125results about How to "Guaranteed operational stability" patented technology

The invention relate to a device and a method for controlling a single-bus modular digital actuator of a robot. The device comprises an actuator control unit, a direct-current motor, a communication module, a speed reduction mechanism, position and temperature sensors and a current protection circuit. The method includes that the actuator control unit computes control parameters according to the running temperatures, driving currents of the motor and the position of the actuator and outputs the control parameters to a motor control circuit; the communication module receives control instructions of an upper computer and feeds information of the current position of the actuator, the current speed of the actuator and the like to the upper computer; a high rotational speed and low torque of the motor are converted into a low rotational speed and high torque by the speed reduction mechanism and an output mechanism, and the low rotational speed and the high torque are outputted by the speed reduction mechanism and the output mechanism; the position sensor, the temperature sensor and the current protection circuit are respectively used for feeding current position signals of the actuator, the running temperatures and the driving currents of the motor to the actuator control unit, so that closed-loop high-precision safety control can be implemented. The device and the method have the advantages of overcurrent, overvoltage and over-temperature protection, capability of preventing overload or over-temperature damage, high response speed, zero dead zones and high control precision.

A vehicle (1) includes first and second rear-floor cross members (4, 5) provided between right and left rear-floor side members (2, 2) in a vehicle body rear part and a pair of right and left rear-floor cross member braces (6, 6) provided therebetween. The second rear-floor cross member is formed by a three-member connected body consisting of right and left extension parts (52, 52) connected to the right and left rear-floor side members and a body part (51) arranged therebetween. The rear-floor cross member braces are connected to the body part (51) of the second rear-floor cross member. Shock energy of a shock load applied to the vehicle body rear part from the rear can be absorbed efficiently while the deformation of a rectangular region surrounded by the first and second rear-floor cross members and the right and left rear-floor cross member braces is restrained.

The invention discloses a virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction. A barrier in the environment is recognized through vision, and the control capacity is designed by calculating the real-time distance with the barrier so that safety and operation performance of remote operation can be guaranteed. The application occasion is that the tail end of a manipulator dynamically avoids the barrier during space remote operation and reaches a specific location. As the space environment is uncertain or operation instability is caused by unstructured environment factors, an operator can not control or operate the tail end to reach the specific location at the expected time. Therefore, it is required that during operation, the optimal route is updated in real time while the tail end point dynamically avoids the barrier, the operation efficiency is improved, and meanwhile operation stability is guaranteed.

The invention relates to an ethylene cryogenic separation method for a large-sized ethylene device. The method includes the steps that mixed gas is precooled, cooled by a series of coolers and separated by a component separation container so that a gas phase and multi-strand liquid phases can be obtained; the gas phase is separated by a series of plate-fin heat exchangers and a component separation container so that a gas phase and multi-strand liquid phases can be obtained, after the pressure of liquid phase methane is reduced, cooling capacity is recycled through the heat exchangers, the liquid phase methane is conveyed to a downstream system, one of the multi-strand liquid phases and the liquid phase methane after pressure reduction are mixed, the rest of the liquid phases enter a demethanizer, and coarse hydrogen products enter the downstream system; the two firstly-coagulated liquid phases in the multi-strand liquid phases respectively enter a pre-demethanizer, and the rest of the liquid phases respectively enter the demethanizer; the pre-demethanizer separates the liquid phases into gas and liquid, the gas is delivered to the demethanizer, and the liquid is delivered to the downstream system; the demethanizer separates the gas phase into methane and C2 which are delivered to the downstream system, and the methane is delivered to the downstream system. By means of the ethylene cryogenic separation method for the large-sized ethylene device, 30% of the size of a cold box is decreased, equipment and cost are reduced, energy saving and cost reduction are achieved, and operating stability is guaranteed.

a serial fan device including two fans linked serially is provided. Each of the two fans has a housing, a driving member and a fan wheel, the housing has an outer frame and a base, the outer frame has two openings and a guiding channel linking the two openings, the driving member is disposed on the base, and the fan wheel is rotatably coupled with the driving member. At least one of the two fans has a positioning rim on the outer frame for the base to couple therewith, and a radial buffer gap is formed between an outer periphery of the base and an inner periphery of the positioning rim. Accordingly, the radial buffer gap can largely reduce the vibration transmitted from the base to the outer frame.

A low vibration fan including a housing, a driving member and a fan wheel is provided. The housing has an outer frame and a base, wherein the outer frame has two openings, a positioning rim, and a guiding channel linking the two openings, wherein the base couples with the positioning rim, and wherein a radial buffer gap is formed between an outer periphery of the base and an inner periphery of the positioning rim. The driving member is mounted on the base. The fan wheel couples with the driving member rotatably. Accordingly, the radial buffer gap can largely reduce the vibration transmitted from the base to the outer frame.

The invention discloses a full-temperature-range adsorption, extraction and separation method capable of recovering H2 and C<2+> from refinery plant dry gas. The method comprises the processes of performing adsorption and concentration on the C<2+>, performing extraction and desorption on the C<2+>, performing separation and recovery on the C<2+>, performing PSA separation and purification on thehydrogen (H2) and the like; the refinery plant dry gas passes through the C<2+> concentration and adsorption process, and most of C<2+> hydrocarbon components are adsorbed by an adsorption and concentration tower; H2-enriched gas flowing out of the top of the tower enters the process of performing PSA separation and purification on the H2 to obtain the H2 product with the purity of 98 to 99 percent; and the desorption gas is pressurized and returns to the C<2+> adsorption and concentration process to further recover the H2 and the C<2+>. After the adsorption step is completed, the effective component C<2+> is dissolved out by the C<2+> extraction and desorption process, the extraction and desorption gas enters the C<2+> separation and recovery process, the non-condensable gas H2 escapes, and the H2 and the H2-enriched gas are mixed to enter the process of performing PSA separation and purification on the H2; an extracting agent escapes, is regenerated, recovered and processed and thenis recycled; and the adsorption-extraction and desorption process is adopted, so the energy consumption investment is saved, the flow is shorter, the efficiency is higher, the service life of the adsorbent is longer and full-component recovery can be realized.

The invention belongs to the technical field of pervaporation membrane separation and in particular relates to a preparation method of a modified organosilicone dephenolized membrane. The preparation method of the modified organosilicone dephenolized membrane comprises the following steps: firstly, mechanically stirring room temperature vulcanization liquid silicone rubber with a solvent until the room temperature vulcanization liquid silicone rubber is dissolved and a transparent solution is formed; then, adding a crosslinking agent and a catalyst, and mechanically stirring for 5-20 minutes, wherein the mass ratio of the room temperature vulcanization liquid silicone rubber to the solvent to the crosslinking agent to the catalyst is 33:60:5:2; then adding oleic alcohol the mass of which is 1%-5% of that of the room temperature vulcanization liquid silicone rubber, mechanically stirring for 2-10 minutes, and uniformly mixing; and finally, casting the obtained solution on a supporting basement membrane to form a membrane, standing at room temperature for 4-5 hours, and then drying the membrane in a vacuum drying oven at the temperature of 60-80 DEG C for 8-12 hours. A preparation process of the modified membrane is simple and easy, and the obtained membrane has good comprehensive performance of separating phenol from water when being used for separating a phenol/water mixture; permeation flux of the membrane can be 526g.m<-2>.h<-1>, and a separation factor of the membrane can be 8.63; great potential in industrialized application is shown.

The invention belongs to the technical field of vehicle damping devices and specifically relates to a built-in electromagnetic-valve-type semi-active damping-continuous-adjustable shock absorber, anda control method. The built-in electromagnetic-valve-type semi-active damping-continuous-adjustable shock absorber comprises a shock absorber body and a shock absorber control system and is characterized in that the shock absorber body comprises a working cylinder barrel, an oil storage cylinder barrel, a shock absorber dustproof cover, a bottom valve assembly, a piston assembly and an electromagnetic valve assembly. The invention also discloses the control method for the built-in damping-continuous-adjustable shock absorber. The control method is characterized in that continuous switching control of different modes can be realized for soft and hard damping of the shock absorber; an electromagnetic valve can be rationally integrated with a piston inside the damping-continuous-adjustable shock absorber; different cross section structures are adopted for a valve core; guidance structures are designed around the valve core, so the valve core is more stable; damping is realized, and damping adjustment of different comfort degrees can be realized; use is convenient; space is saved; use prospect is wide; and promotion and use are easy.

The invention provides a multifunctional mechanical automatic mold processing device. The multifunctional mechanical automatic mold processing device comprises a rack, adjusting handles, a filter net,supporting pipes, adjusting rods, adjusting bolts, supporting foot stands, an automatic control screen, vertical bases, a linear sliding rail and limit switches, wherein the four corner parts of theouter side of the rack are in transversely threaded connection with the adjusting handles, and the middle position of the interior of the rack is in screw connection with the filter net. Turnover motors, movable adjusting pipes, square head bolts, mold blank clamping plates, internal thread holes and clamping bolts are arranged, by loosening the square head bolts, the positions of the movable adjusting pipes on the outer walls of output shafts of the turnover motors can be moved and adjusted, the positions are determined, the square head bolts are locked, mold blanks are placed between the mold blank clamping plates, the clamping bolts are abutted or screwed into the thread holes in the mold blanks, then turnover processing operation can be carried out through the turnover motors, and theoperation convenience is ensured.

The invention relates to a treatment method of an oily sludge and sand, which comprises the following steps of: adding oily sludge and sand into a specially designed feeder, forcibly mixing the oily sludge and sand with water after passing through a distribution plate to obtain homogenization treatment, conveying the treated material to a specially designed sand washer, separating out large-particle-size coarse sand particles under the impact of a multi-stage distribution plate and inlet water, conveying to an impeller agitator, under the action of microbubbles generated by an impeller, and settling the materials in a grading manner, wherein the upper scum layer is high-oil-content sludge, and the lower settling layer is low-oil-content sludge. According to the feeder and the sand washer, oil sludge and sand are fully homogenized through the arrangement of multi-stage distribution plates and a water inlet mixing mode, and coarse sand separation is achieved. The oil content of the high-oil-content sludge separated by the method is greater than or equal to 40%, and the water content is less than or equal to 50%; the oil content in the low-oil-content sludge is less than or equal to 6%, and the water content is less than or equal to 40%.

The present invention relates to the field of the rotor technology, especially to a remote control fire-fighting robot communication method and a fire-fighting robot. The communication method employs the distribution mode with the same frequency range and different bandwidths occupied by different information at the same frequency range to improve the wireless communication channel utilization efficiency. The present invention further provides a fire-fighting robot, and the fire-fighting robot sends information by employing the remote control fire-fighting robot communication method. Through adoption of the distribution mode with the same frequency range and different bandwidths occupied by different information at the same frequency range, the types of information of the remote control are integrated into the same communication frequency range through a reasonable data distribution method in the premise of ensuring the operation stability of the robot so as to effectively improve the channel resource utilization efficiency and reduce the making cost of the robot.

The invention discloses a cutting and supporting dual-purpose mechanical device and method for treating tunnel surrounding rock, and belongs to the technical field of tunnel and underground engineering auxiliary construction devices. The device is convenient to move by arranging a travelling mechanism, and by adjusting the lifting height and the tilt angle of a continuous pushing jack, a cutting and supporting system is close to the surrounding rock. A cutting mechanism and a hydraulic jacking mechanism are controlled correspondingly by a controller, two working modes of surrounding rock cutting and surrounding rock supporting are provided, the device is convenient to use, the time and labor are saved, the safety of operation is high, the entire device is small in size and can be suitablefor various tunnel environments, and the practicability is high.

The invention discloses a manufacturing method of a corrugated carton, and relates to the technical field of corrugated paper packaging. The manufacturing method comprises the following steps of 1, cutting, specifically, cutting a corrugated paper raw material to obtain a corrugated paperboard; 2, printing, specifically, conveying the cut corrugated paperboard to a printing machine, selecting an image-text printing plate, printing the corrugated paperboard, and obtaining a printed matter; 3, spraying protection, specifically, evenly spraying a protective agent to the surface of the printed matter, and obtaining a coated semi-finished product after complete drying; 4, slotting, specifically, slotting the dried coated semi-finished product through a slotting machine to obtain a corrugated paper sample plate; 5, die cutting, specifically, performing die cutting on the grooved corrugated paper sample plate through a die cutter, and obtaining a die cutting sample plate; and 6, box pasting,specifically, folding and bonding the die cutting sample plate through a carton bonding machine to obtain a corrugated carton finished product. In the actual application process, printed patterns arenot prone to being stained, and the overall quality of the corrugated carton can be guaranteed.

The invention discloses a driving device for an automatic spraying device of a high-voltage power line. The driving device comprises an equipment carrier, an equipment carrier driving device, an equipment carrier balancing device and a high-voltage power line guide rail, wherein the equipment carrier driving device comprises a driving wheel, a driving wheel fixing bracket and a driving device for the driving wheel; the driving wheel comprises a first groove idler wheel; a driven gear which is concentric with the first groove idler wheel is arranged on a side wall of the first groove idler wheel; a trolley balancing device comprises a driven wheel and a driven wheel hinge bracket; the driven wheel is arranged as a second groove idler wheel; a wheel axle of the second groove idler wheel is in rolling connection with the upper end of the driven wheel hinge bracket; the lower end of the driven wheel hinge bracket is hinged with the right upper end of the equipment carrier. The driving device has the characteristics of simple and convenient operation, safety, reliability and high working efficiency.

The invention provides a preparation method of styrene butadiene rubber. The preparation method comprises the following steps: performing emulsion polymerization of styrene and butadiene, wherein whenthe conversion rate of total monomers for emulsion polymerization reaches 58-62%, a sylvite aqueous solution is added into the reaction system of emulsion polymerization, and reacting is further conducted to obtain styrene butadiene rubber. In the method, viscosity of a polymerization system with a high conversion rate can be controlled to a viscosity level with low conversion rate, then the viscosity of the system is kept at a relatively low state, and the problems of performance degradation of the styrene butadiene rubber and decrease of latex heat transfer and stability caused by excessively high viscosity are relieved. Thus, the conversion rate of emulsion polymerization can be improved while the product performance and operation stability are maintained. The one-time utilization rateof the monomers is increased, the recycling energy consumption is reduced, and the production capacity of the polymerization equipment can be enhanced; and therefore, the method has great significance.

The invention relates to a preparation method of a modified polyurethane-organosilicon double layer pervaporation membrane, and relates to the field of pervaporation membrane separation. The pervaporation membrane comprises two layers; an organosilicon film layer is a surface layer, a polyurethane film layer added with a modifier is a sub layer; (1) the polyurethane film layer is prepared as follows: polyurethane PU particles are put in solvent DMAc to obtain a solution, the mass of the PU particles accounts for 10% of the total mass of the solution, the modifier is added, and mechanically stirred to dissolve; and the film is formed by curtain coating and then dried; (2) the organosilicon film layer is compounded as follows: PDMS is added to a solvent, and cross-linking agent tetraethoxysilane and catalyst dibutyltin dilaurate are added, and stirred at 30 DEG C for 10-15min to dissolve until the mixture is viscous; and a casting solution is scraped on a the modified PU film prepared in the (1), statically placed at room temperature and dried. The modified polyurethane-organosilicon double layer pervaporation membrane has good separation performance for phenolic compounds in water. Both the permeation flux and the separation factor are improved, compared with that of unmodified PU film and a single layer PU membrane.