo motor 7 back to the initial position, and stopping the operation.

[0027] In implementation module 120, stepper motor 4 is further used to: control the rotation of lead screw 14, which drives slider 15 to move downward, slider 15 is connected to tilt bracket 13 so that the front end of nozzle 12 tilts downward, the target rotation angle θ1 of stepper motor 4 is calculated by formula 1, and the maximum rotation angle θ2 of stepper motor 4 is calculated by formula 2.

[0028]

[0029]

[0030] Where l1 represents the distance between the front and rear fulcrums of nozzle 12, S represents the pitch of the lead screw, H1 represents the initial vertical distance from nozzle 12 to the bottom of the processing chamber, L1 represents the initial horizontal distance from nozzle 12 to the corner of the processing chamber, Z is the value detected by infrared sensor 2 in detection module 100, and θ0 is the rotation angle of servo motor 1 in detection module 100; θ1 < θ2, that is, the angle that stepper motor 4 can rotate must be less than the maximum angle to prevent nozzle 12 from tilting too much, causing high-pressure air to rush into the storage tank and causing the grinding material to overflow.

[0031] In implementation module 120, the rotary servo 7 is further used to: drive the rotary support 10 to rotate, causing the nozzle 12 to rotate horizontally, and calculate the target rotation angle θ3 of the rotary servo 7 using formula 3:

[0032]

[0033] Where K1 represents the number of pulley teeth, K2 represents the number of slide teeth on the fixed frame, Z is the value detected by the infrared sensor 2 in the detection module 100, and θ0 is the rotation angle of the servo motor 1 in the detection module 100.

[0034] In summary, the above-mentioned technical solution of this invention provides a device for cleaning the processing chamber of a strengthening grinding equipment. The stepper motor and servo motor are used to adjust the tilt angle and horizontal angle of the nozzle, respectively. High-pressure gas is sprayed to clean the processing chamber of the strengthening grinding equipment, reducing the loss of abrasive material and optimizing the processing effect of strengthening grinding. The screw thread connection and gear meshing in the device can effectively reduce the reaction force brought by the high-pressure gas injection in the nozzle, improve the stability of the device connection, and the implementation module only cleans when the detection module detects the accumulation of abrasive material, thus improving the cleaning efficiency.

[0035] The above technical solutions of the embodiments of the present invention will be illustrated with reference to the following accompanying drawings.

[0036] Figure 4 This is a schematic diagram of the process flow of the cleaning and strengthening grinding equipment processing chamber according to an embodiment of the present invention, as shown below. Figure 4As shown in the figure, the complete process for cleaning the processing chamber of the enhanced grinding equipment includes:

[0037] When the enhanced grinding equipment finishes processing, the detector inside the processing chamber starts working, checking for abrasive material accumulation around the perimeter and corners. If abrasive material is detected, data is recorded, and the position and size of the abrasive material are calculated. Based on the calculated position, the required rotation angle for stepper motor 4 and rotary servo motor 7 is calculated. Then, stepper motor 4 and rotary servo motor 7 start working, supplying high-pressure air to high-pressure air pipe 11. Nozzle 12 gradually tilts downwards from its initial horizontal position, pausing for three seconds each time it is aimed at the target area to ensure that the accumulated abrasive material in that area is dispersed by the high-pressure air. After all the recorded abrasive material locations have been cleaned, the detection module 100 is activated again to check the cleaning effect. The value Z detected by infrared sensor 2 is compared with the standard value D. If Z is less than D, the cleaning of the detected accumulation locations continues. If Z equals D, the cleaning is complete, stepper motor 4 and rotary servo motor 7 return to their original positions, and air supply to high-pressure air pipe 11 is stopped. This cycle repeats to ensure that there is no abrasive material accumulation in the processing chamber of the enhanced grinding equipment.

[0038] Method Implementation Examples

[0039] According to an embodiment of the present invention, a method for cleaning the processing chamber of a strengthening grinding equipment is provided. Figure 5 This is a flowchart of a method for cleaning the processing chamber of a strengthening grinding equipment according to an embodiment of the present invention, such as... Figure 5 As shown, the method for cleaning the processing chamber of a strengthening grinding equipment according to an embodiment of the present invention specifically includes:

[0040] In step S510, the detection module checks for abrasive buildup around the perimeter and corners of the processing chamber and obtains the detection results. Specifically, this includes:

[0041] By detecting the rotation angle of the servo motor and combining it with the side length of the housing, it is deduced that: when there is no accumulated abrasive material, the standard value D detected by the infrared sensor should be L0 / cosθ0, where θ0 is the detected rotation angle of the servo motor and L0 is the side length of one side of the housing inside the machining chamber. When the value Z detected by the infrared sensor is less than the standard value D, it is determined that there is accumulated abrasive material at that angle.

[0042] In step S520, the implementation module cleans the processing chamber of the enhanced grinding equipment based on the test results. Specifically, this includes:

[0043] When the infrared sensor detects the accumulation of abrasive material, it calculates the required tilt and horizontal angles of the nozzle, introduces high-pressure gas, adjusts the nozzle tilt angle by controlling the stepper motor, and adjusts the nozzle horizontal angle by controlling the rotary servo motor, until the detection module detects that there is no abrasive material accumulation. When the infrared sensor detects that there is no abrasive material accumulation, it stops introducing high-pressure gas, drives the stepper motor and rotary servo motor back to their initial positions, and stops working.

[0044] The cleaning of the grinding chamber of the enhanced grinding equipment, based on the detection results, is further implemented by the module, including adjusting the nozzle tilt angle using a stepper motor: the target rotation angle θ1 of the stepper motor is calculated using Formula 1, and the maximum rotation angle θ2 of the stepper motor is calculated using Formula 2.

[0045]

[0046]

[0047] Where l1 represents the distance between the front and rear fulcrums of the nozzle, S represents the pitch of the lead screw, H1 represents the initial vertical distance from the nozzle to the bottom of the machining chamber, L1 represents the initial horizontal distance from the nozzle to the corner of the machining chamber, Z is the value detected by the infrared sensor in the detection module, and θ0 is the rotation angle of the servo motor in the detection module; θ1 < θ2, that is, the angle that the stepper motor can rotate must be less than the maximum angle to prevent the nozzle from tilting too much.

[0048] The cleaning of the grinding chamber of the enhanced grinding equipment, based on the detection results, is further implemented by the module, including adjusting the horizontal angle of the nozzle by rotating a servo motor: the servo motor drives the rotating bracket to rotate, causing the nozzle to rotate horizontally, and the target rotation angle θ3 of the servo motor is calculated using formula 3.

[0049]

[0050] Where K1 represents the number of pulley teeth, K2 represents the number of slide teeth on the fixed frame, Z is the value detected by the infrared sensor in the detection module, and θ0 is the rotation angle of the servo motor in the detection module.

[0051] In summary, the above-mentioned technical solution of the present invention proposes a method for cleaning the processing chamber of a strengthening grinding equipment. By adjusting the tilt angle and horizontal angle of the nozzle by a stepper motor and a servo motor respectively, high-pressure gas is sprayed to clean the processing chamber of the strengthening grinding equipment, reducing the loss of abrasive material, optimizing the processing effect of strengthening grinding, and cleaning is only performed when abrasive material accumulation is detected, thereby improving the cleaning efficiency.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An apparatus for cleaning a processing chamber of a reinforced polishing apparatus, comprising: Specifically comprising: The detection module is installed at the top corner of the machining chamber, comprising: a steering wheel, an infrared sensor, and a fixed plate, which is used to be fixedly connected with the surface of the chamber through the fixed plate, and the infrared sensor is fixedly connected with the main shaft of the steering wheel and drives the infrared sensor to detect whether there is abrasive accumulation in the machining chamber; specifically used for: The standard value D detected by the infrared sensor when there is no accumulation of the abrasive is wherein, In order to detect the rotation angle of the steering engine, L0 is the length of one side of the box inside the machine box in the processing chamber. When the value Z detected by the infrared sensor is less than the standard value D, it is determined that there is accumulation of the abrasive. The implementation module is installed on the upper part of the machining chamber, comprising: a stepper motor, a fixed support, a fixed frame, a rotating steering wheel, a steering wheel support, a rotating support, a nozzle, an inclined support, a lead screw, and a sliding block, wherein the stepper motor is fixedly connected to the fixed support by screws, the fixed support is fixedly connected to the center above the machining chamber case by screws, the lead screw is fixedly connected to the main shaft opening of the stepper motor to the inside of the machining chamber case, the hollow part of the sliding block is threadedly connected with the lead screw, the lower end of the inclined support is fixedly connected to the periphery of the sliding block, the front end of the nozzle is connected with the upper end of the inclined support, the tail part of the nozzle is connected with a high-pressure gas pipe, the rotating support is fixedly connected with the rear end of the nozzle, the upper end of the rotating support is installed with a gear, the gear is embedded in the rack of the fixed frame, the rotating steering wheel is fixedly connected to the rotating support through the rotating steering wheel support, the output shaft of the steering wheel is connected with the gear to control the rotation of the gear, and the high-pressure gas jetted from the nozzle is used to clean the machining chamber of the strengthening grinding equipment according to the detection result of the detection module.

2. The apparatus of claim 1, wherein, The implementation module is specifically used for: When the infrared sensor detects that there is abrasive accumulation, the tilt angle and the horizontal angle that need to be adjusted by the nozzle are calculated, high-pressure gas is input, the tilt angle of the nozzle is adjusted by controlling the stepper motor, the horizontal angle of the nozzle is adjusted by controlling the rotating steering wheel, and the detection result of the detection module is that there is no abrasive accumulation. When the infrared sensor detects that there is no abrasive accumulation, the input of high-pressure gas is stopped, the stepper motor and the rotating steering wheel are driven back to the initial position, and the work is stopped.

3. The apparatus of claim 2, wherein, The stepper motor is further used for: Controlling the rotation of the lead screw, the lead screw drives the slider to move downward, the slider is connected to the inclined bracket so that the front end of the nozzle is inclined downward, and the target rotation angle of the stepper motor is calculated by formula 1 The maximum rotation angle of the stepper motor is calculated by formula 2 : Formula 1 ; Equation 2; wherein, l 1 represents the distance between the front and back ends of the nozzle, S 1 represents the pitch of the screw rod, H 1 represents the initial vertical distance from the nozzle to the bottom of the machining chamber, L 1 represents the initial horizontal distance from the nozzle to the corner of the machining chamber, and Z represents the value detected by the infrared sensor in the detection module, is the rotation angle of the steering wheel in the detection module; That is, the angle of rotation of the stepper motor is less than the maximum angle to prevent the nozzle from being too inclined.​ 4. The apparatus of claim 2, wherein, The rotating steering wheel is further used for: rotating the rotating support to rotate the nozzle horizontally, and calculating a target rotation angle of the rotating rudder by formula 3 : Formula 3: Wherein, K1 represents the number of gear teeth, K2 represents the number of rack teeth on the fixed frame, Z is the value detected by the infrared sensor in the detection module, is the rotation angle of the steering engine in the detection module.

5. A method for cleaning a processing chamber of a reinforced polishing apparatus, characterized in that, The method specifically comprises: The detection module is used to detect whether there is abrasive accumulation around and in the corners of the machining chamber, and a detection result is obtained; specifically comprising: Detecting the rotation angle of the steering engine and combining the side length of the box to infer that the standard value D detected by the infrared sensor should be wherein, To detect the rotation angle of the steering engine, L0 is a side length of a box in the processing chamber, and when the value Z detected by the infrared sensor is less than the standard value D, it is determined that there is accumulation of grinding material. The implementation module is used to clean the machining chamber of the strengthening grinding equipment according to the detection result.

6. The method of claim 5, wherein, The cleaning of the machining chamber of the strengthening grinding equipment according to the detection result by the implementation module specifically comprises: When the infrared sensor detects that there is abrasive accumulation, the tilt angle and the horizontal angle that need to be adjusted by the nozzle are calculated, high-pressure gas is input, the tilt angle of the nozzle is adjusted by controlling the stepper motor, the horizontal angle of the nozzle is adjusted by controlling the rotating steering wheel, and the detection result of the detection module is that there is no abrasive accumulation; when the infrared sensor detects that there is no abrasive accumulation, the input of high-pressure gas is stopped, the stepper motor and the rotating steering wheel are driven back to the initial position, and the work is stopped.

7. The method of claim 6, wherein, The through implementation module according to the detection result carries out the cleaning of the processing chamber of the strengthened grinding equipment, and further includes adjusting the inclination angle of the nozzle through the stepping motor: calculating a target rotation angle of the stepper motor by Equation 1 calculating a maximum rotation angle of the stepper motor by Equation 2 : Formula 1: Equation 2; wherein, l 1 represents the distance between the front and back ends of the nozzle, S 1 represents the pitch of the screw rod, H 1 represents the initial vertical distance from the nozzle to the bottom of the machining chamber, L 1 represents the initial horizontal distance from the nozzle to the corner of the machining chamber, and Z represents the value detected by the infrared sensor in the detection module, is the rotation angle of the steering wheel in the detection module; That is, the angle of rotation of the stepper motor is less than the maximum angle to prevent the nozzle from being too inclined.​ 8. The method of claim 6, wherein, The through implementation module according to the detection result carries out the cleaning of the processing chamber of the strengthened grinding equipment, and further includes adjusting the horizontal angle of the nozzle through the rotating rudder: The rotating bracket is rotated by the rotating rudder, the nozzle is horizontally rotated, and the target rotating angle of the rotating rudder is calculated by formula 3 : Formula 3: Wherein, K1 represents the number of gear teeth, K2 represents the number of rack teeth on the fixed frame, Z is the value detected by the infrared sensor in the detection module, is the rotation angle of the steering engine in the detection module.

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