32results about How to "Manipulative" patented technology

A mechanism of the water-jet ship for the running backward and steering during the running backward is composed of a cylindrical body for reversely guiding water flow, two guide tubes of propulsion and with a front end communicated to ship and a back segment passing through said cylindrical body, and two opposite flow guiding bossings outside the cylindrical body and controlled by hydraulic drive rods for changing the direction of jet nozzle.

The invention discloses a rearview mirror simulation method for a vehicle driving simulation system. The method comprises the following steps: firstly, obtaining specific position and coordinate of a vehicle according to vehicle motion, capturing a rearview mirror scene by a rearview mirror camera to obtain a rearview mirror top point coordinate required to be drawn, connecting top points in sequence to form a rearview mirror surface which is rearview mirror texture, and finally pasting the rearview mirror texture onto a rearview mirror model; during driving simulation, pre-binding initial texture, replacing old texture with new texture in real time through a created pointer function, and finally finishing simulation of a whole rearview mirror. According to the method, the rearview mirror effect is creatively displayed on a vehicle model in a three-dimension manner, so that the trouble caused by occupation of main view angle can be avoided, the refresh rate of the system can be reduced, and the vividness of whole driving simulation can be improved; the method has good commercial values.

The invention belongs to the field of electric vehicles, and particularly relates to an integrated chassis control method of a four-wheel drive electric vehicle. The method comprises the following steps: utilizing a distributed driving electric vehicle kinetic model, namely a fourteen-degree-of-freedom vehicle control model, a UniTire tire model, a motor control model and a driver model, designinga vehicle state and parameter online estimation system, a side slip angle observer, a stability judgment system, an integrated coordination chassis control model, model prediction control and a multi-step center correction interior point optimization algorithm considering constraints; by analyzing the two-degree-of-freedom vehicle model, obtaining an off-line optimization system of a reference state trajectory and expected control variable. In the invention, two control methods of active front wheel steering and direct yawing moment control are combined, and the control stability of the vehicle is improved by optimizing the chassis control structure of the vehicle, reasonably designing an integrated chassis control algorithm and optimizing moment distribution of a dispatching motor.

The invention discloses a maritime search and rescue method suitable for unmanned ship-unmanned aerial vehicle combination. The maritime search and rescue method comprises the following steps of: 1, obtaining and generating a search and rescue area map; 2, performing search and rescue grouping; 3, determining a search and rescue main axis; step 4, planning a navigation route; and 5, cruising alongthe navigation route to realize search and rescue. According to the method of the invention, the maritime search and rescue method suitable for unmanned ship-unmanned aerial vehicle combination is realized through model establishment; and a specific cruise method is provided for several typical formation modes. The method is easy to understand and high in executability, and can be conveniently adopted in maritime search and rescue to achieve a better effect.

The invention discloses a steering system and a vehicle. The steering system comprises a front transverse pull rod connected with a front wheel, a front steering gear connected with the front transverse pull rod, a front assistance module, a rear transverse pull rod connected with a rear wheel, a rear steering gear connected with the rear transverse pull rod and a rear assistance module, wherein the front assistance module is installed on the front transverse pull rod and arranged to selectively provide transverse assistance and longitudinal assistance, and the rear assistance module is installed on the rear steering gear and arranged to selectively provide transverse assistance and longitudinal assistance. According to the steering system, the two-degree-of-freedom assistance modules areintegrated on the front steering gear and the rear steering gear respectively, various steering modes including steering in place and four-wheel steering can be achieved, the distance between the front assistance module and the wheels and the distance between the rear assistance module and the wheels are small, and a control instruction is rapidly and accurately controlled to make response, and the operability is higher.

The invention provides a speed-limiting anti-falling device used for lift modification and belongs to the technical field of lifting machinery. The problem that simple lifts are inconvenient to modify is solved. According to the speed-limiting anti-falling device used for lift modification, a lift comprises a lift car, guide rails, a lifting hook and two anti-falling devices. The anti-falling devices are fixedly connected to the lift car. The speed-limiting anti-falling modification device comprises a speed limiter, a tensioning wheel and a mechanical connecting device. The mechanical connecting device is fixedly connected to the lift car and connected with the anti-falling devices. The speed limiter is arranged above the lift car. The tensioning wheel is suspended on the speed limiter through a steel wire rope in a closed loop mode and located under the lift car. A rope end part of the steel wire rope is fixedly connected to the mechanical connecting device. By additionally arranging the speed limiter, the tensioning wheel and the mechanical connecting device, the rope end part of the steel wire rope which is connected between the speed limiter and the tensioning wheel in the closed loop mode is fixedly connected with the lift car, and if the lift car overspeeds, the speed limiter acts immediately to stop the lift car on the guide rails.

An air-propelled amphibious tidal land ship comprises a ship body and an air propeller power device on a deck of the ship body. A bow part of the ship body is provided with a V-shaped pointed type single ship bow, the rear portion of the bow part is connected with two longitudinal single bodies through a transition ship section to form the ship body, the two single bodies are spaced in the transverse direction and are connected through an upper connection bridge, the two single bodies, the connection bridge and the transition ship section form a longitudinal hovering channel, the bottom and the tail portion of the hovering channel are both provided with an opening, and a movable door is arranged on the opening in the tail portion of the hovering channel. A current collection pit is arranged right behind the air propeller power device, the side, towards an air propeller, of the current collection pit is provided with an opening, and the area of the opening of the current collection pit and the area in the rotation diameter of the air propeller are overlapped. The connection bridge is provided with a closed drainage air channel, the air outlet of the current collection pit is communicated with the drainage air channel, and the communication portion of the air outlet and the current collection pit is sealed. The drainage air channel is provided with an air outlet hole communicated with the hovering channel. According to the ship, the propelling and hovering functions can be achieved through the air propeller, and amphibious applicability of the tidal land ship is effectively improved.

A ship with an air propeller for propelling and hovering a ship body comprises the ship body and an air propeller power device installed on a deck of the ship body. A flow collecting nest is arranged right behind the air propeller power device. The side, facing the air propeller in the air propeller power device, of the flow collecting nest is open, and the opening area of the flow collecting nest overlaps the rotation diameter internal area of the air propeller in the air propeller power device. The part, below the deck, of the ship body is provided with a sealed flow guide air passage, the bottom of the ship body is provided with a hovering channel, the bottom and the tail of the hovering channel are open, and the tail opening of the hovering channel is provided with a movable door capable of being opened and closed. An air outlet of the flow collecting nest communicates with the flow guide air passage, the communicating positions of the air outlet of the flow collecting nest and the flow guide air passage are connected in a sealed mode, and the flow guide air passage is provided with an air outlet hole communicating with the hovering channel. According to the ship with the air propeller for propelling and hovering the ship body, the functions of propelling and hovering can be achieved by means of the air propeller, development of small hovercraft is facilitated, and the amphibious applicability of the ship is improved by adjusting the hovering function.

The invention discloses a tire with enhanced drainage ability. The tire includes a tread part, the tread part comprises two tread ends, a tread center line and a half tread unfolding width are definedbetween the two tread ends, a plurality of first grooves are formed in the tread part, the plurality of first grooves are distributed on the two sides of the center line of the tread in a staggered manner, and the plurality of first grooves are all arranged in a first area of which the unfolding width of the half tread is between 10% and 90%. Each first groove is provided with a first groove section and a second groove section which are connected with each other, wherein the first groove section is relatively close to the tread center line, the second groove section is relatively close to thetread end, an included angle between a first extension line of the first groove section and the tread center line is between 9 degrees and 12 degrees, and an included angle between a second extensionline of the second groove section and the tread center line is between 50 degrees and 55 degrees.

The invention relates to the field of semi-steel radial car tire design, in particular to an out-of-control prevention tire under a pressure loss condition. The out-of-control prevention tire under apressure loss condition comprises an annular tread portion extending in the circumferential direction of the tire, side wall portions located on the two sides of the tread portion, and a pair of beadportions arranged on the inner sides of the side wall portions in the radial direction of the tire. 1-2 tire body layers are laid between the pair of bead portions; the tire body layer is located around the bead cores of the bead portion and is rolled up from the inner side to the outer side of the tire, the outer peripheral side of each bead core of the bead portion is provided with a filling rubber strip, the outer peripheral side of the tire body layer of the tread part is provided with a plurality of belted layers, and a reinforcing layer with a special cross section is arranged between the tire body layer of the tire side part and the lining layer. By the adoption of the technical scheme, a driver can normally operate the steering wheel under the conditions of air leakage and pressureloss of a running vehicle, the vehicle continues to run slowly and stops on the roadside purposefully, the collision phenomenon caused by the fact that air leakage cannot be stopped or control cannotbe achieved is avoided, certain controllability is achieved, and the comfort of tires is not reduced.

The invention provides a three-pile four-axis engineering ship for underwater deep foundation treatment. The three-pile four-axis engineering ship comprises an automatic tilt-adjusting ballast balancing system arranged in a bilge of a hull and a pulping system is used for modulating and outputting slurry; and the pulping system includes storage tanks on a deck of the hull, a spiral feed transporting machine communicates with the storage tanks to transport the slurry to weigh hopper devices, a stirring machine is connected with the weigh hopper devices and slurry storage barrels, after the slurry output from the weigh hopper devices is stirred, the slurry is output to the slurry storage barrels for reservation. A processor machine system of the engineering ship is arranged at a prow of thehull through a pile frame system, and construction is performed through the connection of a slurry supply system and the pulping system; and a stern of the engineering ship is provided with a dormitory living area and a control room. According to the technical scheme, the three-pile four-axis engineering ship solves the inadequacies of an existing engineering ship in the ocean water marine trafficengineering, the engineering ship adapted to the characteristics of the ocean water marine traffic engineering is realized, the three-pile four-axis engineering ship is economical in economy, compactin structure, high in degree of mechanization, and high in automatic control performance; and construction speed and construction quality are guaranteed.

The invention provides a locking device. One end of a pin roll is fixedly arranged on a driving wheel of a 60-degree indexing mechanism; the other end of the pin roll is rotationally connected with a driven wheel of the 60-degree indexing mechanism between grooves; the driven wheel of the 60-degree indexing mechanism is connected with a cross plate by the pin roll; an emergency lock driving wheel is arranged on a door body and rotates along with a lock cylinder and is meshed with an emergency lock driven wheel; the emergency lock driven wheel is integrally connected with an emergency disk; an emergency disk rolling stopper pin is arranged on the door body; the upper end of a screw is fixedly arranged on a stop ring; and the lower end of the screw is connected with sliding pins of an upper pin connecting rod and a lower pin connecting rod. The locking device disclosed by the invention is not influenced by a rotating angle of a rotating handle and has fixed extending length; in addition, four sides can be completely locked and manual opening can be realized when faults occur; the factor that the extending length of the pin is uncertain caused by inertia of a direct current motor is completely avoided; and the pin is completely locked without being freely rotated after the door is opened or closed. The locking device has the advantages of functions of a full-automatic opening-closing lock, simple and practical structure and strong control performance of products.

The invention discloses a solar multi-axis unmanned aerial vehicle structure without self-weight energy consumption, which comprises an unmanned aerial vehicle structure body. An airship is connectedto the top of the unmanned aerial vehicle structure body, an equipment cabin is fixedly connected to the bottom of the unmanned aerial vehicle structure body, a plurality of cantilevers are connectedto the outer side of the unmanned aerial vehicle structure body, and driving motors are fixed to one ends of the cantilevers. The tops of the driving motors are connected with driving shafts, the topends of the driving shafts are connected with rotor wings, an auxiliary airbag is arranged in the center in the airship, a main airbag is arranged on the outer side of the auxiliary airbag, suspensionwire cord fabric is arranged on the surface of the top end in the airship, and a suspension cable is arranged between the suspension wire cord fabric and the unmanned aerial vehicle structure body. The unmanned aerial vehicle technology and the airship structure are combined, the buoyancy of the airship can counteract the gravity of the unmanned aerial vehicle, solar energy and the airship, a whole aircraft is suspended at the fixed position in air under zero gravity, and the safety of the aircraft is guaranteed.

An air-propelled amphibious tidal land ship comprises a ship body and an air propeller power device on a deck of the ship body. A bow part of the ship body is provided with a V-shaped pointed type single ship bow, the rear portion of the bow part is connected with two longitudinal single bodies through a transition ship section to form the ship body, the two single bodies are spaced in the transverse direction and are connected through an upper connection bridge, the two single bodies, the connection bridge and the transition ship section form a longitudinal hovering channel, the bottom and the tail portion of the hovering channel are both provided with an opening, and a movable door is arranged on the opening in the tail portion of the hovering channel. A current collection pit is arranged right behind the air propeller power device, the side, towards an air propeller, of the current collection pit is provided with an opening, and the area of the opening of the current collection pit and the area in the rotation diameter of the air propeller are overlapped. The connection bridge is provided with a closed drainage air channel, the air outlet of the current collection pit is communicated with the drainage air channel, and the communication portion of the air outlet and the current collection pit is sealed. The drainage air channel is provided with an air outlet hole communicated with the hovering channel. According to the ship, the propelling and hovering functions can be achieved through the air propeller, and amphibious applicability of the tidal land ship is effectively improved.

The present invention relates to the technical field of robots, more specifically, amphibious robots in the water, land and air. The water and land walking device includes a connecting seat, a motor I, a swivel seat, a motor II and a runner. The motor I is installed on the connecting seat, and the swivel seat is fixedly connected to the motor. On the output shaft of I, the motor II is fixedly connected to the turntable, and the runner is connected to the output shaft of the motor II. One end of the swing rod is sleeved on the gear rod, the other end of the swing rod is fixedly connected with the connecting seat, the top of the rotating shaft is connected with a rotor, and the rotating shaft is movably connected with the top of the robot main body. The amphibious robot can flexibly navigate in three different situations of water, land and air. It has the characteristics of easy turning and moving on land, flexible driving in water, and flying in all directions in the air. It has strong maneuverability and is suitable for military survey or civilian monitoring. , has a wide application value and prospect.

A ship with an air propeller for propelling and hovering a ship body comprises the ship body and an air propeller power device installed on a deck of the ship body. A flow collecting nest is arranged right behind the air propeller power device. The side, facing the air propeller in the air propeller power device, of the flow collecting nest is open, and the opening area of the flow collecting nest overlaps the rotation diameter internal area of the air propeller in the air propeller power device. The part, below the deck, of the ship body is provided with a sealed flow guide air passage, the bottom of the ship body is provided with a hovering channel, the bottom and the tail of the hovering channel are open, and the tail opening of the hovering channel is provided with a movable door capable of being opened and closed. An air outlet of the flow collecting nest communicates with the flow guide air passage, the communicating positions of the air outlet of the flow collecting nest and the flow guide air passage are connected in a sealed mode, and the flow guide air passage is provided with an air outlet hole communicating with the hovering channel. According to the ship with the air propeller for propelling and hovering the ship body, the functions of propelling and hovering can be achieved by means of the air propeller, development of small hovercraft is facilitated, and the amphibious applicability of the ship is improved by adjusting the hovering function.

The invention discloses a rearview mirror simulation method for a vehicle driving simulation system. The method comprises the following steps: firstly, obtaining specific position and coordinate of a vehicle according to vehicle motion, capturing a rearview mirror scene by a rearview mirror camera to obtain a rearview mirror top point coordinate required to be drawn, connecting top points in sequence to form a rearview mirror surface which is rearview mirror texture, and finally pasting the rearview mirror texture onto a rearview mirror model; during driving simulation, pre-binding initial texture, replacing old texture with new texture in real time through a created pointer function, and finally finishing simulation of a whole rearview mirror. According to the method, the rearview mirror effect is creatively displayed on a vehicle model in a three-dimension manner, so that the trouble caused by occupation of main view angle can be avoided, the refresh rate of the system can be reduced, and the vividness of whole driving simulation can be improved; the method has good commercial values.

The invention discloses a steering system and a vehicle. The steering system comprises a front transverse pull rod connected with a front wheel, a front steering gear connected with the front transverse pull rod, a front assistance module, a rear transverse pull rod connected with a rear wheel, a rear steering gear connected with the rear transverse pull rod and a rear assistance module, wherein the front assistance module is installed on the front transverse pull rod and arranged to selectively provide transverse assistance and longitudinal assistance, and the rear assistance module is installed on the rear steering gear and arranged to selectively provide transverse assistance and longitudinal assistance. According to the steering system, the two-degree-of-freedom assistance modules areintegrated on the front steering gear and the rear steering gear respectively, various steering modes including steering in place and four-wheel steering can be achieved, the distance between the front assistance module and the wheels and the distance between the rear assistance module and the wheels are small, and a control instruction is rapidly and accurately controlled to make response, and the operability is higher.

The invention discloses an unmanned surface vehicle path planning method based on a Bi-RRT algorithm guided by an improved artificial potential field method, and belongs to the technical field of artificial intelligence. The method comprises the following steps: obtaining navigation information of an unmanned surface vehicle, and determining a starting point and a target point of the unmanned surface vehicle; constructing a bidirectional starting point extension tree and a bidirectional target point extension tree in a mutually staggered manner based on a Bi-RRT algorithm guided by an improved artificial potential field method; when the starting point extension tree and the target point extension tree meet the meeting condition, backtracking is conducted to the starting point extension tree and the target point extension tree from the meeting joint, and a safe and smooth global path of the unmanned ship is obtained. According to the method, navigation water area range information and starting point and target point position information are determined, and a path which is high in obstacle avoidance accuracy, excellent in smoothness and short in voyage is designed for the unmanned ship in advance.

The invention discloses an agricultural bionic bird repelling unmanned aerial vehicle based on deformable wings. The agricultural bionic bird repelling unmanned aerial vehicle comprises a vehicle body, the wings, an empennage, and a power module, a bionic audio transmitting module, an ultrasonic transmitting module, a strong light transmitting module and an image transmission module which are arranged on the vehicle body. The wings comprise at least two wing bodies arranged in sequence, a driving mechanism arranged between every two adjacent wing bodies and a flexible skin. Every two adjacentwing bodies are connected through a hinge structure. The driving mechanism comprises a steering engine, a rocker arm and a connecting rod; the steering engine is arranged on one wing body, a main shaft of the steering engine is connected with the rocker arm, one end of the connecting rod is hinged to the rocker arm, and the other end of the connecting rod is hinged to the other wing body. In the bird repelling process of the unmanned aerial vehicle, the wings can deform, the characteristics of the eagle wings are simulated, and different deformations are achieved according to different requirements so that action bionics is achieved, maneuverability is high, and the bird repelling effect is good.

The invention discloses an oil way preheating system of a diesel engine. The diesel engine comprises a diesel tank, a diesel pipeline, a diesel filter element and a fuel pump, wherein an electronic booster pump is additionally arranged on the diesel filter element; heating elements are correspondingly arranged in the diesel tank, in the diesel pipeline and outside the diesel filter element; the heating elements and the electronic booster pump are connected with a control switch; and the control switch is connected with a power supply. The invention further discloses a preheating method. The preheating method comprises the following steps: firstly, diesel in the diesel tank, the diesel filter element, a first pipeline and a second pipeline is preheated; when wax-deposited diesel in a precipitation cup of an oil-water separator is changed to a normal color, the heating is stopped; the gear of the control switch is switched; the electronic booster pump starts to work; the preheated dieselis pumped to the fuel pump; the fuel pump pumps the diesel back into the diesel tank; and the cyclic heating is performed. The preheating system and the preheating method can effectively solve the problem of difficult starting of the diesel engine, and meanwhile, can prolong the service life of the fuel pump through adding the fuel filter element to reduce the cost.

The invention discloses a detachable split type bone rongeur, which comprises a fixed handle (1), a movable handle (2), a rongeur body (3) and a cutting rongeur rod (6), wherein the fixed handle (1) and the rongeur body (3) are an integrated structure; the movable handle (2) and the fixed handle (1) are movably connected by a rotating shaft (4); the upper part of the movable handle (2) is located inside the rongeur body (3); a push rod (5) is arranged at the top of the movable handle (2); and one end of the cutting rongeur rod (6) is arranged inside the rongeur body (3). The detachable split type bone rongeur can quickly separate out and cut angular bones and irregular ligaments, solves the problem that the traditional cutting forceps are not smooth in cutting and separating, can be disassembled, is low in the manufacturing cost, and can solve the light reflecting problem of the traditional cutting forceps rods.

The invention discloses a guided and closed annular wind tunnel which is provided with an annular chamber with an oval tube structure. The tube wall of the annular chamber is provided with a pluralityof air exhaust openings, air injection openings and sealed hatch doors, wherein a plurality of pairs of air-guide tubes and air-return tubes, communicated with the annular chamber, are arranged correspondingly and tangentially on two side walls of arc-shaped tube walls at both ends of the oval annular chambers in major axis. The other end of each pair of air-guide tube and air-return tube is connected with a three-way body. Every two adjacent three-way bodies, connected with the air-guide tube and the air-return tube, are connected with a power guide device. The air-guide tubes are arranged on the annular chamber in the same direction as the set airflow direction; the air-return tubes are arranged on the annular chamber in a direction opposite to the set airflow direction. The wind tunnelhas simple structure, can obtain continuous accelerating force, provide a plurality of modes simulating the flow velocity, flow line, flow volume, heat and pressure of actual flow fields, and is notlimited in the experiment period. The invention has relatively high efficiency, energy conservation and environmental protection.

The invention discloses a suspended hydraulic basketball stand. The basketball stand comprises a top plate, wherein the top plate is connected with first hinging bases, rotating hydraulic cylinders are connected with the first hinging bases, the ends of the rotating hydraulic cylinders are connected with second hinging bases, and the middle of the top plate is provided with a third hinging base; ahydraulic cylinder is mounted on the third hinging base and connected with a support rod, the end of the support rod is provided with an elbow, the end of the elbow is connected with a backboard, a basket is mounted on the backboard, and the second hinging bases are connected to the end of the hydraulic cylinder. Compared with the prior art, the suspended hydraulic basketball stand has the advantages that the basketball stand can be suspended on a ceiling for adjustment of a basketball stand body, the basketball stand can be folded through remote control, the angle of the support rod can be effectively adjusted by the left and right rotating hydraulic cylinders, the support rod can also be retracted into the hydraulic cylinder after angle adjustment is finished, operation is convenient and fast, the controllability of remote control is achieved, people do not need to directly work, the retractable support rod can adapt to indoor fields of ceilings different in height, and the market prospect is good.

The piezoelectric-driven underwater robot comprises a robot body, a piezoelectric propeller and a steering mechanism, the robot body comprises a shell, a power source and a main control module, the power source and the main control module are arranged in the shell, the shell is provided with a dorsal fin and a side fin which are used for keeping the posture stable, and the piezoelectric propeller is rotationally connected with the robot body; comprising a water inlet cabin, a water drainage cabin and a piezoelectric driving device arranged between the water inlet cabin and the water drainage cabin, the piezoelectric driving device is electrically connected with a main control module, the piezoelectric driving device is formed by compounding two piezoelectric patches, and high-frequency vibration energy generated by vibration acts on water flow flowing into the water inlet cabin, so that the water flow is sprayed out at a high speed from the tail of the water drainage cabin; therefore, high-speed advancing of the robot is achieved. The advantages of piezoelectric driving are fully applied to driving of the underwater robot, cavitation bubbles cannot be generated when the robot advances at a high speed, damage to a propelling system is avoided, maneuverability and maneuverability are high, rollover or rotation cannot occur underwater, and posture control is easy.

The invention discloses a V-type high-power medium-speed diesel engine. The V-type high-power medium-speed diesel engine comprises a cylinder assembly, an oil injection assembly, an air starting assembly, a gas intake and exhaust assembly, a lubricating assembly and a cooling assembly. A cylinder block is a V-type cylinder block. The included angle between two rows of cylinders of the V-type cylinder block is 50 degrees, the bore diameter of cylinder holes of the cylinder block is 390mm, the stroke of the cylinder is 550mm, the center distance between the cylinder holes is 840mm, and the ratedpower of a single cylinder is 850kW. Thanks to the V-type cylinder block structure, the diesel engine body structure is more compact. Owing to the arrangement of the split cylinder head and a segmented gas inlet pipe, maintenance is facilitated, and parts are convenient to replace. A split or segmented pressure storage rail makes oil supply pressure more stable. By adopting a distributor and twosets of starting systems, a plurality of starting modes of the diesel engine can be chosen and better controlled. The inlet gas temperature is ensured by a two-stage air cooler. Safety is ensured thanks to the heat insulation arrangement of an exhaust manifold. The lubricating assembly and the cooling assembly are additionally provided with electronically driven oil pumps or water pumps to enhancethe controllability of lubrication and cooling.

The invention provides a locking device. One end of a pin roll is fixedly arranged on a driving wheel of a 60-degree indexing mechanism; the other end of the pin roll is rotationally connected with a driven wheel of the 60-degree indexing mechanism between grooves; the driven wheel of the 60-degree indexing mechanism is connected with a cross plate by the pin roll; an emergency lock driving wheel is arranged on a door body and rotates along with a lock cylinder and is meshed with an emergency lock driven wheel; the emergency lock driven wheel is integrally connected with an emergency disk; an emergency disk rolling stopper pin is arranged on the door body; the upper end of a screw is fixedly arranged on a stop ring; and the lower end of the screw is connected with sliding pins of an upper pin connecting rod and a lower pin connecting rod. The locking device disclosed by the invention is not influenced by a rotating angle of a rotating handle and has fixed extending length; in addition, four sides can be completely locked and manual opening can be realized when faults occur; the factor that the extending length of the pin is uncertain caused by inertia of a direct current motor is completely avoided; and the pin is completely locked without being freely rotated after the door is opened or closed. The locking device has the advantages of functions of a full-automatic opening-closing lock, simple and practical structure and strong control performance of products.

The invention relates to an SNCR-SCR combined flue gas denitrification system, which comprises a horizontal flue channel, a main flue channel connected to the horizontal flue channel, and a chimney connected to the outlet of the main flue channel, wherein an ammonia spraying grid is arranged in the horizontal flue channel, and a SCR reaction device is arranged in the main flue channel. The SNCR-SCR combined flue gas denitrification system is characterized in that the system further comprises a flue gas returning device arranged between the main flue channel and the chimney and used for selectively returning the flue gas outflowing from the main flue channel to the horizontal flue channel. The SNCR-SCR combined flue gas denitrification system of the present invention has effects of flue gas flow direction adjusting, denitrification efficiency improving, and nitrogen oxide emission reducing.