154 results about "Wheel sizing" patented technology

The invention provides a wheel tread derailment detection method and system for a railway vehicle. According to the method, jacking driving devices with jacking rotating wheels are symmetrically arranged on the two longitudinal sides of a track, a pressure sensing unit is arranged between the two jacking rotating wheels, optical detection units with orthogonal optical paths are installed on the outer sides, and displacement measurement units are integrated on the jacking rotating wheels, so that a three-dimensional detection network is formed. During detection, a top rotating wheel lifts a wheel step by step, a blocking signal, tread pressure and a vertical displacement parameter are synchronously collected, and a space mapping relation between a pressure decreasing path and a displacement abnormal point is established; converting the blocking signal into a blocking release rate, and calculating a displacement accumulated value in combination with a space mapping relation; and when the displacement accumulated value is continuously increased and the blocking release rate exceeds a threshold value, wheel-rail separation is judged, and jacking is controlled to be stopped. Through cooperative detection and analysis of multiple sensors, accurate judgment and self-adaptive jacking control of the wheel-rail separation state are achieved, and the problem of wheel diameter adaptability of a traditional fixed jacking mode is effectively solved.

The invention discloses a device and a method for detecting the size and out-of-roundness of a train wheel set. The device comprises a vision measurement module, a data processing module and a data processing module, wherein the vision measurement module is used for measuring geometric dimension parameters of the train wheel set; the wheel out-of-roundness measurement module is used for measuring the out-of-roundness of the train wheels; the out-of-roundness data acquisition module is used for acquiring measurement data; the image imaging module I is used for detecting the rotation angle of the measured wheel at the wheel set geometric dimension measurement position; the image imaging module II is used for detecting the rotation angle of the detected wheel at the wheel out-of-roundness measurement position; the wheel detection module is used for detecting the arrival of wheels; an electrical control module; and a data processing module. The wheel set size detection system and the wheel out-of-roundness measurement system are fused, the wheel out-of-roundness measurement data of the wheel out-of-roundness measurement system are corrected by using the high-precision wheel diameter data of the wheel set size detection system, the measurement precision and robustness of the wheel out-of-roundness measurement system can be effectively improved, the operation steps are simple, the cost is low, and the method is suitable for popularization and application. The maintenance is easy.

A self-sensing self-adaptive deformable wheel tensioned and integrally supported by a paper folding configuration shape memory alloy wire belongs to the technical field of mechanical engineering and robots and is composed of a paper folding deformable module, a self-sensing module and a driving module, and the modules cooperate to realize the functions of wheel diameter dynamic adjustment, load self-sensing, terrain self-adaptive deformation and rigid-flexible coupling adjustment. The paper folding deformable module is designed based on an improved water bomb inlaid paper folding pattern, and an overlapping face, a small flexible piece and an additional face are additionally arranged to improve deformation flexibility. The self-sensing module comprises a tensegrity structure, continuous rigidity switching is achieved through pre-tightening force adjustment, and the load is monitored in real time through the strain-resistance effect of a shape memory alloy wire; and the driving module is directly driven by a radial electric push rod to realize wheel diameter change to adapt to terrains. By means of the structure-sensing-driving integrated design, the intelligent self-adaptive robot has the advantages of being light in weight, high in bearing capacity and intelligent and self-adaptive, and is suitable for complex terrain moving platforms such as deep space probe vehicles and disaster relief robots.

A shower door assembly is provided with a track with a cavity formed therein, and an opening for access to the cavity. A lateral portion extends from the track and into the cavity. A shower door pane is provided with a pair of wheels mounted for rotation upon the shower door pane, each of the pair of wheels sized to be received in the track for translation along the track, wherein an upright clearance of each of the pair of wheels within the cavity is limited by the lateral portion to prevent removal of the pair of wheels from the track while in an upright orientation, and to permit the pair of wheels to be removed in an angled orientation.

According to the method for automatically passing through the complex structure area of the track and the frame structure, the geometric condition of passing through the discontinuous area of rail pieces in the harmful space of a frog is met by limiting the displacement-wheel diameter combination relation of elastic wheels. The device has the characteristics of simple structure and automation. The invention further provides a double-elastic limiting device walking vehicle frame with spans in the front and the back, an effective working limiting device can be always guaranteed in a steel rail discontinuous area in a harmful space of a frog, and the posture of equipment is kept.

The invention provides a flexible variable shrinkage tool body intelligent robot based on space folding and an advancing method, and belongs to the technical field of intelligent robots. The robot comprises a vehicle body, antenna sensors, a controller, a driving motor, a balance mechanism and at least one pair of variable and retractable wheels, the variable and retractable wheels are arranged on the two sides of the vehicle body respectively, the driving motor is in transmission connection with the variable and retractable wheels, and the antenna sensors are led out to be arranged on the front portion of the vehicle body and symmetrically arranged relative to the center line of the vehicle body. The antenna sensor is connected with the controller, a steering engine connected with the controller is arranged on the variable and retractable wheel, and the controller is configured to detect front obstacles based on the antenna sensor, control the driving motor to drive the variable and retractable wheel to advance and control the steering engine to drive the variable and retractable wheel to stretch out and draw back the wheel diameter. The self posture can be flexibly adjusted by sensing the environment in the advancing direction, and the passing success rate and stability are improved.

The invention provides an equivalent taper correction calculation method and system based on wheel rail profile data, and relates to the technical field of motor train unit application and maintenance, and the method comprises the steps: collecting profile coordinate data of wheels, wheel diameters and distance measurement in wheel pairs through machine tool measurement equipment, and obtaining standard rail profile coordinate data and a rail gauge according to the type of a steel rail; carrying out secondary interpolation and smoothing processing on the wheel rail profile coordinates by adopting a spline function to generate wheel rail profile data; the equivalent taper is calculated through a nonlinear differential equation integral algorithm, and a relation curve of the equivalent taper and the transverse movement amount is finally solved; interpolation processing is conducted on the relation curve of the equivalent taper and the transverse movement amount, final correction is conducted on the nominal equivalent taper through an origin symmetry correction algorithm, and a corrected equivalent taper value is obtained. The method has the beneficial effects that the measurement precision of the equivalent taper is improved, the wheel turning repair strategy is optimized, the operation safety and stability of the motor train unit are guaranteed, and the maintenance cost is reduced.

The invention discloses a wheel diameter adjustable trolley with sensing-deformation composite spokes and a control method. Each wheel of the trolley is composed of a wheel axle and a plurality of wheel spokes distributed in a circumferential array mode, and the wheel spokes are of a three-layer composite structure: a driving layer composed of a liquid crystal elastomer is responsible for generating deformation under thermal stimulation; the rigidity-variable layer formed by a rigidity-adjustable polymer realizes hardening locking through ultraviolet irradiation, and realizes reversible adjustment of rigidity through heating; the sensing layer is formed by a multi-walled carbon nanotube grid, can be integrally formed with the driving layer and is used for monitoring the wheel diameter change in real time; according to the control method, the trolley can be switched between the high obstacle crossing ability of the large wheel form and the high load stability of the small wheel form. According to the method, the motion performance under the complex terrain is remarkably improved, and the method has wide application prospects in the field of adaptive mobile robots.

This invention relates to the field of clean energy power generation technology, and proposes a three-source coupled synergistic power generation device based on hydropower, gravity, and kinetic energy. The device includes a water storage tank, a wheel, an upper water tank, an upper water baffle, a closed-loop water tank pump system, a main shaft, counterweight grooves, counterweight blocks, high-pressure spherical bearings, buffer springs, and a dual-start transmission power generation assembly. The wheel diameter is unlimited and can be arbitrarily enlarged according to actual power demand. The wheel size is directly proportional to the output torque and power generation. The upper water tank is circularly arranged on the wheel. The closed-loop water tank pump system is installed on the upper side of the water storage tank. Multiple counterweight grooves are arranged in a circular array on both sides of the top water tank of the wheel. Multiple high-pressure spherical bearings are respectively installed at the bottom of each counterweight block. Multiple buffer springs are symmetrically installed on the upper and lower sides of each counterweight groove. This technical solution solves the problems of limited power output, single starting method, low energy conversion efficiency, and inability to operate with zero carbon emissions in traditional power generation equipment.

The application discloses a kind of track wheel wheel diameter hot state detection device, specifically relates to track wheel detection technical field, including mounting seat, further include supporting device, clamping assembly and adjusting assembly.The present application is set by adjusting assembly, on the one hand, it can keep the same clamping force to track wheel when the diameter of wheel changes and can further push the clamping block to clamp the track wheel when the diameter of wheel is reduced due to cooling, compensate the change of wheel diameter, improve the stability and detection accuracy of device, on the other hand, after scanning is completed, the gas in the telescopic cylinder in compression state pushes the clamping block to further slide on the support frame, and the oxide skin and impurities on the track wheel on the support frame are scraped off, so that the oxide skin and impurities are avoided to accumulate, so that the supporting environment of track wheel remains clean and consistent, the variable introduced by impurity accumulation is eliminated, and the reliability and accuracy of detection are improved.

The invention relates to a whole vehicle six-component test method, which comprises the following steps: determining an adaptive six-component sensor configuration unit according to the wheel size of a test vehicle; installing the six-component sensor configuration unit on the test vehicle, and connecting the six-component sensor configuration unit with the test equipment; generating a wheel channel oscillogram based on preset wheel six-component parameters; under the test working condition, generating a wheel fault oscillogram based on the six-component data and the wheel channel oscillogram collected by the test equipment; judging whether the wheel fault oscillogram is normal or not; if yes, ending the test and storing six-component test data; otherwise, checking abnormal reasons. The corresponding six-component sensor configuration unit is determined according to the wheel size requirement of the test vehicle, the wheel fault oscillogram is generated, traditional troubleshooting depending on experience is converted into accurate diagnosis driven by data, data deviation caused by manual operation errors and equipment differences is reduced, and the accuracy of six-component measurement is improved.

The utility model relates to the technical field of wheel machining, and discloses a shot blasting machine lifting frame for wheel machining, which comprises a lifting frame connecting rod, a hook is arranged at the top of the lifting frame connecting rod, a plurality of supporting plates are arranged below the lifting frame connecting rod, a sliding chute is formed in the top of each supporting plate, a limiting column is arranged in each sliding chute in a sliding manner, and a plurality of limiting holes are formed in the limiting columns. An adjusting column is arranged at the bottom of the lifting frame connecting rod, and a driving assembly is arranged in the adjusting column. The driving assembly comprises a driving conical tooth, the driving conical tooth is rotationally arranged in the adjusting column, a lead screw is rotationally arranged in each supporting plate, one side of each lead screw extends into the adjusting column and is connected with a driven conical tooth, the driven conical tooth is meshed with the driving conical tooth, and the bottom of the limiting column is connected with a rod sleeve. And each rod sleeve is in threaded connection with the screw rod. The wheel lifting device is convenient to operate, the distance between the limiting columns on the supporting plate can be adjusted according to different sizes of wheels, the wheels of different sizes can be lifted, and practicability is high.

The invention discloses a portable detection device for a micrometer device of a wheel diameter measuring tool and a detection method of the portable detection device. The portable detection device comprises a portable positioning mechanism, a two-dimensional adjusting mechanism located on the portable positioning mechanism, a gauge micrometer device and a centering auxiliary device. The portable positioning mechanism comprises a positioning base and a fixing piece located on the positioning base. The positioning base is provided with a gauge clamping groove for placing a wheel diameter ruler reading end main ruler, and the wheel diameter ruler reading end main ruler is fixed on the positioning base through a fixing piece; the two-dimensional adjusting mechanism is arranged on the positioning base, the gauge micrometer device is arranged on the two-dimensional adjusting mechanism, the two-dimensional adjusting mechanism is used for adjusting the position of the gauge micrometer device, and the centering auxiliary device is used for ensuring that the axis of the gauge micrometer device is aligned with the axis of a detected micrometer device. The device can solve the problems that in the prior art, dismounting detection is needed, precision is insufficient, and portability is poor, and is suitable for rapid traceability of the railway field wheel diameter measuring tool.

The invention discloses a grinding and polishing tool system capable of adjusting the size of a contact wheel along with the shape and a control method thereof, and belongs to the technical field of grinding and polishing. The grinding and polishing tool system comprises a grinding head mechanism, and the grinding head mechanism comprises an abrasive belt grinding and polishing assembly, a similar contact wheel assembly and a tensioning assembly; an abrasive belt of the abrasive belt grinding and polishing assembly bypasses the tensioning assembly and is connected with the similar contact wheel assembly; the similar contact wheel assembly comprises a rubber roll radius adjusting mechanism, a rubber belt position adjusting mechanism, a bearing belt tightness adjusting mechanism, a rubber belt and a bearing belt. A rubber belt is wound on the rotating part of the rubber roll radius adjusting mechanism to form a rubber roll, and the free end of the rubber roll is fixed on the rotating part of the rubber belt position adjusting mechanism; the bearing belt is connected end to end to form a rotary structure, and is in rolling connection with a rotating part of the rubber belt position adjusting mechanism and the rubber roll at the same time; the rubber roll radius adjusting mechanism is installed on the moving part of the bearing belt tightness adjusting mechanism, and the rubber roll radius is adjusted through the rubber roll radius adjusting mechanism.

The invention provides a whole vehicle wheel diameter correction system and method of a rail train, which is applied to the technical field of rail transit, and comprises a first speed measurement unit, a second speed measurement unit, a third speed measurement unit, a fourth speed measurement unit, a fourth speed measurement unit and a fifth speed measurement unit, and the first speed measurement unit is arranged on a head train and used for correcting the wheel diameter based on the distance between two wheel diameter correction transponders and the trigger time difference between the two wheel diameter correction transponders; the corrected wheel diameter of each shaft of the head car is determined; the second speed measuring unit is arranged on the middle vehicle and is used for determining the corrected wheel diameter of each non-reference shaft of the middle vehicle based on the pulse data of each shaft of the middle vehicle and the preset reference shaft wheel diameter; the corrected wheel diameter of each non-reference shaft of the middle vehicle is sent to the central control unit; and the central control unit is used for visually displaying the corrected wheel diameter of each shaft of the head vehicle and the corrected wheel diameter of each non-reference shaft of the middle vehicle on a human-computer interaction interface. The control precision of railway vehicle wheel diameter correction can be improved, and manual intervention is reduced.

The utility model discloses a double-riding-wheel overhead man-carrying hanging bracket with a rope catching wheel, and belongs to the technical field of moving tools under mines. The device comprises a vertical column arranged in the vertical direction; a top plate is mounted at the top of the upright post; a cross beam crossed with the upright post is mounted in the middle of the upright post; cantilever-shaped positioning rods are arranged on the left end side and the right end side of the cross beam; a pair of positioning plates arranged in the longitudinal direction is arranged on the positioning rod, and a rope catching roller is further rotationally installed at the extending end of the positioning rod. Two main rollers are rotatably arranged between the positioning plates; the wheel diameter of the rope catching roller is smaller than that of the main roller; the rope catching roller is located between the two main rollers. A protective vertical plate is also arranged on the positioning plate; the outer end side of the rope catching roller is opposite to the protective vertical plate; according to the utility model, the problems that the riding wheel on the currently used overhead man-carrying hanging bracket has certain potential safety hazard and the hanging wheel is easy to slip off from the steel wire rope are effectively solved.

According to the LKJ wheel diameter modification system and method, through the maintenance wheel diameter card control software, the LKJ format record processing software, the wheel diameter modification card control software, the wheel diameter modification operation terminal, the wheel diameter modification adapter and the LKJ host and by matching with the specific method and process, automatic issuing of a wheel diameter modification notice is achieved, a manual modification mode is changed into a mechanical control modification mode, and the modification efficiency is improved. According to the LKJ wheel diameter modification method and system, the LKJ wheel diameter modification operation is carried out, the problems of missed modification and wrong modification encountered in the LKJ wheel diameter modification operation carried out by electric service operators are prevented, standardization and process closed-loop control of the LKJ wheel diameter modification operation process are achieved, the wheel diameter modification working efficiency is improved, and the wheel diameter modification error rate is reduced.

The invention relates to a heavy-load locomotive wheel remaining service life prediction method based on an abrasion rule, and relates to the technical field of heavy-load locomotive operation and maintenance, and the method comprises the steps: collecting wheel basic data, turning repair data, operation data and line data; analyzing the linear correlation between the continuous variable and the abrasion loss by adopting a Pearson's correlation coefficient, carrying out hypothesis testing, and outputting a significance degree factor influencing the wheel abrasion; the wheel diameter average ten thousand kilometer abrasion loss and the wheel flange average ten thousand kilometer abrasion loss corresponding to all the working conditions are obtained; in each iteration, according to the current wheel state and the working condition, calling the average ten thousand kilometer abrasion loss of the wheel diameter and the average ten thousand kilometer abrasion loss of the wheel flange corresponding to each working condition; and training the random forest model by taking the running mileage, the abrasion loss and the line condition as input characteristics, and outputting a corrected accumulated running mileage prediction result. Scientific basis is provided for operation and maintenance management of heavy-duty locomotive wheels, and safety and economical efficiency of heavy-duty railway transportation are improved.

The application relates to the technical field of robot motion control, and discloses a high-precision control method and system for robot motion and a storage medium. The method comprises the following steps: after receiving an original instruction, performing encoder calibration processing based on the angle position information recorded by an encoder and the target position deviation, generating a basic control signal quantity of the rotation angle of a motor, converting a distance to be walked into a control signal quantity of the rotation angle of left and right wheels through calibrated wheel diameter parameters and wheelbase parameters, and outputting a driving control signal for controlling the rotation of the left and right wheels after superimposing an error compensation control quantity generated through a filtering algorithm. The application improves the motion control precision and self-adaptability of a robot in a dynamic environment.

The invention provides a rail transit vehicle wheel diameter calculation method and system, a terminal and a medium, and relates to the technical field of rail vehicle operation safety monitoring, and the method comprises the steps: obtaining sample data obtained through rotating speed tracking sampling; calculating a first-order theoretical shaft solidification characteristic spectrum number according to the sample data and the bearing parameters; according to the sample data and the first-order theoretical axis solidification characteristic spectrum number, fault spectral line searching is carried out to obtain an actual fault spectral line meeting a preset condition; according to a first-order fault spectral line searched in the actual fault spectral line, determining a first fault spectral number; according to the first fault spectrum number, carrying out spectrum refinement analysis to obtain a second fault spectrum number; and the wheel diameter of the rotating speed wheel is obtained, and the wheel diameter of the non-rotating-speed wheel is calculated according to the wheel diameter of the rotating speed wheel, the first-order theoretical shaft solidification characteristic spectrum number and the second fault spectrum number. According to the method, automatic correction of each wheel diameter of the wheel can be realized, and meanwhile, the accuracy of non-rotating-speed wheel diameter calculation is improved.

The utility model discloses a cart with a replaceable large wheel assembly, which comprises a cart body, a first wheel assembly, a second wheel assembly and a dismounting structure, the dismounting structure is arranged on the cart body, the first wheel assembly and the second wheel assembly, the wheel diameter of the first wheel assembly is larger than that of the second wheel assembly, and the dismounting structure is arranged on the cart body. The first wheel assembly can be detachably installed on the vehicle body through the disassembly and assembly structure, the second wheel assembly can be detachably installed on the vehicle body through the disassembly and assembly structure, and when one of the first wheel assembly and the second wheel assembly is installed on the vehicle body, the other is not installed on the vehicle body. The first wheel assembly and the second wheel assembly can be replaced on the cart body, the first wheel assembly is large in wheel diameter, good in passing performance and more stable, the second wheel assembly is small in wheel diameter and more flexible in walking, a user can replace the cart according to needs, the cart is suitable for more scenes, different carts do not need to be purchased, and the use cost is low.

A wheel fitment tool is disclosed. The wheel fitment tool includes a hub plate, a wheel diameter measurement portion adjustably coupled to the hub plate using a hub standoff, a wheel width measurement portion adjustably coupled to the wheel diameter measurement portion, and a wheel offset measurement portion adjustably coupled to the wheel width measurement portion. In operation, a user may set the wheel diameter measurement portion, wheel width measurement portion, and wheel offset measurement portion to desired settings and attach the wheel fitment tool to a wheel hub, enabling a user to determine if certain wheel sizes are usable on a desired vehicle.

The invention provides a multi-steering-wheel robot motion chassis rudder angle compensation calibration method and system, and the method comprises the steps: controlling a chassis to sequentially execute calibration actions in a segmented manner, and collecting the wheel rotating speed, the rudder angle and the chassis positioning pose of each steering wheel i at the n moment of each stage; according to the installation position and the wheel diameter of each steering wheel, calculating the relative pose change of the chassis at the moment before and after the calibration action of each stage is executed so as to determine a corresponding rudder angle compensation value; compensating the rudder angles of the steering wheels, sequentially executing the calibration actions in sections again, and respectively calculating the position offset between the front calibration action and the rear calibration action so as to determine the compensation value of the rudder angles of all the steering wheels of the rear calibration action; and compensating the lower rudder angle of each steering wheel when the chassis moves according to a constructed steering wheel difference compensator. Therefore, the applicability of the multi-steering-wheel mobile robot in a complex high-precision scene is improved.

The invention discloses a railway vehicle wheel remaining life evaluation method based on mathematical statistics, and relates to the technical field of railway vehicles, and the method comprises the steps: reserving wheel diameter value data meeting the maintenance requirements of a target wheel; extracting a key quantile and an abnormal value range by adopting a box plot, and identifying a local abnormal value in combination with a local density inspection algorithm; judging whether the wheel diameter value data under each operation mileage obeys normal distribution or not, and obtaining a mean value, a standard deviation and a triple standard deviation interval of the wheel diameter value data under each operation mileage; representing the trend that the lower limit value of the triple standard deviation interval of the wheel diameter value data changes along with the mileage; and evaluating the residual life and the wheel proportion meeting the life cycle requirement by combining the threshold value of the wheel diameter value data. According to the method, the three-time standard deviation interval of the wheel diameter value is constructed through statistical analysis and normality test of the actually measured data, and the linear function is fitted to predict the wheel diameter change trend, so that accurate evaluation of the remaining life of the wheel is realized.

The logistics transport vehicle comprises a cargo box body and a vehicle frame box, a first variable-diameter wheel is arranged on the outer side of the vehicle frame box, a second variable-diameter wheel is arranged on the outer side of the vehicle frame box, a third variable-diameter wheel is arranged on the outer side of the vehicle frame box, and a fourth variable-diameter wheel is arranged on the outer side of the vehicle frame box. The first variable-diameter wheel and the second variable-diameter wheel are rotationally connected to the two sides of the front end of the frame box respectively. The first to fourth variable-diameter wheels are arranged, and each variable-diameter wheel adopts a single-drive variable-diameter mechanism formed by matching a shear fork rod group with a middle rod group, so that the diameter of the wheel can be changed in real time, the wheel diameter can be increased to increase the obstacle crossing height when the vehicle encounters a higher obstacle, and the wheel diameter can be reduced to reduce the height of the whole vehicle when the vehicle needs to pass through a narrow space; and the trafficability and maneuverability of the logistics transport vehicle in complicated terrains such as warehouse thresholds, stairs and uneven road surfaces are obviously enhanced.

The present invention provides a method and device for correcting the wheel diameter of a train, the method comprising: obtaining a first moment and a second moment corresponding to when a first wheel group of a train passes through a first transponder and a second transponder respectively, the first wheel group being electrically connected to a first sensor; obtaining a third moment of the second wheel group based on the first moment and a time error, and obtaining a fourth moment of the second wheel group based on the second moment and a time error, the time error being the time difference between a first ATP system corresponding to the first wheel group and a second ATP system corresponding to the second wheel group, the second wheel group being electrically connected to a second sensor; determining the wheel diameter of the second wheel group based on the third moment and the fourth moment; the method of the present invention can realize the correction of wheel diameter values ​​at different positions of the train, thereby improving the correction accuracy of the train wheel diameter values.

A method and frame structure for automatically traversing complex track structures. By limiting the displacement-wheel diameter relationship of elastic wheels, the geometric conditions for traversing rail discontinuities in the hazardous frog space are met. This method features a simple structure and automated operation. A traveling frame with dual elastic limiters with front and rear spans is also provided, ensuring that a limiter is always in effect within the hazardous frog space rail discontinuities, maintaining the equipment's posture.

The invention discloses a method and device for predicting the grade of A-type inclusions in a wheel, and the method comprises the steps: sampling on the cross section of a round casting blank for wheel production, and manufacturing a cylindrical sample with a flat surface; determining a detection area of the cylindrical sample based on the ratio of the wheel diameter to the casting blank diameter and the ratio of the wheel diameter to the rim thickness; detecting the length of the A-type inclusions in the detection area, and determining the position and length of the A-type inclusions with the longest length in the detection area; and estimating the length of the corresponding A-type inclusions on the wheel based on the position of the A-type inclusions with the longest length in the detection area, and determining the grade of the A-type inclusions of the wheel. By analyzing the characteristics of the inclusions in the casting blank and combining the metal rheological law in the process of rolling the wheel by the casting blank, the grade of the A-type inclusions in the wheel is predicted, unnecessary rolling and heat treatment of unqualified casting blanks are avoided, meanwhile, waste of the production cycle is reduced, and the production cost is reduced. Therefore, the purposes of reducing the rolling process cost and the rolling time are achieved.

This invention provides a method and system for calibrating the rudder angle compensation of a multi-rudder robot chassis. The method includes the following steps: controlling the chassis to sequentially execute calibration actions in segments; collecting the wheel speed, rudder angle, and chassis positioning pose of each rudder wheel i at time n in each stage; calculating the relative pose change of the chassis before and after each stage of calibration actions based on the installation position and wheel diameter of each rudder wheel to determine the corresponding rudder angle compensation value; using the compensated rudder angles of each rudder wheel, executing the calibration actions again in segments sequentially, calculating the positional offset between the preceding and following calibration actions to determine the overall rudder angle compensation value for the subsequent calibration actions; and constructing a rudder wheel difference compensator to compensate for the downward rudder angle of each rudder wheel during chassis movement. This improves the applicability of multi-rudder mobile robots in complex and high-precision scenarios.