111 results about "Robot machining" patented technology

The invention relates to the technical field of cooking robot processing, and discloses a polishing device for cooking robot processing, which comprises a base and a cooking pot main body, the cooking pot main body comprises a pot body and a connector, and the top of the base is provided with a polishing module for polishing the inner surface and the outer surface of the pot body. A station conversion module which is arranged on the top of the base and drives the polishing module to move horizontally and adjust stations is arranged below the polishing module, and an inner and outer polishing conversion module used for driving a pot body to turn over is arranged on one side of the station conversion module. Frequent tool replacement or manual adjustment of the orientation of the pot body is not needed, so that the process conversion time and the manual intervention cost are greatly reduced; and meanwhile, all the modules are in cooperative linkage through a preset program, and the whole process from pot body feeding positioning, horizontal rotating to inner and outer surface polishing is automatically controlled.

The invention relates to a self-adaptive flexible positioning and posture adjusting tool and method, and belongs to the technical field of tool jigs, and the self-adaptive flexible positioning and posture adjusting tool comprises a positioning and posture adjusting unit which is used for sequentially carrying out fitting positioning on the middle part and the end part of a workpiece or the end part and the middle part of the workpiece; and the adjusting unit is used for adjusting the heights of the positioning and posture adjusting unit and the workpieces on the positioning and posture adjusting unit. The positioning and posture adjusting unit comprises a suction cup assembly base, and a plurality of flexible suction cup assemblies are independently installed on the suction cup assembly base and used for positioning and posture adjusting of workpieces. The adjusting unit comprises a plurality of electric cylinders, and floating connectors are arranged between the electric cylinders and the positioning and posture adjusting unit and used for absorbing eccentric deflection angles between piston rods of the electric cylinders and the positioning and posture adjusting unit. High-precision and high-stability positioning and posture adjusting functions of the large-size curved surface workpiece can be achieved, numerical control machine tool or robot machining equipment is perfected, and the machining automation level of the numerical control machine tool or robot and the overall machining precision of the equipment are improved.

The invention belongs to the technical field of robot machining vibration suppression, and particularly relates to a two-way electromagnetic type variable-stiffness damper for suppressing robot machining vibration and a kinetic parameter optimization method of the two-way electromagnetic type variable-stiffness damper. The damper comprises an electromagnetic variable-rigidity elastic element and a connecting shaft, the electromagnetic variable-rigidity elastic element comprises a permanent magnet fixedly arranged on the connecting shaft in a sleeving mode and a solenoid coil arranged in the circumferential direction of the permanent magnet, and the solenoid coil is in sliding connection with the connecting shaft; when the solenoid coil is electrified, the generated magnetic field direction is the same as the magnetic field direction of the permanent magnet. The magnetic field intensity in the coil is changed by adjusting the input current in the coil, so that the rigidity of the damper is quickly adjusted in a large range; on the basis, a tool nose frequency response prediction model considering the influence of the additional damper is established, and according to a tool nose frequency response test result of the robot milling system under the multi-pose condition, fixed kinetic parameters of the damper are optimized.

The invention belongs to the technical field related to robot machining, and discloses a machining deformation prediction method and device for a large complex curved surface part, and the method comprises the steps: (1) extracting time domain features, frequency domain features and time-frequency domain features from a cutting force signal, a vibration signal and an acoustic emission signal collected in the machining process of the large complex curved surface part; (2) carrying out linear dimensionality reduction on the extracted features by adopting a PCA (Principal Component Analysis) algorithm; (3) inputting the features obtained by dimensionality reduction through the PCA algorithm into a double-layer LSTM neural network model, wherein the double-layer LSTM neural network model outputs a preliminary prediction value of processing deformation; and (4) inputting the features obtained through dimensionality reduction by the PCA algorithm into an XGBoost prediction model, outputting a prediction residual error by the XGBoost prediction model, and adding the initial prediction value of the machining deformation and the prediction residual error to obtain a machining deformation prediction value. According to the invention, adaptability and prediction accuracy are improved.

The invention discloses a digital twinning construction method and device for robot processing equipment, and the method comprises the following steps: building a three-dimensional digital model of the robot processing equipment under a Unity framework, and the three-dimensional digital model comprises virtual processing equipment and a virtual workpiece to be processed; a data layer server is established and used for collecting state information of actual machining equipment and actual to-be-machined workpieces; configuring an IP (Internet Protocol) and a port of the data layer server in the S21 in Unity for receiving state information acquired by the data layer server; the Unity obtains the state information of the actual processing equipment from the data layer server in real time through TCP communication, drives the virtual processing equipment to move synchronously, predicts the state of the workpiece to be processed based on an octree data structure, and achieves the real-time simulation of the processing process. The real-time mapping of the robot body is realized by utilizing digital modeling and a kinematic model; and through the support of a material removal algorithm and a data management platform, the dynamic monitoring of the workpiece machining process is realized.

A method for determining at least one operation to be performed by at least one robot for machining at least one component is provided. An electronic computing device determines product data which characterizes the at least one component. The electronic computing device determines system data which characterizes a system including the robot for performing the at least one operation. The electronic computing device generates a simulation model that simulates the system and the at least one component based on the product data and the system data. The electronic computing device performs a simulation by way of the simulation model, as a result of which the electronic computing device determines process data describing multiple step groups, each of the step groups comprising multiple sub-steps of the at least one operation which differ from one another.

The invention discloses a robot machining cutting device, and particularly relates to the technical field of robot machining, the robot machining cutting device comprises a shell, supporting legs are fixedly connected to the four corners of the lower end of the shell, two box doors are slidably connected to the inner surface of the shell, and a control box is fixedly mounted at the front end of the shell; a cutting mechanism is fixedly installed on the upper portion of the inner surface of the shell, and a lifting rotating assembly and a collecting assembly are arranged on the inner surface of the shell. According to the robot machining and cutting device, the lifting and rotating assembly is arranged, so that the tubular component is lifted upwards in the cutting process and moves in the direction opposite to the cutting direction, the tubular component can rotate in the reverse movement process, cutting force can be effectively dispersed, and the cutting efficiency is improved. Saw blade deviation, material vibration and uniformity of relative movement caused by single-side stress are avoided, stable output of the cutting speed is kept, constant contact pressure is kept between a cutting edge and the surface of the material, and the cutting precision and the finished product quality are improved.

The application discloses a compressor blade phosphate aluminum coating precision grinding and polishing path generation method and system based on point cloud data processing, which comprises the following steps: obtaining point cloud data of the coating surface of the compressor blade by using a three-dimensional scanning device, filtering and denoising the point cloud data, and pre-processing the data, and aligning the pre-processed point cloud data with a robot machining reference coordinate system; based on the local curvature of the point cloud, the point cloud model is divided into multiple layers of contour slices by using a curvature adaptive slicing algorithm, wherein the slicing interval is negatively correlated with the local curvature radius; the contour points of each layer of slices are B-spline fitted to generate a continuous grinding and polishing path curve; the robot executes the grinding and polishing path curve, and integrates a real-time thickness detection device; when the thickness measurement value deviates from a preset threshold value, closed-loop feedback control is performed, and the grinding and polishing path and / or grinding and polishing parameters are dynamically compensated. The application has the advantages of high machining precision, high efficiency, high consistency and the like.

The application discloses a hand-eye relationship and tool center calibration method for three-dimensional vision guided robot machining, and adopts a spherical ball as a calibration tool to realize calibration of a tool center. When calibration is performed, one ball is fixed in a camera field of view, and the other ball is installed at the end of a cylindrical simulation tool. The end posture of the robot is changed, the balls collide with each other for multiple times, and the ball center is fitted through acquisition of a spherical point cloud of the camera at the same time. Based on the robot posture parameters and the ball center distance parameters, the current tool tip, i.e. the ball center of the end of the cylindrical simulation tool, and the hand-eye matrix of the three-dimensional vision camera and the robot base coordinate system are calibrated at the same time. The method can avoid high calibration cost caused by easy wear of a needle tip in a traditional method, reduce tool tip calibration error caused by non-real alignment of the needle tip, and further efficiently calibrate a high-precision hand-eye relationship. In addition, considering the difference between the length of the cylindrical simulation tool and the length of the track test needle tip and the length of an actual machining tool, the tool axis calibration and tool center compensation method can be used to quickly calculate the current tool tip point.

The application discloses a biological implant robot machining posture planning and error compensation method based on a global stiffness model, belongs to the technical field of biological manufacturing and surgical robot auxiliary machining, and comprises the following steps: a biomechanical stiffness atlas covering the whole posture space of the implant is constructed by sparse modal sampling combined with an inverse distance weighting algorithm. The application effectively solves the problem that the cell responses are inconsistent due to the machining quality differences of different regions of the complex curved surface implant through the global surface biological activity consistency, and significantly improves the long-term success rate of implant surgery. The application is easy to deploy on the existing medical robot through hardware pollution. Through micron-level functional molding, the micron-level biological texture depth is accurately controlled, and the manufacturing level of the personalized implant is improved from simple geometric shape customization to a new height of surface biological function customization.

The utility model belongs to the technical field of large storage tank production and machining, and particularly relates to a positioning and clamping device for large storage tank robot machining. The problem that in the prior art, the requirements for accurate positioning and rotary displacement cannot be met when a robot machines a storage tank is solved. The device comprises a bottom frame, the two storage tank supporting frames slide in the front-back direction of the bottom frame, and each storage tank supporting frame is provided with two sets of rolling wheel assemblies, an adjusting assembly used for adjusting the distance between the two sets of rolling wheel assemblies and a locking assembly used for locking the storage tank supporting frames; a rotatable roller is arranged on each group of roller assembly; the clamping frame slides in the front-back direction of the bottom frame, a tail shaft assembly and a lifting assembly used for driving the tail shaft assembly to ascend and descend vertically are arranged on the clamping frame, and the tail shaft assembly comprises a positioning disc assembly rotationally arranged on the clamping frame and used for being connected with a storage tank support on the storage tank and a braking assembly used for braking the positioning disc assembly. According to the utility model, the positioning, clamping and rotary displacement of the storage tank can be realized.

The invention belongs to the technical field related to robot machining, and discloses an optimal design method and equipment for a three-dimensional complete continuous functional gradient lattice extension rod, and the method comprises the steps: constructing a mapping relation between geometric and physical properties of a lattice structure; by combining the continuous, smooth and locally controllable characteristics of the NURBS body, the completely continuous characterization and regulation of the property distribution of the functionally gradient lattice structure are carried out, the completely continuous smooth transition of the lattice structure in a three-dimensional space is realized, and compared with an incomplete continuous functionally gradient lattice structure, the preparation method has the advantages that the preparation cost is reduced; the completely continuous functional gradient lattice structure has higher structural strength and optimization potential; a high-order shear beam theory and an isogeometric analysis method are combined to construct a dynamic model of a three-dimensional complete continuous functional gradient lattice structure, and a theoretical basis is provided for subsequent robot system dynamic modeling of an additional lattice extension rod; on the basis of the method, distribution characterization-regulation and control design-performance analysis of the three-dimensional completely continuous functional gradient lattice structure can be realized.

The application provides a point cloud registration method, a gradual forming mirror surface compensation method and system, acquires two point cloud data to be registered; after extracting edge points of the point cloud by using a PCA method, edge planes of reference point cloud and registered point cloud are fitted by using the edge points; a rotation matrix between normal vectors of the two edge planes is calculated, so that the normal vector of the edge plane of the registered point cloud is aligned to the normal vector of the edge plane of the reference point cloud; the convex hull directions of the reference point cloud and the registered point cloud are aligned; fine alignment is performed, so that the Euclidean distance between the edge points of the two point clouds is minimized. Based on the mirror principle, robot machining error compensation is carried out, the point cloud of the actual machining surface is measured by using a scanner, the target surface is regarded as a mirror surface, and the actual machining surface is mirrored to the other side through the target surface, so that the compensation surface is obtained, and the geometric precision of the formed part is improved.

The utility model discloses a polishing device for intelligent robot machining, which comprises a mechanical arm, a rotary table, a base frame, a mounting sleeve and a polishing component, the bottom of the mechanical arm is fixedly mounted at the top of the rotary table, the bottom of the rotary table is fixedly mounted at the top of the base frame, and the mounting sleeve is fixedly mounted at the bottom of the base frame. And one end of the mounting sleeve is fixedly mounted at the execution end of the mechanical arm, and the polishing assembly is fixedly inserted into the other end of the mounting sleeve. One or more swing plates are controlled to swing downwards by controlling rotation of the swing motor, when one swing plate is arranged, the polishing brush is located on the same axis of the rotary table, and the polishing area of the polishing brush is small at the moment; the multiple swing plates swing downwards, the polishing brush surrounds the outer side of the axis of the rotary disc to form a ring shape, and the polishing area of the polishing brush is large at the moment; and the polishing area can be adjusted through the downward swinging angle of the swinging motor, so that different types of workpieces are dealt with, and the applicability is good.

The invention discloses a curved surface normal measurement method and system based on monocular vision and multiple laser planes. The method comprises the following steps: calibrating laser planes generated by a monocular camera and at least two laser plane projection units; collecting an image of a laser strip formed by the laser plane on the surface of the workpiece through a monocular camera; processing the image, and extracting a central pixel position of each laser strip to obtain a pixel point sequence; back-projecting the pixel point sequence into a three-dimensional ray in a camera coordinate system based on camera model parameters; and performing intersection operation on the three-dimensional rays and the equations of the corresponding laser planes to obtain a plurality of space intersection point sets, establishing a local curved surface model of the workpiece surface, calculating and outputting the normal direction of the workpiece surface according to the local curved surface model, and converting the normal direction into a reference coordinate system for unified representation. According to the method, the stability and universality of normal estimation are improved, the structure of a measurement system is simplified, and the adaptive capacity in the fields of robot machining, automatic detection and industrial measurement is improved.

The application provides a robot process debugging system and method based on three-dimensional visualization, and relates to the technical field of robot processing debugging, and comprises the following steps: a data processing module is used for acquiring saved workstation data and robot data in a robot workstation, and extracting robot trajectory point data and process parameters from the robot data; a three-dimensional display module is used for establishing a virtual workstation model containing a virtual robot model according to the workstation data and the robot data, and establishing a virtual processing trajectory of the virtual robot model according to the trajectory point data and the process parameters; and a debugging module is used for debugging process parameters to obtain process debugging parameters according to externally input debugging instructions, and the three-dimensional display module synchronously displays the adjustment of the virtual processing trajectory according to the process debugging parameters. The beneficial effect is to provide a three-dimensional visual interactive interface, reduce the operation complexity, improve the process debugging efficiency, improve the interactive experience, and make the process debugging more convenient.

The application discloses a kind of infinite die workpiece robot machining program automatic generation method in the field of intelligent manufacturing, comprising the following steps: step 1, obtain blank point cloud;Step 2, point cloud normal vector and Gaussian curvature calculation;Step 3, all point clouds are classified, generate construction point 1, obtain sub-region boundary line and sub-region clustering center point, then second clustering is carried out, and the boundary line clustering center point is obtained again;Step 4, generate construction point 3, generate surface construction key point using key point generation algorithm;Step 5, establish auxiliary plane point cloud, generate auxiliary plane based on sub-region clustering center point, boundary line clustering center point and surface construction key point;Step 6, generate initial path point, find the intersection of original point cloud and auxiliary plane point cloud, generate initial path point;Step 7, post-processing;Realize the generation of polishing and cleaning program not dependent on numerical model.

The application discloses a kind of sand belt abrasion prediction method and system of fusion acoustic signal and acoustic emission signal.Method includes: installing acoustic signal sensor and acoustic emission sensor and collecting corresponding signal, time domain analysis and frequency domain analysis are carried out to two kinds of signals, and the time domain characteristics and frequency domain characteristics of signal are respectively extracted;Using LSTM neural network fusion the time-frequency domain characteristics of the two kinds of signals, establish the nonlinear model of sand belt abrasion in the process of complex blade robot grinding;Using state estimation technique in probability statistics method, predict the probability of sand belt stable abrasion and severe abrasion occurring at next time;According to the abrasion probability, feedback adjustment and control the process parameters in grinding process, prevent tool excessive abrasion from causing blade to appear burn and other quality decline phenomenon.The abrasion state of sand belt in the process of processing is monitored in real time and accurately, timely feedback regulation, prevent complex blade from being damaged due to severe abrasion of sand belt in the process of robot processing.

The invention relates to the field of robot machining, and provides an autonomous machining method and system for an intelligent robot with a body, and the method comprises the steps: scanning the contour of a workpiece to form point cloud data, carrying out the noise filtering and geometric feature analysis of the point cloud data, and obtaining the contour of the workpiece; comparing the processed point cloud data with an input three-dimensional model, and generating a machining program by combining offline programming based on workpiece pose registration; and identifying the machining features of the workpiece model, applying the machining program, and calling the machining process library to generate a machining track. Through the method, the intelligent robot with the body can achieve autonomous machining and improve the machining precision and efficiency, noise points are effectively removed through a dual filtering mechanism in the point cloud data processing link, edge features are reserved, and the method can adapt to complex curved surfaces.

The invention provides a workpiece pose determination method and device based on a self-motion manifold and a storage medium, and the method comprises the steps: determining a discrete point pose array of a to-be-processed region, determining a placement space of a to-be-placed workpiece in a work space of a robot according to a kinematic model of the robot, and determining the placement space of the to-be-placed workpiece in the work space of the robot; and according to the placement space and the discrete point pose array, multiple optional placement poses of the to-be-placed workpiece and self-motion manifold information of the optional placement poses are determined, and according to the optional placement poses and the self-motion manifold information of the optional placement poses, a target placement pose of the to-be-placed workpiece is determined. According to the automatic workpiece placing device, automatic workpiece placing can be achieved, the workpiece placing efficiency is improved, and the operability and adaptability of the subsequent robot machining process are improved.

The invention relates to the technical field of wing manufacturing, and provides composite robot machining equipment which comprises an AGV trolley, a mechanical arm arranged on the AGV trolley, a main shaft arranged at the tail end of the mechanical arm, an abutting assembly connected with the main shaft and a machining tool. The machining tool can move relative to the abutting assembly in the axis direction of the machining tool. It can be understood that the continuous abutting of the abutting assembly can provide stable supporting force for the machining tool, so that vibration or deviation force generated in the machining process can be counteracted, that is, the tight contact of the abutting assembly and the machining face forms a temporary fixed fulcrum, and the shaking space of the machining tool is limited to a certain extent. Therefore, the machining tool can run along the preset track all the time, track deviation caused by external force interference is avoided, and finally the stability and machining precision of machining operation are guaranteed. In this way, the punching effect is guaranteed, and the practicability of the equipment is better.

The utility model relates to a floor sweeping robot injection mould processing technical field especially, a kind of floor sweeping robot processing injection mould, including lower fixed plate and upper fixed plate, the upper end of lower fixed plate is equipped with two die feet, the upper end of die foot is provided with lower mould, the lower end of upper fixed plate is connected with upper mould, the end corresponding to the upper mould and lower mould is embedded, the middle part of lower mould is provided with die groove, the lower end of lower mould is equidistantly provided with bottom groove, the inner chamber top of bottom groove is provided with top groove, the inner chamber of bottom groove is provided with stripping mechanism, the top of stripping mechanism is penetrated top groove and is inserted with die groove, compared with prior art, the structure design of the utility model is reasonable, and effectively improve the effect of stripping, avoid the traditional needle ejecting product to cause because needle and product's contact area is small and lead to damage to product when ejecting.

According to the industrial robot dragging programming machining system and method for the large complex components, robot machining path programming is conducted in a man-machine cooperation flexible dragging and normal automatic alignment mode, and a robot machining track suitable for the assembly state between the complex components is obtained; and meanwhile, a visual servo mode is adopted to conduct tracking compensation on the pose of the robot, the pose of the robot in the machining process is monitored and adjusted in real time, and machining error accumulation caused by robot track errors is effectively avoided. The problem that an accurate machining track is difficult to generate due to assembly deformation of the large complex component is solved, and the machining precision and quality of the large complex component are powerfully guaranteed. The operation method of the system has high usability and flexibility, and can quickly adapt to the high-precision and diversified requirements of machining tracks of different complex components.

The application discloses a kind of robot machining process pollutant distribution prediction methods, collect the small particle dust mass concentration of each collection point at different machining conditions of robot in each tool position, chip mass and chip quantity change with processing time, the short-term memory network model constructed at each collection point is trained;In actual processing, the small particle dust mass concentration of current time, chip mass and chip quantity are predicted based on the original data set data of each collection point and short-term memory network model;With the change of tool center coordinates and processing time, the small particle dust mass concentration of current time, chip mass and chip quantity predicted at each collection point are respectively superimposed with the small particle dust mass concentration, chip mass and chip quantity obtained at each time before current time, so that the application can predict the pollutant distribution at each collection point corresponding to robot machining trajectory.

The utility model discloses an automatic production line, which is used for automatically processing parts, comprises a control system, and is characterized in that the automatic production line comprises a lathe and a processing center, the first conveying line is used for conveying parts; the material receiving sliding table is arranged on the edge of the lathe and used for conveying the parts machined by the lathe; the truss robot is used for grabbing the parts from the first conveying line and sequentially conveying the parts to the lathe and the material receiving sliding table; the feeding device comprises a first conveying line, an overturning device, a feeding sliding table, an air blowing device and a second conveying line. The six-axis robot is used for conveying the parts on the feeding sliding table to the machining center, the air blowing device and the second conveying line in sequence. The lathe, the material receiving sliding table, the turnover device, the feeding sliding table, the six-axis robot, the machining center, the air blowing device, the second conveying line and the truss robot are all electrically connected with the control system. The utility model has the advantages of few processing procedures, low labor cost and high production efficiency.

The invention provides a track extraction method and device, a readable storage medium and a robot control system. The track extraction method comprises the following steps: controlling a first camera to shoot a first image; drawing a first track based on the first image, wherein the first track comprises M first track points; performing pixel coordinate extraction on the drawn first image to obtain M first pixel coordinates corresponding to the M first track points; determining M first physical coordinates corresponding to the M first pixel coordinates according to a coordinate system conversion relation between a first coordinate system of the first camera and a second coordinate system of the robot; and based on the M first physical coordinates, determining a first moving track when the robot machines the to-be-machined surface. In the process, it can be ensured that the extracted trajectory is not distorted, and the physical coordinate system of the trajectory points and the coordinate system of real production equipment are unified, and meanwhile the trajectory extraction cost is reduced.

This invention belongs to the technical field of robot machining accuracy control. It discloses a robot machining error control method and device for machining large-size components. The steps are as follows: (1) After decomposing the machining system, calculate the pose error of each part to obtain the mapping relationship between force and deformation error, and construct an augmented stiffness model of the machining system based on the mapping relationship; (2) Embed the augmented stiffness model into the Transformer time series prediction module of the multi-head self-attention mechanism to obtain the error look-ahead prediction model; (3) Input the state vector corresponding to the machining system to be controlled into the error look-ahead prediction model to obtain the predicted value of the deformation error of the machining system. Based on the PPO reinforcement learning strategy, the predicted value of the deformation error is allocated to the redundant end effector and the robot body to perform collaborative control of the machining system. This invention improves the control accuracy.

The application discloses a kind of robot machining code acquisition methods based on nine coordinate information: through Solidworks framework processing model, obtains processing entity;Processing model is imported to UG NX, generates machining track by selecting processing entity, obtains CLS file;Python obtains nine coordinate information in it according to the input CLS file, and calls matlab engine and makes GUI;Matlab utilizes nine coordinate information, carries out B spline fitting fairing processing, obtains robot six-axis data by ABB industrial robot kinematics inverse solution, and outputs rapid instruction;Robotstudio imports rapid instruction and carries out simulation, and observes machining track.The application carries out simulation verification in offline programming, observes machining track by Robotstudio, ensures that collision or error does not occur when executing in real robot, improves safety and stability.

The application discloses a kind of composite material processing cutter wear monitoring methods based on MC-SBULSTM algorithm, comprising: S1, the working data of end effector in the machining process in robot machining system is collected;S2, detection input and detection target are formed initial sample data set;S3, initial sample data set is labeled with evaluation index, and sample data set is formed;S4, the prediction network is trained using sample data set, to obtain cutter wear monitoring model for predicting tool wear in machining process;S5, the working data in robot machining system is input to cutter wear monitoring model, to obtain the wear value of cutter in current robot machining system.The application also provides a kind of composite material processing cutter wear monitoring system.The method provided by the application can solve the problem of tool state monitoring of movable airfoil drilling equipment in wing assembly field in industrial production, which needs manual shutdown, and the monitoring effect is too dependent on manual experience and affects drilling.

This application belongs to the field of robot machining and error compensation, and more specifically, relates to a method and system for path error compensation in robot milling. This application achieves data augmentation of historical path sequences through K-means clustering, sliding window generation of subsequences, and sequence discreteness filtering operations. This results in a large number of training path sequences that retain the physical laws of path errors, thereby improving the path prediction accuracy of the path error prediction model. A spatial feature extraction layer composed of multiple two-dimensional convolutional networks with dynamically adjustable kernel sizes accurately extracts the path spatial features of the current path sequence. The path error prediction model accurately obtains the initial positioning error of each current path point in the current path sequence, which, combined with an iterative compensation strategy, corrects the pose parameters of each current path point, achieving high-precision error compensation for the robot's current path.