CN107548234A - Track width Automatic adjustment method, device, storage medium and computer equipment - Google Patents
Track width Automatic adjustment method, device, storage medium and computer equipment Download PDFInfo
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- CN107548234A CN107548234A CN201710668078.4A CN201710668078A CN107548234A CN 107548234 A CN107548234 A CN 107548234A CN 201710668078 A CN201710668078 A CN 201710668078A CN 107548234 A CN107548234 A CN 107548234A
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Abstract
A kind of track width Automatic adjustment method, device, storage medium and computer equipment, the track width Automatic adjustment method are applied in optical detection apparatus, and the optical detection apparatus includes motor, and the track with the motor connection, this method include：The model of board is obtained, and standard trajectory width corresponding to the model whether is recorded in query configuration file；If so, reading the standard trajectory width in the configuration file, and the motor is controlled to adjust the track to the standard trajectory width.Track Automatic adjustment method in the embodiment of the present invention can adjust automatically track width to corresponding standard trajectory width, reduce manual operation, save the time, improve thread-changing speed.
Description
Technical field
The present invention relates to pcb board detection device technical field, more particularly to a kind of track width Automatic adjustment method, dress
Put, storage medium and computer equipment.
Background technology
Printed circuit board (pcb board), it is the supplier of electronic component electrical connection.Pcb board produce when generally require into
Row optical detection, to determine the welding quality of printing quality and pin, ensure the function of pcb board.
For the device interior used described in pcb board optical detection with one section of production trajectory, track width is can be with reality
The size adjustment of border pcb board.Traditional way is that device interior has handwheel, can manual adjustable track width.It is also a kind of
Way is the width using motor control track, board is placed among track, manual adjustment control motor forward or reverse, side
Whether the width of adjustment side observation track matches with board width.The optical detection apparatus of currently available technology is all manual operations
The width of adjustable track influences the production time, it is necessary to certain manapower allocation.
The content of the invention
In view of above-mentioned condition, it is necessary to for the problem of track width is unable to adjust automatically in the prior art, there is provided a kind of
Track width Automatic adjustment method, device, storage medium and computer equipment.
It is described applied in optical detection apparatus the embodiments of the invention provide a kind of track width Automatic adjustment method
Optical detection apparatus includes motor, and the track with the motor connection, and the track width Automatic adjustment method includes：
The model of board is obtained, and standard trajectory width corresponding to the model whether is recorded in query configuration file；
If so, reading the standard trajectory width in the configuration file, and the motor is controlled to adjust the track
To the standard trajectory width.
Above-mentioned track width Automatic adjustment method, wherein, the motor is stepper motor, and the optical detection apparatus also wraps
Position sensor is included, the position sensor is arranged on the dead-center position of the track, described to control described in the motor adjustment
Track to the step of standard trajectory width, includes：
The motor is controlled to be rotated to first direction, so that the track moves to dead-center position；
When the position sensor detects that the track reaches the dead-center position, the motor is controlled to second party
To rotation, until the width adjustment of the track is the standard trajectory width.
Above-mentioned track width Automatic adjustment method, wherein, the control motor rotates to second direction, until described
The step of width adjustment of track is the standard trajectory width includes：
Control the motor to be rotated to second direction, and calculate the angle that the motor rotates to the second direction；
The current width of the track is calculated to the current angular that the second direction rotates according to the motor, when described
When the current width of track is equal to the standard trajectory width, the motor is controlled to stop.
Above-mentioned track width Automatic adjustment method, wherein, the motor is servomotor, and the motor is compiled including absolute value
Code device, the control motor adjustment track to the step of standard trajectory width include：
The initial angle that the motor of the absolute value encoder detection rotates is obtained, and according to the initial angle meter
Calculate the original width of the track；
When the initial degree of the track differs with the standard trajectory width, the motor is controlled to adjust the track
To the standard trajectory width.
Above-mentioned track width Automatic adjustment method, in addition to step：
When not recording standard trajectory width corresponding to the model in the configuration file, the orbit adjusting is calculated
To width when being matched with the board；
Match somebody with somebody the width being calculated as the model corresponding record of standard trajectory width and the board described
Put in file.
The embodiment of the present invention additionally provides a kind of track width self-checking device, applied in optical detection apparatus, institute
Stating optical detection apparatus includes motor, and the track with the motor connection, and the track width self-checking device includes：
Enquiry module, whether record for obtaining the model of board, and in query configuration file and marked corresponding to the model
Quasi- track width；
Control module, for when in the configuration file without standard trajectory width corresponding to the model, described in reading
The standard trajectory width in configuration file, and control the motor to adjust the track to the standard trajectory width.
Above-mentioned track width self-checking device, wherein, the motor is stepper motor, and the optical detection apparatus also wraps
Position sensor is included, the position sensor is arranged on the dead-center position of the track, for detecting the track, the control
Module includes：
First control submodule, for controlling the motor to be rotated to first direction, so that the track is to dead-center position
It is mobile；
Second control submodule, when the position sensor detects that the track reaches dead-center position, described in control
Motor rotates to second direction, until the width adjustment of the track is the standard trajectory width.
Above-mentioned track width self-checking device, wherein, second control submodule is used for：
Control the motor to be rotated to second direction, and calculate the angle that the motor rotates to the second direction；
The current width of the track is calculated to the current angular that the second direction rotates according to the motor, when described
When the current width of track is equal to the standard trajectory width, the motor is controlled to stop.
Above-mentioned track width self-checking device, wherein, the motor is servomotor, and the motor is compiled including absolute value
Code device, the control module include：
Computing module, the initial angle that the motor for obtaining the absolute value encoder detection rotates, and according to
The initial angle calculates the original width of the track；
3rd control submodule, for when the original width of the track differs with the standard trajectory width, controlling
Make the motor and adjust the track to the standard trajectory width.
Above-mentioned track width self-checking device, wherein, including：
Computing module, for when not recording standard trajectory width corresponding to the model in the configuration file, counting
The orbit adjusting is calculated to width when being matched with the board；
Logging modle, for the width being calculated is corresponding with the model of the board as standard trajectory width
It is recorded in the configuration file.
The embodiment of the present invention additionally provides a kind of storage medium, is stored thereon with computer program, it is characterised in that the journey
The step of above method is realized when sequence is executed by processor.
The embodiment of the present invention additionally provide a kind of computer equipment, including memory, processor be stored in memory
Computer program that is upper and can running on a processor, the above method is realized described in the computing device during computer program
Step.
The embodiment of the present invention preserves board model and the information of corresponding standard trajectory width by a configuration file,
When selecting the board of different model, read from configuration file corresponding to standard trajectory width, adjust automatically track width is to right
The standard trajectory width answered, to reduce manual operation, the time is saved, improve thread-changing speed.
Brief description of the drawings
Fig. 1 is the flow chart of the track Automatic adjustment method in first embodiment of the invention；
Fig. 2 is the structural representation of the workbench of optical detection apparatus in first embodiment of the invention；
Fig. 3 is the flow chart of the track Automatic adjustment method in second embodiment of the invention；
Fig. 4 is the flow chart of the track Automatic adjustment method in third embodiment of the invention；
Fig. 5 is the structured flowchart of the track self-checking device in third embodiment of the invention；
Fig. 6 is the structured flowchart of control module in fourth embodiment of the invention；
Fig. 7 is the structured flowchart of control module in fifth embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions
In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
Referring to Fig. 1, it is the track Automatic adjustment method in first embodiment of the invention, applied to optical detection apparatus
In.As shown in Fig. 2 be the workbench of optical detection apparatus in the present embodiment, including motor 10, and with the motor connection
Track.The track includes fixing end 20 and movable end 30, the output axis connection of the movable end 30 and the motor 10, passes through
The rotation of controlled motor 10 moves movable end 30, carries out the regulation of track width.Methods described includes step S11~S13.
Step S11, obtain the model of board.Every kind of board, such as pcb board, it is identified by different models, different shaped
Number board width it is typically different, from detecting when a kind of board of model is switched to the board for detecting another model, it is necessary to
Adjust the track width of optical detection apparatus.
Step S12, standard trajectory width corresponding to the model whether is recorded in query configuration file, if so, performing step
Rapid S13, otherwise perform step S14.
In above-mentioned steps, the optical detection apparatus is stored with configuration file corresponding to each model board, the configuration
It is bump that file, which is used for the detection parameters for recording the board of every kind of model and corresponding standard trajectory width, the detection parameters,
Shape, size, color etc..
Step S13 reads the standard trajectory width in the configuration file, and controls the motor to adjust the rail
Road is to the standard trajectory width.
The movable end of motor and track is connected, and the movable end movement of track is driven when motor rotates, and changes the width of track
Degree.When standard trajectory width corresponding to the width adjustment to board to be detected of track, controlled motor stops operating.
Step S14, the orbit adjusting is calculated to width when being matched with the board.In the step, user can lead to
The rotation for crossing controlled motor controls the movable end of track to move, to adjust the width of track.
Step S15, the model corresponding record using the width being calculated as standard trajectory width and the board
In the configuration file.
The width of track is that the position of movable end is generally relative to the distance of the dead-center position of track, track dead-center position
Movable end is in contact with fixing end or the location of movable end during track most narrow place.When track is in dead-center position, motor
Dead-center position is also at, when motor rotates, movable end moves accordingly.The angle that the distance of movable end movement rotates with motor
Or revolution is relevant, the width of track can carry out conversion and draw according to the angle or revolution of motor rotation.
Therefore, when detecting the board of the model first, user can make track by software controlled motor forward or reverse
Width adjustment to suitable size and after determining, optical detection apparatus record motor turns to the anglec of rotation of current location
Or revolution, by the angle or revolution of rotation and the helical pitch of institute's configuration screw mandrel, zero point of the movable end apart from track is calculated
The distance of position, you can obtain standard trajectory width corresponding to the board of the model.By standard trajectory width and the type of the board
Number corresponding record is called in configuration file in order to detect again during the board of the model.
In the present embodiment, standard trajectory width corresponding to the board of each model is when detecting the board of the signal first,
The width of the angle calculation track rotated according to motor simultaneously recorded in configuration file.It should be understood that the present invention other
In embodiment, the track width of the board of each model can be advance typing into corresponding configuration file, it is direct during use
Read.
The present embodiment preserves board model and the information of corresponding standard trajectory width by a configuration file, is selecting
During the board of different model, read from configuration file corresponding to standard trajectory width, adjust automatically track width is to corresponding
Standard trajectory width, to reduce manual operation, the time is saved, improve thread-changing speed.
Referring to Fig. 3, for the track width Automatic adjustment method in second embodiment of the invention, set applied to optical detection
In standby, the structure of the optical detection apparatus in optical detection apparatus and first embodiment in the present embodiment is essentially identical, different
Part is that the motor is stepper motor, and the optical detection apparatus also includes position sensor.The position sensor example
It is such as photoelectric sensor, is arranged on the dead-center position of the track, for detecting track, determines whether the movable end of track moves
Move dead-center position.The track width Automatic adjustment method includes step S21~S24.
Step S21, obtains the model of board, and it is wide whether to record standard trajectory corresponding to the model in query configuration file
Degree.
Step S22, when inquire have recorded standard trajectory width corresponding to the model in the configuration file when, read
The standard trajectory width in the configuration file.
Step S23, the motor is controlled to be rotated to first direction, so that the track moves to dead-center position.
Step S24, when the position sensor detects that the track reaches dead-center position, the motor is controlled to the
Two directions rotate, until the width adjustment of the track is the standard trajectory width.
In above-mentioned steps, the motor is controlled to be rotated to second direction, until the width adjustment of the track is the mark
The step of quasi- track width, specifically includes：
Control the motor to be rotated to second direction, and calculate the angle that the motor rotates to the second direction in real time
Degree；
The current width of the track is calculated to the current angular that the second direction rotates according to the motor, when described
When the current width of track is equal to the standard trajectory width, controlled motor stops.
When optical detection apparatus needs to adjust standard trajectory width corresponding to track to board to be detected, first track is returned
To dead-center position, then since dead-center position, the rotational angle or revolution of stepper motor are controlled, allows track to reach correct position
Put.The direction of rotation of motor include rotate and reverse, for example, motor to rotate forward when track movable end away from fixing end, motor
During reversion, movable end is drawn close to fixing end, i.e., is moved to dead-center position.The angle pair that the width of track rotates with the motor
Should, the angle rotated according to motor, the current width of track is calculated in real time, is corresponded to when the current width of track reaches awaiting board card
Standard trajectory width when control motor stalls.
Because general stepper motor does not have dead-center position, so needing to carry out track record in outside plus a position sensor
Dead-center position, when automatically adjusting track width again, it is necessary to first control stepper motor to return to dead-center position by track, then from
Dead-center position starts, and controls the angle or revolution of the rotation of stepper motor, makes standard corresponding to orbit adjusting to board to be detected
Track width.
The present embodiment can be read according to the model of the board stored in configuration file and the corresponding relation of standard trajectory width
Standard trajectory width corresponding to board to be detected is taken, and adjust automatically track makes it match with board to standard trajectory width.
The present embodiment uses the track of stepper motor adjustment, and stepper motor cost is relatively low, can be widely applied in industrial production.
Referring to Fig. 4, for the track width Automatic adjustment method in third embodiment of the invention, set applied to optical detection
In standby, the structure of the optical detection apparatus in optical detection apparatus and first embodiment in the present embodiment is essentially identical, different
Part is that the motor is servomotor, and the motor includes absolute value encoder.Absolute encoder is determined by mechanical location
Encode, carry zero point on absolute encoder, the dead-center position of track can be confirmed, calculate the width of track in real time.It is described
Track width Automatic adjustment method includes step S31~S36.
Step S31, obtain the model of board.
Step S33, standard trajectory width corresponding to the model whether is recorded in query configuration file, if performing step
S33。
Step S33, read the standard trajectory width in the configuration file.
Step S34, the initial angle that the motor of the absolute value encoder detection rotates is obtained, and according to described first
The original width of track described in beginning angle calculation.
Step S35, judge whether the original width of the track and the standard trajectory width are identical, perform step if not
S36。
Step S36, the motor is controlled to adjust the track to the standard trajectory width.
In above-mentioned steps, when carrying out board detection, it is necessary first to judge the track during original state of optical detection apparatus
Whether width matches with the width of board.When the original width of the track is identical with the standard trajectory width, then not
Carry out the regulation of track width.
When it is implemented, the board of certain model, when user has debugged the width of track, the optical detection ought be detected first
Equipment calculates revolution or the anglec of rotation of the motor from zero point by absolute value encoder, and by revolution or angle and is configured
The helical pitch of screw mandrel, distance of the movable end apart from track zero point of track is calculated, you can know the normal width of track.Will mark
Standard gauge road width record directly reads standard trajectory width into configuration file, during the board for detecting the signal again, and controls
Angle corresponding to motor rotation, makes orbit adjusting to standard trajectory width.
The present embodiment uses the servomotor with absolute value encoder, can be real due to carrying zero point on absolute value encoder
When obtain track position, whether the current width of real-time judge track matches with the width of board, without performing track back to zero
Action, operating efficiency is high.
Referring to Fig. 5, it is the track width self-checking device in invention 3rd embodiment, applied to optical detection apparatus
In, the optical detection apparatus includes motor, and the track with the motor connection, the track width self-checking device
Including：
Enquiry module 100, for obtaining the model of board, and whether recorded corresponding to the model in query configuration file
Standard trajectory width；
Control module 200, for when in the configuration file without standard trajectory width corresponding to the model, reading institute
The standard trajectory width in configuration file is stated, and controlled motor adjusts the track to the standard trajectory width.
Further, described optical detection apparatus, in addition to：
Computing module 300, for when not recording standard trajectory width corresponding to the model in the configuration file,
The orbit adjusting is calculated to width when being matched with the board；
Logging modle 400, for the model using the width being calculated as standard trajectory width and the board
Corresponding record is in the configuration file.
The present embodiment is read correspondingly by standard trajectory width corresponding to the board in enquiry module query configuration file
Standard trajectory width, pass through control module and adjust track width to corresponding standard trajectory width, to reduce manual operation, section
Save time, improve detection efficiency.
As shown in fig. 6, be the track width self-checking device in fourth embodiment of the invention, its with 3rd embodiment
Track width self-checking device structure it is essentially identical, difference is, the motor is stepper motor, the optics
Detection device also includes position sensor, and the position sensor is arranged on the dead-center position of the track, described for detecting
Track, the control module 200 include：
First control submodule 201, for controlling the motor to be rotated to first direction, so that the track is to zero point position
Put movement；
Second control submodule 202, when the position sensor detects that the track reaches dead-center position, control institute
State motor to rotate to second direction, until the width adjustment of the track is the standard trajectory width.
Further, second control submodule 202 is specifically used for：
Control the motor to be rotated to second direction, and calculate the angle that the motor rotates to the second direction；
The current width of the track is calculated to the current angular that the second direction rotates according to the motor, when described
When the current width of track is equal to the standard trajectory width, controlled motor stops.
As shown in fig. 7, be the track width self-checking device in fifth embodiment of the invention, its with 3rd embodiment
Track width self-checking device structure it is essentially identical, difference is, the motor is servomotor, the motor
Including absolute value encoder, the control module 200 includes：
Computing module 203, the initial angle that the motor for obtaining the absolute value encoder detection rotates, and root
The original width of the track is calculated according to the initial angle；
3rd control submodule 204, for when original width and the standard trajectory width of the track differ,
The motor is controlled to adjust the track to the standard trajectory width.
The present invention also provides a kind of storage medium, and the storage medium is readable storage medium storing program for executing, is stored thereon with computer journey
Sequence, the step of program realizes any one method in above-described embodiment 1 to 3 when being executed by processor.
Present invention also offers a kind of computer equipment, including memory, processor with storage on a memory and can
The computer program run on a processor, it is characterised in that realized described in the computing device during computer program above-mentioned
In embodiment 1 to 3 the step of any one method.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable recording medium,
For instruction execution system, device or equipment (such as computer based system including the system of processor or other can be from finger
The system for making execution system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device
Or equipment and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating
Or transmission program uses for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment
Device.
The more specifically example (non-exhaustive list) of computer-readable recording medium includes following：With one or more
The electrical connection section (electronic installation) of wiring, portable computer diskette box (magnetic device), random access memory (RAM) are read-only to deposit
Reservoir (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk are only
Read memory (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program or other conjunctions thereon
Suitable medium, because can then enter edlin, interpretation or if necessary for example by carrying out optical scanner to paper or other media
Handled electronically to obtain described program, be then stored in computer storage with other suitable methods.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of track width Automatic adjustment method, applied in optical detection apparatus, the optical detection apparatus includes motor,
And the track with the motor connection, it is characterised in that the track width Automatic adjustment method includes：
The model of board is obtained, and standard trajectory width corresponding to the model whether is recorded in query configuration file；
If so, reading the standard trajectory width in the configuration file, and the motor is controlled to adjust the track to institute
State standard trajectory width.
2. track width Automatic adjustment method as claimed in claim 1, it is characterised in that the motor is stepper motor, institute
Stating optical detection apparatus also includes position sensor, and the position sensor is arranged on the dead-center position of the track, the control
Making the motor adjustment track to the step of standard trajectory width includes：
The motor is controlled to be rotated to first direction, so that the track moves to the dead-center position；
When the position sensor detects that the track reaches the dead-center position, the motor is controlled to turn to second direction
It is dynamic, until the width adjustment of the track is the standard trajectory width.
3. track width Automatic adjustment method as claimed in claim 2, it is characterised in that described to control the motor to second
Direction rotates, until the width adjustment of the track includes the step of being the standard trajectory width：
Control the motor to be rotated to second direction, and calculate the angle that the motor rotates to the second direction；
The current width of the track is calculated to the current angular that the second direction rotates according to the motor, when described current
When width is equal to the standard trajectory width, the motor is controlled to stop.
4. track width Automatic adjustment method as claimed in claim 1, it is characterised in that the motor is servomotor, institute
Stating motor includes absolute value encoder, and the control motor adjustment track to the step of standard trajectory width wraps
Include：
The initial angle that the motor of the absolute value encoder detection rotates is obtained, and institute is calculated according to the initial angle
State the original width of track；
When the original width of the track differs with the standard trajectory width, the motor is controlled to adjust the track extremely
The standard trajectory width.
5. track width Automatic adjustment method as claimed in claim 1, it is characterised in that also including step：
When not recording standard trajectory width corresponding to the model in the configuration file, calculate the orbit adjusting to
Width during the board matching；
It is literary in the configuration using the width being calculated as the model corresponding record of standard trajectory width and the board
In part.
6. a kind of track width self-checking device, applied in optical detection apparatus, the optical detection apparatus includes motor,
And the track with the motor connection, it is characterised in that the track width self-checking device includes：
Enquiry module, for obtaining the model of board, and standard gauge corresponding to the model whether is recorded in query configuration file
Road width；
Control module, for when in the configuration file without standard trajectory width corresponding to the model, reading the configuration
The standard trajectory width in file, and control the motor to adjust the track to the standard trajectory width.
7. track width self-checking device as claimed in claim 1, it is characterised in that the motor is stepper motor, institute
Stating optical detection apparatus also includes position sensor, and the position sensor is arranged on the dead-center position of the track, for examining
The track is surveyed, the control module includes：
First control submodule, for controlling the motor to be rotated to first direction, so that the track moves to dead-center position；
Second control submodule, when the position sensor detects that the track reaches the dead-center position, described in control
Motor rotates to second direction, until the width adjustment of the track is the standard trajectory width.
8. track width self-checking device as claimed in claim 1, it is characterised in that the motor is servomotor, institute
Stating motor includes absolute value encoder, and the control module includes：
Computing module, the current angular that the motor for obtaining the absolute value encoder detection rotates, and according to described
Current angular calculates the current width of the track；
3rd control submodule, for when the current width of the track differs with the standard trajectory width, controlling institute
State motor and adjust the track to the standard trajectory width.
9. a kind of storage medium, is stored thereon with computer program, it is characterised in that is realized such as when the program is executed by processor
The step of method described in claim 1 to 5 any one.
10. a kind of computer equipment, including memory, processor are can run on a memory and on a processor with storage
Computer program, it is characterised in that realized described in the computing device during computer program as claim 1 to 5 is any one
Described in method the step of.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710668078.4A CN107548234B (en) | 2017-08-07 | 2017-08-07 | Track width automatic adjusting method and device, storage medium and computer equipment |
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| CN201710668078.4A CN107548234B (en) | 2017-08-07 | 2017-08-07 | Track width automatic adjusting method and device, storage medium and computer equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110549314A (en) * | 2019-09-23 | 2019-12-10 | 常州铭赛机器人科技股份有限公司 | Track mechanism width adjusting method and device, storage medium and electronic equipment |
| CN110632855A (en) * | 2019-10-23 | 2019-12-31 | 珠海格力智能装备有限公司 | Track adjusting method and system |
| WO2021057603A1 (en) * | 2019-09-23 | 2021-04-01 | 常州铭赛机器人科技股份有限公司 | Width adjustment device and width adjustment method for rail mechanism |
| CN112650223A (en) * | 2020-12-11 | 2021-04-13 | 康威通信技术股份有限公司 | Multifunctional orbital transfer device control system and method applied to inspection robot |
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| CN110632855B (en) * | 2019-10-23 | 2022-08-02 | 珠海格力智能装备有限公司 | Track adjusting method and system |
| CN112650223A (en) * | 2020-12-11 | 2021-04-13 | 康威通信技术股份有限公司 | Multifunctional orbital transfer device control system and method applied to inspection robot |
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