190results about How to "Achieve self-balancing" patented technology

The invention provides a multifunctional power electric transformer. The multifunctional power electric transformer is divided into three levels, namely an input level, an isolation level and an output level, wherein the input level adopts an H bridge cascaded topological structure to meet the requirements on different input voltage levels; the isolation level adopts a mode of parallel connection of a plurality of high-frequency transformers, the DC/AC high-frequency modulation and the AC/DC high-frequency modulation in an isolation link both adopt a single-phase fully controlled half-bridge structure to save switch parts; the output level consists of one or more three-phase voltage source convertors which are connected in parallel, so that the multi-output can be realized according to the need of a load; and the convertors of the output level are also connected with an LC wave filter to improve the waveform quality of the voltage and the current. The whole device fully adopts technically mature power parts, and each layer cascaded with the input level and the corresponding isolation level can be combined into a convertor, thereby facilitating the design and the production of the convertors. Besides simple functions of voltage conversion and isolation and energy transfer, which can be realized by the conventional transformer, the multifunctional power electric transformer can also realize other novel functions meeting the needs of a power system.

The invention discloses a rack and pinion hydraulic pressure horizontal loading retraction and extending test table mechanism and belongs to the technical field of undercarriage test. The rack and pinion hydraulic pressure horizontal loading retraction and extending test table mechanism mainly comprises a loading supporting mechanism, a hydraulic pressure loading and retarding mechanism, and a simulation horizontal force loading mechanism; wherein the loading supporting mechanism consists of a vertical shaft frame, an upper connection seat (8), a lower connection seat (23), and a lifting plate (9); and the hydraulic pressure loading and retarding mechanism consists of a linkage turntable (27), a reduction gear (26), a rack (25) and a loading actuator cylinder (24); and the simulation horizontal force loading mechanism consists of an arc guide rail (18), a first movable pulley (17), a second movable pulley (19), a fixed pulley (21) and a wire rope (20). During test, the rack and pinionhydraulic pressure horizontal loading retraction and extending test table mechanism loads an undercarriage by simulating aerodynamic load and solves the problems of insufficient travel of the loadingactuator cylinder and loading speed, guarantees that the lateral force is always in a horizontal direction, and is more close to an actual stress model.

The invention discloses an HY type dry distillation furnace which is characterized by comprising a plurality of dry distillation subunits, wherein each dry distillation subunit comprises a charging device, an oil gas discharge device, a dry distillation device, a heating device and a coke discharge device; materials are subjected to dry distillation by using a combined radiation heat exchange and convection heat exchange mode in the furnace; gas generated in a dry distillation process is used as a dry distillation heat source, and the dry distillation heat can be self-balanced; the materials are directly heated by virtue of radiation of a furnace wall of a combustion chamber, and a heat carrier does not need to be subjected to secondary heating and long-distance conveying; a dry distillation gas outputting device is arranged in the furnace, so that the gas in the furnace flows smoothly; coke is discharged by a dry method. The dry distillation furnace is high in heat utilization efficiency, low in outlet gas quantity, low in water consumption, high in oil yield and large in daily treatment capacity capable of being more than 6,000 tons, and is suitable for low and medium-temperature dry distillation of the materials such as oil sand, oil shale, coal and the like, and suitable for oil refining and dry distillation of large particle materials and small particle materials of less than 15mm.

A process for preparing activated carbon by co-pyrolysis of municipal sludge and agricultural waste comprises the steps of mixing the agricultural waste and the municipal sludge in a certain proportion to obtain a mixture; heating the mixture at a certain temperature under the condition of air isolation, keeping the temperature for a period of time, collecting a solid product, and cooling; and pulverizing the solid product to obtain the activated carbon product. In order to obtain an activated carbon with higher absorptive capacity, a certain amount of nitrate can be added into the mixture. Because the agricultural waste can make up the low heat value shortcoming of the sludge, while the municipal sludge can solve the problems with the agricultural waste that the pyrolysis solid product is easy to flow away and difficult to store, the inventive process can not only solve the high energy consumption and high cost problems of the prior sludge incineration, pyrolysis and other heat treatment methods, but also can be used for environmental treatment to save energy and reduce emission.

The invention discloses a low-frequency processing method of an asynchronous motor speed sensorless vector control system. The method comprises the following steps: performing certain time delay according to a relation of size between motor real-time given speed corresponding angle frequency and switching frequency, and carrying out switching between a vector control mode and an I/f control mode, wherein the switching frequency comprises a switching frequency relatively large value and a switching frequency relatively small value; if the motor real-time given speed corresponding angle frequency is greater than the switching frequency relatively large value, switching the vector mode into the vector control mode; if the motor real-time given speed corresponding angle frequency is not greater than the switching frequency relatively small value, switching the control mode into the I/f control mode, wherein, in the I/f control mode, the motor real-time given speed corresponding angle frequency is used for replacing estimated speed corresponding angle frequency as system operation synchronous frequency, and meanwhile a current loop adopts closed-loop control. Through the adoption of the method, the operation out-of-control state, caused by speed estimation inaccuracy in a low-frequency stage, of the speed sensorless vector control system can be effectively avoided.

The invention relates to a compound microbial preparation for inhibition of anaerobic fermentation over-acidification of vegetable wastes. The compound microbial preparation includes bacillus subtilis, bacillus cereus, bacillus megaterium, bacillus licheniformis, pichia pastoris, and saccharomyces cerevisiae. In an anaerobic fermentation environment, the microbial preparation has abilities of both producing alkaline substances and decomposing organic acids, can maintain acid-base balance of a vegetable waste anaerobic fermentation system, is well suitable for wet and dry anaerobic fermentation with the vegetable wastes as raw materials, and can guarantee smooth implementation of a biogas production process.

The invention relates to a subcritical hydrolysis-based organic solid waste treatment system and a treatment method utilizing the same. The waste treatment system comprise a homogenizing system, an external heating subcritical hydrolysis system with a waste heat recycling function, a solid-liquid separation system and an anaerobic reaction system which are sequentially connected, wherein the anaerobic reaction system comprises an IC reactor, a methane purifying tower, a gas storage bag and a heat conducting oil furnace which are sequentially connected, the IC reactor is used for carrying out efficient anaerobic reaction on filtrate so as to generate methane, and the generated methane is purified by virtue of the methane purifying tower, is stored in the gas storage bag and is then conveyed into the heat conducting oil furnace for combustion so as to supply a heat source for the external heating subcritical hydrolysis system with the waste heat recycling function. The invention further provides a treatment method utilizing the system. The subcritical hydrolysis-based organic solid waste treatment system has the beneficial effects that the decrement of organic solid waste is relatively high, the fermentation cycle is relatively short, the heat self-balancing of the whole system can be realized, and the innocent treatment of the organic solid waste can be realized.

The invention discloses a five-level self-balanced inverter based on a bridge switched capacitor module and relates to a multi-level inverter. The five-level self-balanced inverter is provided with the bridge switched capacitor module and two half-bridge circuits. The bridge switched capacitor module is provided with an H bridge and a switched capacitor module. The H bridge is provided with four high-frequency switches S1, S2, S3, and S4. The switched capacitor module is provided with a first capacitor C1a and a second capacitor C1b which are in series connection with a first capacitor network, a third capacitor C2a and a fourth capacitor C2b which are in series connection with a second capacitor network, and four full-controlled devices MOSFET switching tubes S1a, S1b, S2a, and S2b. The two half-bridge circuits are formed by four full-controlled devices MOSFET switching tubes S5, S6, S7, and S8. The five-level self-balanced inverter based on the bridge switched capacitor module may output five levels including 0, +-/2Ui, and +/-4Ui by controlling switch operating state, and achieves boosted output while outputting the multiple levels.

The invention belongs to the technical field of sea power generation and relates to a sea power generation device which comprises a floating body. A supporting frame is arranged on the floating body.The supporting frame is provided with a wind power generating mechanism which can convert wind energy into electric energy. A plurality of floating cylinders are arranged on the floating body in a surrounding manner. The floating body is provided with a first rotating sleeve. A telescoping mechanism is arranged between the first rotating sleeve and each floating cylinder. A second rotating sleeveis arranged on the supporting frame. A second connecting rod is arranged between a second rotating sleeve and each floating cylinder. An inner gear is fixedly arranged on the second rotating sleeve. The floating body is further provided with a first power generator. An output shaft of the first motor is connected with an inner gear in an engaged manner through a transmission mechanism. The sea power generation device has the advantages that energy sources such as the wind energy and the wave energy can be effectively utilized for power generation, and meanwhile, the stability of the floating body is improved.

The present invention provides a carbon-containing solid waste treatment system including a sludge pre storage drying unit, the sludge pre storage drying unit is connected with a sludge drying unit, the sludge drying unit is connected with a sludge pyrolysis unit and a fuel gas burning and heat recovery unit, and the sludge pyrolysis unit is connected with the fuel gas burning and heat recovery unit. An autothermal pyrolysis gasification system is used, gas and solid phases are separately processed, sludge is processed by mechanical dewatering, drying dewatering and pyrolysis and gasification three steps, and harmlessness, reduction, recycling and stabilization of the sludge can be realized. The heat in the system can be balanced by the heat brought by the sludge itself. When the quality of the sludge is poor and the calorific value is low, a coke pyrolysis reactor is added to realize the heat balance of the system. The system has no dioxin emission and dust emission problems, and completely realizes the clean and environmental-friendly treatment of carbon-containing solid waste such as the sludge. The application prospect is very broad.

The invention discloses a balanced mechanical arm suitable for fruit picking. The balance mechanical arm comprises a telescopic mechanical arm and a self-balancing telescopic mechanism; the telescopicmechanical arm comprises a telescopic arm, a transmission connecting rod group, a crank, an eccentric wheel connecting rod and a first motor; the transmission connecting rod group is slidably connected to the telescopic arm; one end of the transmission connecting rod group is connected with a manipulator for grabbing branches; the other end of the transmission connecting rod group is connected with one end of the eccentric wheel connecting rod; the other end of the eccentric wheel connecting rod is fixed with a connecting rod pin; a mounting hole for mounting the connecting rod pin is formedon the crank; the first motor drives the crank to rotate so as to drive the transmission connecting rod group to move in a reciprocating mode; the self-balancing telescopic mechanism comprises a telescopic arm sleeve, a double-rotating-direction different-lead screw rod, a mechanical arm balance weight, a second motor and a telescopic force guide rod; and the telescopic arm slides relative to thetelescopic arm sleeve. According to the balanced mechanical arm suitable for fruit picking, self balancing can be realized when the arm length is adjusted, and the balanced mechanical arm does not topple easily when the mechanical arm is extended.

The invention discloses a gyroscope balance device for an ultrasonic anemorumbometer and an angle self-adaptive balance adjustment method of the gyroscope balance device, wherein the ultrasonic anemorumbometer comprises a power supply module, a main control module, an ultrasonic wind measurement module, a data communication module, a data storage module, a temperature compensation module and a gyroscope balance device. The gyroscope balance device comprises a gyroscope sensor and a universal joint, wherein the gyroscope sensor is used for monitoring the working angle of the ultrasonic anemorumbometer in real time, wherein attitude calculation is carried out on the working angle of the anemorumbometer through a PID algorithm, and the universal joint is rotated to perform angle adjustment according to the change of the working angle of the anemorumbometer, and finally the ultrasonic anemorumbometer can achieve self-balancing in a short time.

The invention discloses a traction system and method for lifting a power transmission line tower. The system and method are suitable for various construction terrains and conditions. The traction system comprises a servo winch, a traction inhaul cable, a tension sensor, a tower material connecting member and the like. In the lifting process of the power transmission line tower, the tower can be stably protected, the situation that the tower tilts excessively due to severe weather such as strong wind and other human factors is prevented, and the safety in the tower lifting process is guaranteed. In-situ lifting transformation is achieved, the range of a line protection area does not need to be changed, complex procedures such as land acquisition and removal, foundation rebuilding and towererecting and stringing construction are avoided, a new tower position is not needed, and the influence on the environment is small. The method effectively solves the problem of safety guarantee in thetower lifting process, solves the problems of low efficiency and low reliability of an existing manual operation mode and method, and has the advantages of being high in controllability, stable and convenient to operate.

The invention relates to a water injection forward and inverse gas turbine combined cycle system for burning both clean fuel and biomass fuel and supplying both heat and electricity. A gas turbine adopts the form of heat regenerative water injection-inverse gas turbine combined cycle and burns clean fuel; smoke generated by biomass fuel burning in a boiler indirectly heats air entering a combustion chamber of the gas turbine at first, and then preheated air entering the boiler, wherein medium-and-low-temperature heat in cycle of the gas turbine can be used for external heat supplying. According to the water injection forward and inverse gas turbine combined cycle system, the cascade utilization principle of energy is utilized, and an external burning method and the advanced water injection forward and inverse Brayton cycle are combined organically, so that the energy utilization efficiency of the biomass fuel can be greatly improved; the ratio of the biomass fuel to the clean fuel is adjustable; and self-balance of water injection water consumption and water recycling is realized.

The invention discloses a large kelp biomass dry distillation energy self-balancing oil production system and a method thereof. The method comprises the steps: feeding large particulate kelp into a gas retort, conveying retoring gas produced by large kelp in the gas retort through dry distillation out of the gas retort, condensing through a condenser to obtain large kelp bio-oil and non-condensing gas, and respectively storing the large kelp bio-oil and large kelp non-condensing gas. According to the system and method thereof, bio-oil production can be realized by large kelp biomass dry distillation in an energy self-balancing manner, the abundant large kelp resource can be efficiently and cleanly utilized, the marine ecological construction can also be promoted to certain extent, the marine biological resources can be protected and reasonably utilized, and the specific marine advantages in China can be fully and reasonably utilized, thereby having important economic and strategy significance on promoting the development of national economy.

The invention discloses a method for preparation of fuel for blast furnace injection and fuel oil for transport. The method comprises the following steps of 1, putting raw material coal into a dry distillation furnace for a dry distillation pyrolysis reaction to obtain fuel for blast furnace injection, coal tar and gas and, 2, spraying the mixed gas of coal tar and gas by water to obtain a mixture of coal tar and water, separating the mixture to obtain coal tar, and carrying out hydrotreatment of the separated coal tar to obtain fuel oil for transport, and 3, separating hydrogen from the gas obtained by the step 1, burning the gas without hydrogen, and recycling hot waste gas produced in the burning, wherein the hot waste gas is utilized as combustion hot waste gas and for the step 1. Through control of a dry distillation pyrolysis final temperature and a proportion of middle, low and high volatile components in raw material coal, the method realizes coal-gas self-balance. The fuel which is produced by the method and is utilized for blast furnace injection has less than 20% of volatile components and thus satisfying requirements of fuel for blast furnace injection. The method improves a coal tar yield to a yield of 5 to 10%, and has important application values.

The invention provides a quadruped robot capable of achieving gait control through front-rear traction and up-down rolling, and belongs to the field of robots. The quadruped robot includes a body frame, a shank support tube, a leg support frame, a longitudinal driving unit, a longitudinal moving sliding block, a foot structure, a transverse driving unit and a transverse moving sliding block, and the foot structure is connected with a rotating shaft of the lower end of the shank support tube, the longitudinal moving sliding block is slidably connected with the leg support frame, and the longitudinal moving sliding block is fixedly connected with the shank support tube and the longitudinal driving unit to make the longitudinal driving unit drives the shank support tube move up and down alongthe leg support frame; and the sliding block end of the transverse moving sliding block is slidably connected with an outside crossbar of the body frame, and the transverse moving sliding block is fixedly connected with the leg support frame and the transverse drive unit to make the transverse driving unit drive the leg support frame to move transversely along the outside crossbar of the body frame. The quadruped robot has the advantages of simple gait, low cost, simple structure, and high feasibility and generalizability.

The invention discloses a coaxial opposite-rotation electric ceiling fan. The coaxial opposite-rotation electric ceiling fan comprises a first ceiling fan body, a second ceiling fan body, a coupler and a starting device. The first ceiling fan body comprises a first motor, a first machine shaft penetrating a stator of the first motor and fan blades connected with a rotor of the first motor. The second ceiling fan body comprises a second motor, a second machine shaft penetrating a stator of the second motor, and second fan blades connected with a rotor of the second motor. The first motor and the second motor are opposite in rotation direction. The coupler is used for connecting the first ceiling fan body with the second ceiling fan body which are arranged in advance into a whole. The starting device is arranged between the first ceiling fan body and the second ceiling fan body, and the first ceiling fan body and the second ceiling fan body are electrically connected with the starting device. According to the coaxial opposite-rotation electric ceiling fan, the air supply efficiency of the coaxial opposite-rotation electric ceiling fan can be improved, torque balance and loss reduction are achieved, a new platform is provided for electric ceiling fan appearance design, and the production speed of the coaxial opposite-rotation electric ceiling fan is increased on the premise that the existing ceiling fan motor manufacturing technology and dies are not overturned.

The invention relates to a system for road surface slope detection and automatic adjustment of a wheelchair. The system comprises a wheelchair body and a control system, and is characterized in that the wheelchair body comprises a fixing frame, front wheels, rear wheels, a seat back, a foot pedal, hydraulic rods and damping spring supporting rods, and the control system comprises a motor, a hydraulic pump, a storage battery, a controller box and a front wheel drive motor; and the controller box is internally provided with a gyroscope, an accelerometer sensor and a controller main board. The system for road surface slope detection and automatic adjustment of the wheelchair mainly realizes that 1, through an accelerometer, the gyroscope detects the heeling condition of a road surface on which the wheelchair travels; 2, the wheelchair is automatically adjusted to be level according to the detected road surface condition to improve the comfort and safety of the ride; 3, according to the safety envelope of the wheelchair and the slope condition of the road surface, the traveling speed and the turning speed of the wheelchair are automatically adjusted; 4, when a slope exceeds the safe power of the wheelchair motor, the wheelchair is automatically stopped, the motor is protected, and a safety accident is avoided; and 5, through a speaker arranged in the wheelchair, the status of the wheelchair is automatically broadcasted to assist a user in driving.

The invention relates to test equipment for mechanical properties of material, and aims at providing a self-balancing loading device of a high pressure gas environment material testing machine. The device comprises an environmental cabinet airtight cavity, and a loading rod is arranged on an environmental cabinet sealing base in a penetration manner; a disk in the airtight cavity is fixedly connected with one end of a load transmitting frame; a cabinet body opposite to the environmental cabinet sealing base is provided with a balance sleeve in a penetration manner, and one end of the balance sleeve is fixedly connected to one end of the load transmitting frame opposite to the disk; the balance sleeve is sleeved on the outside of a load measuring rod, on end of the load measuring rod is connected and fixed to the external side of the cabinet body, and the other end of the load measuring rod is connected with an upper sample clamp; the loading rod passes through the disk, and is fixedlyconnected to the disk, and an end part of the loading rod is connected with a lower sample clamp; supposing that the diameter of the load measuring rod is D1, the external diameter of the balance sleeve is D2 and the diameter of the loading rod is D3, D22-D12 = D32. With rational design of cross sections of the loading rod, the load measuring rod and the balance sleeve, the self-balance of the loading device of the high pressure gas environment material testing machine can be realized.