80results about How to "Reduce mechanical errors" patented technology

The invention discloses a calibration system for a heliostat of a solar generating station, which comprises a receiver, a heliostat field, an image sensor group and a control unit, wherein the heliostat field is arranged at the periphery of the receiver; the image sensor group is used for capturing a reflecting light spot radiated by a calibration light source onto the heliostat; the image sensor group can be movably arranged between the receiver and the heliostat field; at least one part of a reflecting image of the heliostat to be calibrated falls within the acquisition range of the image sensor group; and the control unit is used for acquiring the central position of the light spot reflected by the heliostat according to image information of the image sensor group and finally obtaining an error value of the heliostat to be calibrated. According to the calibration system disclosed by the invention, the central position of the reflecting light spot of the heliostat is determined by the movement of the image sensor group; and the calibration system has the advantages of high calibration speed, small mechanical error and improved calibration precision. The invention also discloses a calibration method of the calibration system.

The invention discloses a heliostat calibration method for a solar power station. The heliostat calibration method comprises the following steps of: obtaining a deviation ei between a heliostat reflective light-spot center position and a receiver center through the movement of an image sensor, and controlling a heliostat to rotate to a nominal position; comparing the distance deviation ei with a set deviation value di so as to judge the deviation size of the heliostat; when the deviation of the heliostat is smaller, just calibrating fewer calibration errors; and when the deviation of the heliostat is larger, then calibrating more calibration errors. The invention further discloses a heliostat calibration system using the calibration method. According to the heliostat calibration method and the heliostat calibration system, disclosed by the invention, the image sensor is used for determining the heliostat reflective light-spot center position, so that the calibration action is fast, the mechanical error is small and the calibration precision is improved. Furthermore, according to the heliostat calibration method and the heliostat calibration system, disclosed by the invention, the calibration is carried out in a manner of determining calibration parameters through firstly judging the deviation size of the heliostat, so that the calibration efficiency and the calibration precision are improved.

The invention discloses a holder positive and negative side distinguishing device including a machine frame; the machine frame is provided with a holder positioning mechanism for positioning a holder, a holder distinguishing mechanism, a holder sorting mechanism, and a main control machine; a to-be-distinguished holder is transported to a holder supporting plate by a conveyor belt and then is pushed into a holder supporting plate position by a pushing device: (1) two first cylinder on the machine frame cooperate with holder positioning blocks for positioning the holder; (2) a lamp cover moves downwards until the bottom of the lamp cover makes contact with the holder supporting plate; (3) a camera takes photos to distinguishing that the holder is in a positive side or a negative side; and (4) according to the situation after judgment, an overturning direction of the holder supporting plate is controlled, and the holder is allowed to roll out from a holder outlet according to the same direction finally to enter a subsequent machining process.

The invention discloses a holder positive and negative side discrimination device; a holder guiding mechanism, a holder discrimination mechanism, a holder moving mechanism and a holder lifting mechanism are all mounted on a machine frame; the holder guiding mechanism is vertically connected with the holder discrimination mechanism, the holder moving mechanism is located above the holder guiding mechanism, and the holder lifting mechanism is connected with the tail end of the holder guiding mechanism; what a camera shoots is a width of a chamfer angle of a central round hole of a holder, when the central axis of the camera has a 45 degree included angle with a horizontal plane, the face of the chamfer angle of the central round hole of the holder is just vertical to the camera, and at the moment, the chamfer angle width shot by the camera is an actual width. According to comparison of the shot chamfer angle width and a standard chamfer angle width, the positive and negative sides of the holder can be determined; and the determination efficiency is high, and problems of large artificial determination error, low efficiency and the like are reduced.

The invention relates to the technical field of rubber production, aiming to provide an improved nitrile rubber production process, which comprises polymerization, degassing and condensation. Raw materials including acrylonitrile, butadiene, desalinated and deoxidized water, condensed water and molecular weight regulators are fed into a polymerization position, convergence is carried out in a header pipe at the polymerization position, the converged mixture is pre-emulsified sequentially through a pipe pump and a pipe mixer, heat exchange is carried out through an ammonia-cooling heat exchanger for cooling, the cooled mixture, initiator emulsion and activator solution are sequentially fed into a plurality of reactors for polymerization to produce latex, the latex taken out of the reactorsand terminating defoamer solution are fed into a maturing reactor and are fully mixed when the rate of polymerization and conversion reaches 70 plus or minus 5 percent, and the mixture is then fed into a degassing tower to be degassed and into a condensation reactor for condensation. The problem of blockage of the heat exchanger can be avoided, the process is simple, the production process is stable and economical, the Mooney of rubber can be controlled easily, and the produced nitrile rubber has high quality.

The invention discloses a nanometer measurement system based on a synthetic interference signal polarization state detection technology. The system is composed of a laser interference unit and a polarization state detection unit. The laser interference unit introduces a polarization state conversion technology on the basis of a single-frequency Michelson interferometer to get synthetic linear polarized light containing displacement information. The polarization state detection unit is a polarization measurement system based on electro-optical liquid crystal phase modulation. The polarization state detection unit can detect the Stokes vector of emergent light of the laser interference unit, and obtain the ellipticity angle Epsilon and azimuth angle Theta of polarized light according to the Stokes vector. There is a linear relationship between the azimuth angle Theta and the displacement Delta(x) of a moving mirror. The azimuth angle Theta is measured with the help of a polarization state phase modulation technology. Thus, high-resolution phase subdivision is realized. By monitoring the ellipticity angle Epsilon and using a wave plate position adjustment method, the optical nonlinear error of the interferometer can be reduced. High-resolution and large-scale nanometer measurement is realized. Moreover, the system has an optical nonlinear self-correction function.

The embodiment of the invention provides a quadruped robot. The robot comprises a robot body, four leg assemblies and abduction rotating joints, each leg assembly is rotationally connected to the robot body through one abduction rotating joint, and the four leg assemblies are symmetrically arranged along the left side and the right side of the robot body; each abduction rotating joint comprises afirst support, a second support, a first motor and a first torque sensor; the first support is fixedly mounted on the machine body; the second support is rotationally mounted on the machine body; thefirst motor is fixedly installed on the first support, and the output end of the first motor is connected with the second support through the first torque sensor and can drive the second support to swing around the first axis. The first axis is the axis where the second support is rotationally connected with the fuselage; the first torque sensor is used for collecting output torque transmitted tothe second support by the output end of the first motor; the leg assembly is installed on the second support and can swing in the left-right direction of the machine body along with swing of the second support.

The invention belongs to the technical field of measurement, and particularly relates to a device for measuring magnetostriction in a dual-channel capacitance method and a method thereof. The device comprises a sample position and probe position adjusting mechanism (1), external magnetic fields (18) at the two ends of the sample position and probe position adjusting mechanism (1) and a displacement data processing system (2) with a first electrical box channel (11) and a second electrical box channel (12). In accordance with the principle of a parallel plate capacitor, the amount of extension or contraction of a sample is measured indirectly via measuring changes in the capacitance between a movable sample electrode formed by two groups of samples (14) and a fixed electrode formed by probe electrodes (8-1 and 8-2) in the external magnetic fields, and thus the measurement of magnetostriction is completed and is displayed via dual channels. The device for measuring the magnetostriction in the dual-channel capacitance method has the advantages of simple structural design, high accuracy of measurement and high reliability.

The invention provides a radiation therapy system which comprises a radiation source, a bracket, two X-ray bulb tubes, two detectors, a couch and a top plate. The top plate is fixedly connected with a ceiling and is provided with a circular guide groove A. The upper part of the bracket is connected with the inside circular guide groove A through a slider, and can rotate along the circular guide groove A. The bracket is provided with an arc-shaped guide groove A with a downward opening. The system further comprises a telescopic device. The upper end of the telescopic device is connected with the inside arc-shaped guide groove A. The lower end is fixedly connected with a radiation source. The X-ray bulb tubes are fixedly connected with the bracket and can rotate with the bracket. Two X-ray bulb tubes and a radiation therapy isocenter are in the same vertical plane. The detectors are located underneath the couch, and can synchronously rotate on a horizontal plane with the rotation of the X-ray bulb tubes. The radiation therapy system provided by the invention has the advantages of simple structure, easy control, wide range of non-coplanar radiation therapy and small radiation attenuation. Rays emitted by an image guide device are not blocked.

The invention discloses a full-automatic condensation point measuring device, and belongs to the technical field of oil physical property measurement. The measuring device adopts two measuring modes to measure oil condensation points and comprises a condensation point test tube, a temperature sensor, a camera probe, a stress piece, a motor, a position sensor, an angle sensor, a heating-refrigeration circulator, a PC machine, a PLC controller, a modulation processor and an injection pump, the heating-refrigeration circulator, a liquid tank and a liquid storage pot are connected and form a circular loop, and the stress piece is inlaid in the inner wall of the condensation point test tube; the camera probe monitors and judges solidification degree of a sample, is placed to the condensation point tube, and rotates to the 45-degree oil sample scale line position, when the motor drives the condensation point test tube to rotate, the camera probe and the stress piece synchronously measure oil, the efficiency is high, the reliability is high, human resources are greatly reduced in a technical aspect, and the measuring device belongs to a high-performance intelligent automatic device.

The invention discloses a sensor, and particularly relates to a non-contact annular magnetoelectric rotary encoder. The encoder comprises an annular encoder main body I, and an acquisition head II which is arranged correspondingly to the annular encoder body I, wherein a clearance is formed between the annular encoder main body I and the acquisition head II, the annular encoder main body I comprises a bearing ring body, a magnetic ring stuck and sleeved on the upper edge part of the bearing body, and a protecting cover arranged outside the bearing ring body and the magnetic ring and playing a role of protecting the magnetic ring; and a magnetic induction chip is arranged in the acquisition head II. The magnetoelectric principle is adopted by the encoder; the defects of easiness in cracking of a code disc, high requirement on precision, complex mechanical structure, complex mounting and adjusting process and the like of the traditional photoelectric encoder are overcome; the generation, the receiving and the processing of a signal are realized by selecting and using a magnetoelectric integrated chip; the complex debugging process of the traditional photoelectric encoder is omitted; the production efficiency and the performance of products are greatly improved; and the non-contact annular magnetoelectric rotary encoder which is small in size, high in reliability, resistant in vibration, high in frequency response, low in cost, high in precision, low in error and long in service life is provided.

The invention relates to a four-degree-of-freedom parallel connection mechanism. The four-degree-of-freedom parallel connection mechanism comprises a movable platform and a stationary platform which are arranged in a vertically spaced manner; four movement branched chains are connected between the movable platform and the stationary platform; two adjacent movement branched chains form a first group of kinematic chains; the other two movement branched chains form a second group of kinematic chains; four points in any cross section of the first group of kinematic chains and the second group of kinematic chains can be connected end to end to define a quadrangel; each of the two movement branched chains in the first group of kinematic chains comprises a moving pair and two universal joints; each of the two movement branched chains in the second group of kinematic chains comprises a moving pair, a universal joint and a rotating pair; the rotating axes of the two rotating pairs are located in the same straight line; the other ends of the moving pairs are connected with the stationary platform through the rotating pairs; and the four moving pairs are driving pieces. The four-degree-of-freedom parallel connection mechanism merely has four degrees of freedom, the redundant degree of freedom is omitted, a larger stroke can be obtained with a small size, and an overall structure is simpleand symmetrical.

The invention relates to a surface plasma resonance coupling optical element, which is characterized by comprising a right angle prism. One lateral surface of the right angle prism is rectangular and is vertical to the bottom surface, the lateral surface opposite to the vertical rectangular lateral surface is an inclined surface, the inclined surface and the bottom surface form an angle, and two rest lateral surfaces of the right angle prism are mutually parallel; and the external surface of the rectangular lateral surface is provided with one of a transduction membrane and a reflective coating, and correspondingly, the external surface of the bottom surface vertical to the rectangular lateral surface is provided with one of the reflective coating and the transduction membrane. The surface plasma resonance coupling optical element is simple and easy to process and assemble, and can be widely applied to a surface plasma resonance spectrum system and a surface plasma resonance imaging system for angle scanning in trace high-pass analysis.

The invention discloses a high-precision straight-line labeling machine. The high-precision straight-line labeling machine comprises a labeling head, a conveying device, a label inspection electric eye and an object inspection electric eye. Drive power of the labeling head is obtained through a stepping motor. The drive power of the conveying device is obtained through a servo motor. The high-precision straight-line labeling machine further comprises a PLC master controller. The PLC master controller starts the servo motor. The conveying device drives a labeled object to move through the servo motor. When the object detection electric eye detects that the labeled object passes by, the PLC master controller enters an external interruption subroutine, a high-speed counter is triggered and reads the pulse number output through a pulse output port of the servo motor. After the high-speed counter counts to the target value, the PLC master controller starts the stepping motor, and the stepping motor continues to move; and after the label inspection electric eye detects the gap between labels, the stepping motor is controlled to move by an assigned distance and then stops, and therefore the labeling function is achieved. By means of the high-precision straight-line labeling machine, the labeling precision is increased, stepless speed regulation is achieved, the speed can be rapidly switched to be matched with the production speed of a whole production line, and the production line can be efficient and smooth.

The invention relates to the technical field of measurement, in particular to a measuring method of a photoelectric instrument. The method comprises the following steps of: 1) putting one of the working pieces on a working platform, fixing, then using a camera to capture two lines on the working piece randomly, inputting the two lines into a computer, and constructing a reference line on a measuring plane of the computer so as to form a virtual clamp; 2) putting another measured working piece on the working platform, using the reference line on the formed measuring plane to align a corresponding line of the working piece, and forming upper clamping of the virtual clamp by the corresponding movement and / or rotation of the reference line on the measuring plane; and 3) using the position relation of a virtual focus and the reference line of a measuring lens, moving and capturing the points and lines of the working piece and then measurement can be carried out. The invention has convenient operation, fast measuring speed and high accuracy, reduces error measurement, improves measurement efficiency, simultaneously reduces the influence of the clamp on the working platform to the working piece, has no high requirements to the positioning of the working piece on the working platform and reduces mechanical error.

The invention provides a high-speed precise double servo feed drilling power head, and belongs to the technical field of drilling tools. The power head comprises a transmission case fixing base, a transmission case, a spline shaft, a spline shaft driving mechanism, a workpiece drilling mechanism and a servo feed control mechanism, and is characterized in that the spline shaft driving mechanism comprises a first servo motor, a large synchronous pulley, a small synchronous pulley and a transmission belt; the servo feed control mechanism comprises a second servo motor, a coupler, a ball screw, a lead screw nut, a sliding block, a stroke contactor, a driver adjustment plate, a first stroke limiting sensor and a second stroke limiting sensor; guide rails are arranged on wallboards of the transmission case fixing base, and an idler wheel is installed on the side face of the sliding block and is located between the two guide rails. Under the circumstance that no mechanical part is replaced, the rotating speed of a main shaft can be adjusted at will so that the requirement that different hole diameters correspond to different cutting speeds can be met; efficiency is high, the size is small, and the requirements for high-speed and high-precision machining of small hole diameters can be met; it is guaranteed that the main shaft has good straightness and good rigidity; the automated control effect is good.

The invention belongs to the technical field of biological 3D printing, and discloses a multi-nozzle interference-free switching device suitable for biological 3D printers. The multi-nozzle interference-free switching device suitable for biological 3D printers comprises a back plate, as well as nozzle supports, modular nozzles, two-way ball screws, screw nuts, stepping motors and the like which are arranged on the back plate; 4 or more modular nozzles are installed on the nozzle supports in a detachable way; the screw nuts are installed on the two-way ball screws, and are respectively in fixedconnection with the nozzle supports via nozzle connectors; and the upper ends of the two-way ball screws are respectively connected with the stepping motors via couplings. The invention further discloses a corresponding printing process method. Being applied, the multi-nozzle interference-free switching device suitable for biological 3D printers is capable of better satisfying specific process requirements of biological 3D printing, such as bionic structure and the like; moreover, the device is capable of ensuring that the multiple nozzles do not interfere with each other throughout printingprocess, thereby allowing fine adjustment of z-axis direction with higher precision. Thus, multi-level, multi-material and multi-gradient biological model printing effects can be realized.

The present invention relates to the field of robot technology, in particular to a humanoid robot hip joint mechanism and a robot connected with the mechanism, including a hip joint assembly and a drive assembly connected to the hip joint assembly, the hip joint assembly includes a main support, The drive assembly includes a motor, a driving pulley, a driven pulley and a harmonic reducer connected in sequence, and the motor is fixedly connected to the main support. The present invention provides a humanoid robot hip joint mechanism and a robot connected with the mechanism. Its internal main support adopts an integrated structure design, which integrates the mounting parts of the motor and the harmonic reducer, reducing the cost of the entire mechanism. The number of parts is convenient for installation, and the mechanical error caused by installation is reduced. Ribs and ribs are designed inside the main support to effectively ensure the structural strength and rigidity of the parts of the hip joint mechanism of the present invention.

The invention discloses a calibration process and device for a double-shaft high-resolution magnetoelectric encoder. The device comprises a double-shaft transmission mechanism, a measuring device, a lifting platform, a mechanical arm adjusting mechanism and an electrical control system. A servo motor of the double-shaft transmission mechanism is fixedly mounted on a lifting plate, and provides a power source and transmits power for the whole measuring device system; the measuring device is used for collecting angular displacement signals of the output end of the motor shaft and transmitting the angular displacement signals to the control system to achieve sampling and transmission of measured signals. The lifting platform and the mechanical arm adjusting mechanism consider the flexibility and practicability of the whole device to realize large-scale batch production and application of the whole device system; the electrical control system is used for collecting, analyzing and calculating data of a signal output end, and rapidly transmitting the sampled data to an upper computer for data processing, analysis and calculation through a plurality of usb channels of the multichannel isolation data collector, so as to finally obtain angular displacement information of the high-resolution encoder. The calibration device for the double-shaft high-resolution magnetoelectric encoder is high in encoder automation degree, good in universality and flexible to operate, gear transmission return stroke errors of the device can be eliminated, the system resolution is improved, and commercial mass production and application are easy.

The invention relates to an elevation travel switch limiting device, which is characterized by comprising a deep groove ball bearing and a shaft, which are installed inside a shaft seat, wherein two ends of the shaft stretch out of the shaft seat, one end of the shaft is provided with a first wheel hub and a second wheel hub through flat keys, and the surface of the first wheel hub and the surface of the second wheel hub are respectively provided with an annular installation groove, and a link stopper is respectively installed inside the annular installation grooves of the first wheel hub andthe second wheel hub; a travel switch fixed seat is installed on the shaft seat, a travel switch installation seat is respectively installed on two ends of the travel switch fixed seat, a travel switch is respectively arranged on each travel switch installation seat, and one travel switch and the first wheel hub and another travel switch and the second wheel hub are installed at the same side of the travel switch fixed seat. An oil seal and a retainer ring are arranged between the shaft and the shaft seat. An elastic retainer ring for a hole, a small round nut and an O-shaped sealing ring arearranged at the outer side of the deep groove ball bearing. The elevation travel switch limiting device is stable and reliable, and the produced mechanical error is small; and the position of each part is relatively fixed, so the elevation travel switch limiting device is easy to adjust and maintain.

The invention relates to the technical field of river crab breeding equipment, in particular to a river crab automatic classifying device. The river crab automatic classifying device comprises a feeding mechanism, a classifying mechanism, a discharging mechanism and a controller, wherein the feeding mechanism comprises a hopper conveyor; the classifying mechanism comprises a machine frame and three classifying boxes which are fixedly mounted on the machine frame; each classifying box is electrically connected with the controller; the three classifying boxes include a first classifying box, a second classifying box and a third classifying box; a feeding opening of the second classifying box and a feeding opening of the third classifying box are respectively formed in two sides below a discharging opening of the first classifying box; the hopper conveyor is arranged on the side of the machine frame; a discharging opening of the hopper conveyor is formed above a feeding opening of the first classifying box; and the discharging mechanism is fixedly mounted on the machine frame, and is arranged below the lowermost layer classifying box. Through the adoption of the river crab automatic classifying device disclosed by the invention, river crabs can be weighted and classified continuously without binding the river crabs, so that the efficiency is high; and measuring is performed twice, so that mechanical errors are reduced, and the classifying of the river crabs is more accurate.

The invention relates to the technical field of printed circuit board production. A printed circuit board circular bead treatment device comprises a circular bead treatment support, a circular bead treatment horizontal drive assembly, a circular bead treatment lifting drive assembly, a circular bead treatment front and back drive assembly and two circular bead treatment assemblies. The printed circuit board circular bead treatment device has the advantages that automatic adjusting moving in various directions is achieved, and the circular bead treatment efficiency and the circular bead treatment quality are conveniently improved.

An ink cartridge assembly for a printer, which comprises a fulcrum holder (7) arranged behind each ink key (4); a female thread (8) provided at the rear end of the fulcrum holder (7); a screw rod for zero point adjustment ( 9), with a manual rotary operation part; flange (10), which supports the screw rod (9); spring (11), to be crimped on the front end of the fulcrum holder (7) and the rear end surface of the ink key (4) State setting; the moving bushing (15) is located under the front end of the fulcrum holder (7) and can move forward and backward; the female thread (16) is set on the rear end surface of the moving bushing (15); the fine adjustment screw rod (17 ), whose front end is screwed into the female thread (16) and supports the bottom plate (6); the connecting rod (20), which is supported on the front end of the fulcrum holder (7) and behind its floating end to be pressed by the spring (19) It is connected to the front end of the moving bush (15); the center of the eccentric wheel (21) is slightly deviated from the center of the support shaft (18); the semicircular hole (22) is opened in the ink key (4 ) at the rear.

The invention discloses a three-component sensor for satellite magnetic field fluctuation analyzer, including three core rod, thread spool, coil, hexahedral framework, aluminum frame, insulation film jacket, connectors and the earth wire insulation film. The described hexahedral framework has three pairs of orthogonal screw hole, inserted into the above thread spool core rod. Thread spool around the outer surface of a solenoid coil form, in the form of solenoid coil outside a set of packaging, three casing is inserted into hexahedral framework of the three pairs of thread hole to fix. The above alumni frame is installed under the hexahedral framework. The hexahedral framework is connected to the satellite magnetic field fluctuations analyzer. The above insulation film is wrapped in the casing and outside the hexahedral framework. The advantages of the present invention include the various components and the overall structure of high strength, affordable bad launching vibration, reasonable structure, from the simple processing machines, mechanical error is small; for the bad environment.

A heliostat calibration system and calibration method of a solar power station, the calibration system comprising: a receiver (1), a heliostat field mounted around the receiver (1), an image sensor group for capturing the image of a reflected light spot irradiated onto a heliostat (2) by a calibration light source, and a control unit for processing the image information obtained by the image sensor group, calibrating the parameters of the heliostat (2) tracking the sun, and controlling the rotation of the heliostat; an image sensor (3) is disposed on the heliostat field, so that the reflection image of the heliostat (2) reflected outside the receiver (1) falls into the acquisition range of the image sensor group; the control unit obtains the central position of the light spot reflected by the heliostat (2) via the image information of the image sensor group, thus obtaining the to-be-calibrated error value of the heliostat (2). The calibration system determines the central position of the light spot reflected by the heliostat via the movement of the image sensor group, with quick calibration action and slight mechanical error, therefor improving calibration accuracy.

The invention discloses an automatic scanning, measuring and analyzing device for an engineering tire winding tread shape. The automatic scanning, measuring and analyzing device for the engineering tire winding tread shape comprises a winding machine, and the winding machine comprises an X-axis moving track arranged in the X-axis direction, a Y-axis moving track arranged in the Y-axis direction and a Z-axis moving track arranged in the Z-axis direction. A using method of the device comprises the steps that an outline curve and coordinates of a tire blank are acquired; an outline curve and coordinates of a tread are acquired; and the outline curve of the tire blank and the outline curve of the tread are integrated together, denoising is conducted, and the distance between the tire blank andthe tread is calculated and taken as the thickness of the tread section. According to the automatic scanning, measuring and analyzing device for the engineering tire winding tread shape, the size ofthe engineering tread with any size is analyzed; scanning is automatically conducted along with the tread outline, azimuth coordinate information is synchronously collected, the measuring process is convenient to operate, and use is easy; the measuring precision is high, and a precise electronic ruler can detect and feed back the position of each degree of freedom; mechanical errors can be greatlyreduced through the feedback position of the electronic ruler; and measuring errors brought by manual operation are eliminated, the measuring precision and efficiency are improved, the tread can notbe damaged, and the detection cost is reduced.

The embodiment of the invention provides a motion control method of a mobile robot chassis and the mobile robot chassis. The method comprises the steps that the rotating angular speed of two rear wheels of the chassis and the steering angle of a front wheel steering driving motor are obtained; the steering angle of a front wheel is obtained; the chassis steering angular speed and the chassis advancing speed which are obtained through calculation according to the rotating angular speed, the rotation angle and a chassis kinematics model are input into a constructed Kalman filter, and the corrected chassis steering angular speed and the corrected chassis advancing speed are obtained; a measurement matrix in the Kalman filter is determined through a constructed chassis measurement model; and according to the deviation between the target steering angular speed and the corrected chassis steering angular speed and the deviation between the target advancing speed and the corrected chassis advancing speed, chassis movement is adjusted. The Kalman filter is constructed through the chassis kinematics model and the measurement matrix determined through the chassis measurement model, and the chassis motion control accuracy is improved.

The invention relates to a numerical control engraving and milling machine tool for processing the end surface of a slender rod workpiece. The numerical control engraving and milling machine tool comprises a base, wherein a first sliding plate is arranged on the upper part of the base, the first sliding plate can slide on the base, a first nut is installed on one side of the first sliding plate, a first stepping motor is installed on one side of the base, a first screw rod is installed on an output shaft of the first stepping motor, and the first screw rod is matched with the first nut. The invention provides the numerical control engraving and milling machine tool for processing a plurality of parts of a component in the condition that a drilling motor is not moved. According to the numerical control engraving and milling machine tool, the first screw rod is perpendicular to a second screw rod, so that the first sliding plate and a second sliding plate can be respectively driven to horizontally move by the first stepping motor and a second stepping motor, a clamping device is driven to move to each position of a horizontal plane, all of the parts of the workpiece can be processed by a drill in the condition that a rotary motor of the numerical control engraving and milling machine tool for processing the end surface of the slender rod workpiece is not moved, and the mechanical error of the workpiece processed by the numerical control engraving and milling machine tool is greatly reduced.

The invention provides a laser beam spot shape correcting method, which can restrain the working hours required for correcting the spot shape of the laser beam and can reduce the mechanical error between processing devices of the laser beam irradiated to a processed object. The laser beam spot shape correcting method includes a laser beam irradiating step of irradiating a concave mirror with a laser beam, an imaging step of imaging reflected light by a beam profiler, an image forming step of forming an XZ plane image or a YZ plane image from an XY plane image imaged in the imaging step, and a comparing step of comparing the image formed in the image forming step with an XZ plane image or a YZ plane image of an ideal laser beam. A phase pattern displayed on a display unit of a spatial light modulator is changed such that the XZ plane image or the YZ plane image formed in the image forming step coincides with the XZ plane image or the YZ plane image of the ideal laser beam.