312results about How to "Achieve dynamic balance" patented technology

The invention discloses a reentry flight attack angle guiding method of a sub-orbital vehicle. The method comprises the following steps of: acquiring an attack angle design predicted value through analogue simulation at time intervals; finding the attack angle design predicted value, which keeps a normal overload value of the vehicle always in a fluctuation region of expected normal overload dynamic balance, by using a vehicle homomorphic prediction model in each time interval, so as to realize normal overload dynamic balance at the time interval; acquiring a practical reentry flight attack angle design parameter of the vehicle through the attack angle design predicted value by a fitting method, and determining a reentry flight attack angle design value of the vehicle; and introducing resistance acceleration integration ratio correction at each flight time to make a practical reentry flight resistance acceleration integral value tend to be the same as a predicted resistance acceleration integral value under the attack angle design value, so the reentry flight normal overload of the sub-orbital vehicle is kept to fluctuate in a predetermined region in a dynamic balance section consisting of each time interval and then the aim of reducing the reentry flight normal overload peak value of the sub-orbital vehicle is fulfilled.

The invention discloses a grasping force active compliance control method of an apple picking robot tail end actuator, and belongs to the technical field of picking robot control. The grasping force control method is characterized in that a force sensor and an encoder arranged on the apple picking robot tail end actuator obtain the position transformation quantity and the acting force on a grasping object through collection; the displacement and the force obtained through collection are used as the input of a recursive least squares method recognizer of a variable forgetting factor; the rigidity coefficient of an impedance controller is subjected to on-line identification; the rigidity parameters of the impedance controller for adapting to different environment requirements are automatically regulated in real time according to the output result of a second-order impedance controller. The control method has the advantages that the grasping damage rate of a picking robot to apples can be effectively reduced; in addition, the anti-jamming capability of the robot during field work is improved.

The invention belongs to the field of manufacturing of automatic lifting devices of engineering machinery and discloses an active safety seat system. A seat is controlled by a central processing unit and can automatically move in an all-around manner, and independent supports of four supports of the seat are relatively independent. When any side of a mechanical platform inclines and the front side or the rear side of the mechanical platform ascends, the seat is maintained horizontal integrally; when one side of the mechanical platform inclines, the seat moves towards a centrifugal force direction, in other words, the seat moves rightwards integrally when the mechanical platform inclines leftwards and moves leftwards integrally when the mechanical platform inclines rightwards; when the front portion of the mechanical platform ascends, the two front supports of the seat descend, the two rear supports of the seat ascend, and the seat is maintained horizontal; when the mechanical platform is collided by external force from the front side or the rear side, the left side or the right side, the seat moves forwards or backwards, rightwards or leftwards. The active safety seat system is widely applied to the fields of aviation, ships, automobiles and the like.

The invention relates to the technical field of steelmaking, and provides an all-scrap continuous steelmaking system and a smelting process. Through the division of the scrap steel smelting process into six procedures of preheating, fusion, preliminary smelting, refining, finishing and casting, the different smelting procedures can be performed in different devices; through the cooperation betweencontinuous feeding and continuous casting, the dynamic balancing of material and energy flow among a smelting bed, a refining bed and a tundish can be kept, thereby achieving stable, efficient, low-cost, high-quality and long-life all-scrap continuous steelmaking production; and by the use of the all-scrap continuous steelmaking system and the smelting process, the electricity consumption per tonof steel can be reduced by 50 kWh or above, the energy consumption can be reduced by 10 kgce or above, the product quality can be improved, the smelting rhythm can be accelerated, and the productioncost can be reduced.

The invention discloses a heat supply secondary pipe network distributed balance control system and a control method thereof. The system comprises a front-end control system and a tail-end control system and is provided with a master control machine and microcontrollers; and the system is characterized in that: the master control machine is connected with a plurality of microcontrollers through wireless communication; a first pressure transmitter, a second pressure transmitter, a header pipe flowmeter, a variable frequency pump, an electric control valve and a general packet radio service (GPRS) module are connected to the master control machine respectively; and a third pressure transmitter, a fourth pressure transmitter, a branch pipe flowmeter, a balancing control valve and a GPRS module are connected to the microcontrollers respectively. The invention has the advantages that: the pressure difference and flow of a pipe network in each building can be detected, pressure difference between an input end and an output end of the pipe network in each building is guaranteed, pressure difference between a heat supply header pipe and a backflow header pipe is guaranteed, and flow balance between the heat supply header pipe and a heat supply branch pipe is monitored simultaneously; and therefore, the secondary pipe network is operated stably, pipelines are prevented from vibrating, and the service life of the pipelines is prolonged.

The invention provides a washing machine and a washing machine driving method. The washing machine comprises an inner drum and an outer drum. A primary coil is arranged in the circumferential direction of the outer drum, the inner drum is correspondingly provided with a secondary sensing unit; when powered on, the primary coil can generate magnetic force with the secondary sensing unit to drive the inner drum to rotate; the outer drum is provided with a magnet, the magnet and the secondary sensing unit can generate magnetic force to adjust the suspension stability of the inner drum. Therefore, shock during the rotating process of the inner drum can be effectively reduced, correspondingly, noise can be reduced, further stable operation of a whole machine can be guaranteed, and the weight of the whole machine can be effectively reduced.

The present invention is electroslag remelting apparatus and method with reduced oxygen content. The electroslag remelting apparatus has crystallizer, sealing cover over the crystallizer with oxygen pressure gauge, flow meter, vacuum set, etc. and features that the conducting rod and the consumable electrode are set inside the sealing cover and combined with sealing ring via sliding sealing. The atmosphere protection method for the remelting process includes vacuum pumping the inside of the sealing cover to 0.1-100 Pan and filling inert gas through the freeze drying machine into inside at pressure of 0.1-0.13 MPa. During the remelting process, the inert gas feeding amount or gas exhaust are controlled automatically. The present invention has reduced oxygen content in the remelting alloy and homogeneous alloy components as well as stable flow rate and constant pressure of inert gas in the remelting chamber.

The invention provides a washing machine and a washing machine inner drum limiting method. The washing machine comprises an inner drum and an outer drum. The inner drum is provided with a magnetic conducting unit, a magnet is arranged in the circumferential direction of the outer drum, the magnet and the magnetic conducting unit can generate magnetic force to adjust the suspending stability of the inner drum. Therefore, stable operation of a whole machine can be guaranteed, balance weights can be omitted, and the weight of the whole machine can be effectively reduced.

The invention discloses a dynamic balance structure of an overwater wharf. The dynamic balance structure comprises a deck, a controller, four static buoyancy tanks and a dynamic balance device, wherein the controller is arranged on the upper part of the deck; the static buoyancy tanks are arranged on the lower part of the deck; the dynamic balance structure is characterized in that the static buoyancy tanks consist of a left upper static buoyancy tank, a left lower static buoyancy tank, a right upper static buoyancy tank and a right lower static buoyancy tank, wherein a corresponding inflatable air bag is arranged on the outer side of each static buoyancy tank; the dynamic balance device is arranged at a central position of the overwater wharf and consists of a left upper dynamic buoyancy tank, a left lower dynamic buoyancy tank, a right upper dynamic buoyancy tank and a right lower dynamic buoyancy tank; corresponding step driving mechanism and sliding rod are arranged in each dynamic buoyancy tank; the controller is provided with an inclination angle measuring device and a digital signal processing module; all actions of the overwater wharf are controlled by the controller. The dynamic balance structure has the beneficial effects of safety, reliability, good dynamic balance, automatic control over dynamic balance, strong bearing capacity and strong wind wave shock resistance capacity.

The invention provides a rotor system on-line dynamic balancing system and a rotor system on-line dynamic balancing method. The rotor system on-line dynamic balancing system comprises a signal sensor, a signal acquirer, a data processing system, a signal transmitter, and a balance adjuster. The signal sensor is used to acquire unbalanced vibration information of a rotor system, and is used to convert the unbalanced vibration information into an analog signal, which is transmitted to the signal acquirer. The signal acquirer is used to convert the analog signal into a digital signal, and is used to transmit the digital signal into the data processing system after the denoising and the filtering process of the digital signal. The data processing system is used to calculate and process the received digital signal, and is used to acquire the unbalanced mass and the phase information of the rotor system, and is used to generate a motion signal, which is transmitted to the signal transmitter. The signal transmitter is used to transmit the motion signal to the balance adjuster. The balance adjuster is used to generate a motion in the adjuster, and is used to adjust the unbalanced mass of the rotor system, and then the on-line dynamic balancing of the rotor system is realized. The dynamic balancing of the rotor system is completed without requiring shutdown, and repeated starting and stopping steps of a conventional dynamic balancing experiment are saved, and therefore the rotor system on-line dynamic balancing system and the rotor system on-line dynamic balancing method are suitable for systems, which are not suitable for being shut down, and then economic losses caused by the shutdown are reduced.

The invention discloses a self-adaptive bill-digging device for a distributing mechanism of paper or paper money, comprising bill-digging wheel shafts and bill-conveying wheel shafts, which are arranged on guide side plates; the bill-digging wheel shafts are fixedly connected with bill-digging wheels and bill-digging rubber wheels; the bill-conveying wheel shafts are connected with bill-digging wheels by bearings; the two ends of the bill-digging wheel shafts are arranged on the guide side plates by guide bearings; offsetting springs are connected with the bill-digging wheel shafts by the guide bearings; the other ends of the offsetting springs are fixedly connected with the guide side plates; the bill-conveying wheel shafts are driving shafts which are connected with the bill-conveying wheels by the bearings, and the two sides of the driving shafts are respectively fixedly connected with a main drive pulley; and drive synchronous belts are connected with the bill-digging wheels and the main drive pulleys. The device has self-adaptive bill-digging function. Two bill-digging wheels can float up and down, under the function of oscillating bearings, the two bill-digging wheels can swing to the left and to the right; and simultaneously, due to the function of the drive synchronous belts, the two bill-digging wheels also can realize micro different speed and ensure that paper or the paper money can not be inclined when entering into a transmission channel.

The invention discloses oil balancing devices of a multi-split air conditioning system. Each oil balancing device comprises an oil separator, a parallel connection device, an oil balancing pipeline and a stop valve, wherein the oil separator is provided with a mixed input end, a refrigerant output end and a lubricating oil output end; the parallel connection device is communicated with a first oil return pipeline and a second oil return pipeline at the lubricating oil output end and the input end of a compressor, the first oil return pipeline is provided with an oil return electronic expansion valve, the oil balancing pipeline is communicated with the first oil return pipeline, and the stop valve is arranged on the oil balancing pipeline. Pipelines enabling the compressors to be communicated with different outdoor units are arranged, dynamic balance of different outdoor units in the multi-split air conditioning system and different compressors in the same outdoor unit is achieved, it is guaranteed that enough lubricating oil is available for air conditioning devices in the running process, and the damage probability of the outdoor units is lowered. The invention further provides the multi-split air conditioning system with the oil balancing devices and a control method of the multi-split air conditioning system.

The invention discloses a tower-type self-circulation aerobic degradation reactor. Waste water is uniformly introduced into an anoxic reaction zone at the bottom of the reactor by virtue of a water inlet pipe and a water distribution system which are arranged at the bottom of the reactor, the waste water is jointly mixed and reacts with high-concentration sludge and digestive fluid which are arranged at the bottom of the reactor and mixed liquor refluxed through a central reflux pipe, the mixture rises for forming a vertically rising type flow state upward movement, and a water inlet pump and an aeration fan are used for providing power, so that no sludge, digestive fluid reflux pump and the like is needed; meanwhile, the aeration fan has low power requirement, a conventional air blower is needed only, and operating cost and management difficulty are greatly reduced.

The present invention is one kind of polishing liquid with nanometer SiO2 abrasive for SiO2 medium in multilayer wiring of VLSI. The polishing liquid consists of SiO2 hydrosol as abrasive 20-45 wt%, composite alkali 0.5-5.5 wt%, penetrant 1.0-10 wt%, surfactant 1.0-10 wt%, chelating agent 0.5-10 wt% and the deionized water for the rest. All the materials are mixed gradually through stirring to form the polishing liquid. The polishing liquid has high polishing efficiency, low cost and less pollution.

A transmission mechanism with intermittent output movement includes an output shaft rotatably mounted to first and second cams and a sun gear mounted to the output shaft. A first rocker includes a first planet gear meshed with the sun gear and first and second rollers rotatably mounted on opposite sides of the first planet gear and respectively in contact with the first and second cams. A second rocker includes a second planet gear meshed with the sun gear. An end of a first connecting rod is mounted to the first rocker. An end of a second connecting rod is mounted to the second rocker. Two ends of a link are rotatably mounted to the other ends of the first and second connecting rods. A planet gear carrier is mounted to an input shaft coaxial to the input shaft and includes an end rotatably mounted to the first rocker.

The invention discloses a method for dynamically adjusting the repeated period of an associated special physical channel, applied in a high speed descending packet access system. The method comprises: in the initialization, defaulting the value of the repeated period of an associated special physical channel; attaining the resource block trigger threshold value and the resource idle trigger threshold value of the associated special physical channel; judging the left amount of the resource of the associated special physical channel, if the left amount is lower than the resource block trigger threshold value, selecting part of the associated special physical channel and increasing the repeated period of the user of the channel, or else, judging if the left amount is higher than the resource idle trigger threshold value, if the left amount is higher than the resource idle trigger threshold value, selecting part of the associated special physical channel and reducing the value of the repeated value of the user of the channel. The inventive method dynamically distributed the repeated period of a region according to the prior load, to realize the dynamic balance between the system capacity and performance.

The invention discloses special biological type organic-inorganic compound fertilizer for peanuts. The special biological type organic-inorganic compound fertilizer is prepared from original fertilizer, an organic material and a microbial agent, wherein the original fertilizer contains 30%-40% by mass of N+P2O5+K2O, N content is 12%-15% by mass, P2O5 content is 8%-12% by mass, K2O content is 10%-13% by mass, organic matter content is higher than or equal to 15% in parts by mass, moisture (fresh sample) content is lower than or equal to 30% in parts by mass, total viable count is larger than orequal to 0.02 billion/g, urea formaldehyde content is 3%, active humic acid content is 5%-10%, and the total amount of amino acid is 0.4%-3%. With addition of a certain amount of urea formaldehyde, fertilizer particle strength is effectively improved, and fertilizer quality is improved; with addition of a certain quantity of humic acid, amino acid and the microbial agent, nutrients required for peanut lifetime are effectively guaranteed, fertilizer efficiency and crop yield are increased, quality is improved, and the compound fertilizer has special effects that land utilization and land maintenance are combined, long acting and quick acting are synergistic, water retention and fertilizer conservation effects are obvious and the like; compared with only application of nitrogen, phosphorusand potassium fertilizer, absorption and utilization rate of nutrients can be increased by about 30%-50%, peanut yield can be remarkably increased, and peanut quality can be remarkably improved.

The invention discloses a device for preparing a carbon film on the inner wall of a quartz ampoule used for monocrystal growth. The device is characterized in that an ampoule bracket is arranged at the neck of the quartz ampoule; a channel is arranged in the ampoule bracket; a flow guide tube is arranged in the channel; one end of the flow guide tube is inserted in the bottom of the quartz ampoule; the other end of the flow guide tube penetrates out of the ampoule bracket to be connected with an exhaust pipe; one end of the exhaust pipe is connected with a vacuum pump; an air inlet pipe is arranged on the ampoule bracket; carbon film splitting gas enters the quartz ampoule through a gap between the flow guide tube and the neck; and a flowmeter is arranged on each of the air inlet pipe and the exhaust pipe. The ampoule bracket is arranged at the neck of the quartz ampoule, and dynamic equilibrium of splitting gas in the quartz ampoule is realized through the flowmeters arranged on the air inlet pipe and the exhaust pipe, so that an even carbon film can be obtained in the quartz ampoule.

A transmission timing interval (TTI) adjusting method is provided according to the embodiments of the present invention. Use condition of a system resource is obtained and it is judged whether a user meets a TTI adjusting requirement according to a current TTI of the user and the obtained use condition of the system resource. TTI adjustment is performed on all or a part of the users meeting the TTI adjusting requirement.