134results about How to "Simple control method" patented technology

The invention relates to the technical field of automobile intelligent control, in particular to an air conditioner intelligent control method and system based on passenger comfort. Acquiring the distribution condition of passengers in the vehicle, and collecting passenger body temperature information and passenger feature information; passenger comfort temperature is obtained based on the passenger feature information; comparing the body temperature of the passenger with the comfortable temperature of the passenger; and the vehicle-mounted air conditioner is controlled according to the comparison result until the body temperature of the passenger conforms to the comfort temperature of the passenger. The air conditioner control method is simple and efficient, the sensitivity and the demand degree of human bodies of different passengers to the temperature can be accurately recognized, and the temperature of each passenger can be adjusted according to the riding positions of the different passengers so as to meet the comfort requirement of the passengers; and the energy consumption of the air conditioning system can be reasonably controlled according to different passenger requirements and the number of passengers, unnecessary energy consumption is reduced, the endurance mileage of the whole vehicle is increased, and the experience feeling of the passengers is improved.

The invention provides a radiation air conditioning system. The radiation air-conditioning system comprises a radiation air-conditioning plate, an indoor heat exchanger, a compressor, an outdoor heat exchanger and an indoor temperature detection device, and the controller is configured to close a radiation air-conditioning plate electromagnetic valve and open a heat exchanger electromagnetic valve after a starting-up signal is obtained; if the change rate d of the compressor frequency within the time t0 is not larger than the preset change rate d1, when the evaporation temperature is smaller than the dew point compensation temperature, the opening degree of the first electronic expansion valve is gradually reduced till the evaporation temperature is not smaller than the dew point compensation temperature, and the opening degree of the first electronic expansion valve is S1 at the moment; if S1 is not smaller than the preset opening degree Sa, a radiation air conditioner plate electromagnetic valve is opened, a heat exchanger electromagnetic valve is opened, and circulation is carried out again; if S1 is smaller than the preset opening degree Sa, a radiation air conditioner plate electromagnetic valve is closed, and a heat exchanger electromagnetic valve is opened; and if the continuous operation time of the compressor is t10 and the first temperature difference value delta T belongs to the target temperature interval [delta T1, delta T2], the electromagnetic valve is opened and closed according to the capacity section where the frequency of the compressor is located.

The invention relates to the technical field of electric vehicle heat management, in particular to an indirect heat pump type heat management system. Comprising an electric drive cooling liquid loop, a battery cooling liquid loop, a heating cooling liquid loop and a refrigerant loop. The heating cooling liquid loop comprises a first heating loop and a second heating loop; the first heating loop is connected in series with a warm air core body; the second heating loop exchanges heat with the battery cooling liquid loop through the battery heating heat exchanger; the refrigerant loop comprises a first refrigerating loop, a second refrigerating loop and a third refrigerating loop; the first refrigerating loop exchanges heat with the heating coolant loop through the water-cooled condenser; the second refrigerating loop exchanges heat with the battery cooling liquid loop through the battery cooling heat exchanger; an evaporator used for cooling the passenger compartment is connected to the third refrigeration loop in series. And the battery cooling liquid loop and the electric drive cooling liquid loop are mutually coupled and communicated. The indirect heat pump type heat management system can well meet the heating requirements of a battery pack and a passenger compartment.

The invention belongs to the technical field related to robot visual control, and discloses a method and system for cooperatively controlling a mechanical arm to move based on visual servo and force sense admittance. The method comprises the steps that a mechanical arm moves to an assembly target position, and an image collection device collects an image of a target point at the assembly target position as an expected image; the tail end of the mechanical arm clamps the to-be-assembled workpiece to move to an assembly target position, an image collection device collects an image of a target point in real time in the moving process of the tail end of the mechanical arm, and the image collected in real time is compared with an expected image so as to calculate the movement speed vc of the tail end of the mechanical arm; when the to-be-assembled workpiece is in contact with the pin at the assembly target position, the force sensor measures the force and the torque during contact, and the movement speed vf of the tail end of the mechanical arm is calculated through the force and the torque; and calculating the movement speed of the tail end of the mechanical arm at the next moment by utilizing the movement speeds vc and vf of the mechanical arm. According to the invention, the problem that visual control and force control cannot be cooperatively controlled in the prior art is solved.

The invention relates to the technical field of automobile thermal management, in particular to a thermal management control method and system for an energy storage system of a power battery pack for an automobile. Comprising the steps of setting discharging time and charging time of an energy storage system; the temperature of a battery pack cell in the energy storage system and the current temperature in the cabin are collected within the preset time before the set discharging time and the set charging time; determining whether the air conditioner needs to be started or not based on the battery cell temperature, when it is determined that the air conditioner needs to be started, determining the air conditioner starting time and mode based on the battery cell temperature, the cabin temperature and the target temperature, and controlling the air conditioner to be started according to the determined mode when the starting time is determined, and the preset target temperature is reached when the energy storage system is discharged or charged. The control method is simple, the air conditioner in the energy storage system can be controlled in advance, and when the energy storage system starts to be charged or discharged, the battery pack in the energy storage system is in a good temperature environment.

The invention relates to the technical field of vibration and noise reduction of shock tube testing devices in the engineering anti-explosion industry, in particular to a gradient design type shock tube vibration and noise reduction device for engineering. Comprising a shock tube, an injection silencing module and a vibration and noise reduction module. The shock tube is connected with the injection silencing module; the vibration and noise reduction module is connected with the injection noise elimination module; the shock tube, the injection noise elimination module and the vibration and noise reduction module are coaxially arranged. According to the gradient design type shock tube vibration and noise reduction device for engineering, airflow and sound wave propagation paths are optimized through gradient design, so that noise and vibration generated in the working process of the shock tube are effectively reduced, and meanwhile the aerodynamic performance and operation efficiency of the shock tube are kept. The vibration and noise reduction module formed by periodically arranged functional units forms an acoustic black hole structure, compared with a traditional method, the acoustic black hole structure has better acoustic and elastic wave control physical characteristics, the propagation speed of shock waves can be effectively reduced, and reflection at the tail end of a boundary is reduced.

The invention discloses a self-balancing multiphase self-shunting device and a control method, and belongs to the technical field of chemical separation. The device comprises an automatic split-phase tank (1), a pressure display A (2), a system pressure automatic controller (3), a light phase collecting tank (4), a liquid discharge valve A (5), a pressure display B (6), a material inlet (7), a light phase overflow port (8), a heavy phase extraction port (9), a split-phase internal component (10), a liquid discharge valve C (11), a heavy phase extraction automatic regulating valve (12), a heavy phase collecting tank (13) and the like. The device is simple in structure and control method, can be operated at normal pressure or under pressure, is high in operation elasticity, realizes self-balance of the liquid level height by utilizing the light phase overflow port (8), realizes rapid phase separation of light and heavy components by adopting a special structure of the phase separation inner component (10), forms a stable phase interface, is good in separation effect, and is suitable for industrial production. The method can be used for chemical unit operations such as extraction separation, reaction separation and rectification.

The invention discloses a control method, a processor and a control device for a hybrid agricultural vehicle and the hybrid agricultural vehicle. The control method comprises the steps that it is determined that the hybrid agricultural vehicle is in a start allowing state; determining that the engine enters an engine starting mode; controlling a high-voltage power distribution unit to distribute electric energy of the power battery to a generator; controlling the generator to rotate and driving the engine to rotate; acquiring the actual rotating speed of the generator; comparing the actual rotating speed with a preset target rotating speed; and under the condition that the actual rotating speed reaches the preset target rotating speed, it is determined that the engine is in a starting completion state. The control method for the hybrid agricultural vehicle is simple and easy to operate, so that the hybrid agricultural vehicle can be better suitable for extreme environments such as low temperature and the like.

The invention provides a beat frequency suppression method for a permanent magnet traction system of an electric locomotive, which comprises the following steps of: S1, sampling three-phase current of a motor in real time, and performing park conversion on the three-phase current of the motor to obtain d-axis current and q-axis current; s2, subtracting the fundamental current from the d-axis current and the q-axis current, and then processing through a vector control region to obtain beat frequency current; and S3, adjusting the d-axis voltage and the q-axis voltage through a discrete proportional resonance controller so as to control the amplitude of the beat frequency current to be 0. The method is specially used for beat frequency suppression of an electric locomotive permanent magnet synchronous motor traction system without an LC absorption circuit, the control purpose is that the beat frequency current is equal to 0, compensation adjustment is conducted on the reference voltage according to the actual d-axis and q-axis beat frequency current, suppression of the beat frequency current is achieved, and the control method is simple and easy to achieve.

The invention discloses a control method for improving the shape of a cold-rolled high-strength steel plate. The control method comprises the following steps that a high-strength steel casting blank is taken to be subjected to rough rolling, finish rolling, laminar cooling, coiling, acid rolling and continuous annealing. The high-strength steel obtained through the control method comprises the following components in percentage by mass: 0.05%-0.20% of C, 1.30%-3.0% of Mn, 0.20%-1.30% of Si, 0.010%-0.030% of Als, less than or equal to 0.016% of P, less than or equal to 0.0025% of S, less than or equal to 0.004% of N, 0.010%-0.80% of Cr, 0.003%-0.060% of Nb, 0.003%-0.080% of Ti, 0.002%-0.50% of Mo and the balance of Fe and inevitable impurities. According to the control method for improving the shape of the cold-rolled high-strength steel plate, by comprehensively controlling hot rolling, acid rolling and subsequent continuous annealing processes, the product has a good plate shape, quality defects in production are reduced, and the plate shape before use by a user is guaranteed. The control method is simple and easy to implement, extra thickening and equipment increasing are not needed, and the method can be implemented on an existing conventional production line.

The invention discloses a control strategy and parameter selection method for a new energy via-structure network type flexible direct delivery system. The method comprises the following steps: establishing a small-disturbance stability analysis model of the new energy via-structure network type flexible direct delivery system; the small disturbance stability of the new energy via-network flexible direct delivery system along with power change is analyzed based on a root locus method, a dominant control link influencing an oscillation instability mode of the new energy via-network flexible direct delivery system is identified based on a participation factor analysis method, and an overall design scheme of a control strategy of the new energy via-network flexible direct delivery system is determined; designing a voltage outer loop control structure of the modular multilevel converter; and designing a modular multilevel converter voltage outer loop parameter calculation method, and calculating modular multilevel converter voltage outer loop proportional control link parameters according to a given AC voltage maximum deviation requirement. According to the invention, on the basis of considering the AC voltage control capability, stable operation of the new energy via-network flexible direct-current delivery system in a full-power range is ensured, and the system delivery capability is improved.

The invention discloses a wheel-legged robot based on a stability control technology and a control method of the wheel-legged robot. The wheel-legged robot comprises a fixed frame; the control box is mounted on the fixed frame; the obstacle avoidance detection module, the signal receiving module, the IMU module and the controller are all mounted in the control box; the power supply is mounted on the fixed frame; the leg connecting rod mechanisms are symmetrically arranged below the fixed frame; the pair of driving wheels are respectively connected to the bottom ends of the first connecting rod mechanism and the second connecting rod mechanism; a hub motor is embedded in the axis of the driving wheel and used for driving the driving wheel to roll. The robot is simple in structure, and efficient and stable control over the robot is achieved by controlling the hub motor, the front servo motor and the rear servo motor; and the control method is simple and efficient, and has low requirements on computing power.

The invention relates to the technical field of harmonic suppression, and provides a rectifier harmonic current suppression method and system based on discrete Fourier transform, and the method comprises the following steps: employing DFT to extract a higher harmonic component of a power grid current for an obtained current inputted into a rectifier; respectively setting independent current PI controllers according to corresponding orders for the harmonic waves of the negative sequence component and the positive sequence component with set orders; taking the harmonic component subjected to DFT decomposition as a feedback value, taking zero as a harmonic current reference value, and obtaining a reference voltage suppressed by the harmonic component of a corresponding order based on a PI controller; and adding the reference voltages of the harmonic components of the fundamental component, the negative sequence component and the positive sequence component to generate a reference voltage signal for modulation. The coefficient obtained through DFT is directly used as feedback, PI controller output is obtained based on proportional-integral calculation, modular design can be achieved, and portability of the control system is achieved.

The invention discloses a low-temperature low-nitrogen double-air-regulation green ammonia fire coal composite combustion device which comprises an ammonia output assembly, a primary air powder conveying assembly, a secondary air conveying assembly and a tertiary air conveying assembly. The primary air powder conveying assembly, the secondary air conveying assembly and the tertiary air conveying assembly are arranged on the periphery of the ammonia output assembly from inside to outside. One end of the ammonia pipe is communicated with the output end of the green ammonia synthesis device, the other end of the ammonia pipe is communicated with the ammonia speed reducing and pressurizing device through an ammonia introduction pipeline, and a green ammonia introduction valve is arranged on the ammonia pipe; an ammonia combustion-supporting air supply outlet is formed in a shell of the combustion device; the ammonia speed reducing and pressurizing device is a cylinder with a through hole formed in the axis, and the through hole serves as a hot air channel for outputting combustion-supporting air from the center to the backflow area; the ammonia speed-reducing supercharging device is of a box body structure, and the end face of the output end of the ammonia speed-reducing supercharging device is fixedly connected with an ammonia combustion nozzle; and the ammonia venturi tube and the primary air powder inner tube are sequentially and coaxially arranged on the periphery of the ammonia speed reducing and pressurizing device from inside to outside. According to the multi-stage air distribution device, multi-stage air distribution can be achieved, fire coal consumption and carbon emission are reduced, low-temperature, low-nitrogen and homogeneous-like combustion can be achieved, and NOx emission is reduced.

The invention relates to a mold for manufacturing an inorganic glue composite bamboo board and a pressure forming method, and belongs to the technical field of building materials. The mold for manufacturing the inorganic glue composite bamboo board comprises a pressure applying platform, a board mold and a top cover, the pressure applying platform comprises a steel frame and a hydraulic device installed on the steel frame, and the board mold comprises a mold bottom plate and four side plates; bamboo ribs soaked with inorganic glue in advance are placed in the space defined by the four side plates, and a hydraulic device is used for conducting one-way press fit on the bamboo ribs. According to the inorganic glue composite bamboo board, a board mold is adopted, different bamboo rib arrangement schemes are matched, the processed and prepared inorganic glue composite bamboo board can be subjected to one-way pressurization and one-time forming according to the characteristics that the length and the width of a wallboard are large and the thickness is small, saw cutting machining is not needed, and splicing seams generated by splicing of multiple boards do not exist.

The invention discloses a multi-mode switching control method suitable for a grid-connected isolation inverter, and the method comprises the steps: in each half power grid voltage period, according to a power grid instantaneous voltage phase Theta g outputted by a phase-locked loop in the isolation inverter, the phase Theta g is within [0, pi], then the phase Theta g is compared with given power grid voltage phases Theta g1 and Theta g2, the Theta g1 and Theta g2 meet the condition that Theta g1 is smaller than or equal to Theta g2, and the Theta g1 is smaller than or equal to Theta g2; a variable-frequency discontinuous conduction mode, namely a variable-frequency DCM mode, is adopted in the ranges of 0 < theta g < theta g 1 and pi-theta g 2 < theta g < pi, a main switching tube of a flyback converter in the isolation inverter is controlled to be switched on when the period is larger than a given switching period and the drain-source voltage valley value, and a critical conduction mode, namely a BCM mode, is adopted in the range of theta g 1 < theta g < pi-theta g 2. And controlling a main switch tube of the flyback converter to be switched on at the drain-source voltage valley value. Different working modes are adopted under different output voltages, so that the switching loss of the isolation inverter in a full-load range is reduced, and the energy conversion efficiency of the isolation inverter is greatly improved.

According to the method, the slurry can be accurately and stably supplied during coating, and the problem that the ground coating material is uneven due to fluctuation such as slurry deposition is solved. According to the method, the dressing coated on the base material is ensured to be stable and unchanged from the source from real-time detection of the density of the slurry and control of the volume of the supplied slurry (through pump speed control). And the purpose of high consistency is achieved.

The present invention provides a pneumatically controlled high-pressure variable flow control valve, which mainly solves the technical problems of poor flow resistance stability, weak structural interchangeability, large action response dispersion, and disadvantageous mass production of existing variable flow control valves. The control valve of the present invention comprises a valve body, a main valve assembly and a secondary valve assembly arranged in the valve body; the main valve assembly is composed of 4 main valves with the same structure, and the secondary valve assembly is composed of 2 secondary valves with the same structure; the 4 main valves are perpendicular to the central axis of the valve body, and the 4 main valves are grouped in pairs, and the two main valves in each group are located in the same circumference of the valve body, and the central axes of the 4 main valves are located on the same plane or parallel to each other. There are 2 outlets on the valve body, and the medium outlets of the two main valves located on the coaxial side of the central axis of the valve body share the same outlet. The control valve of the present invention has a compact overall structure and a small volume, and the various components have strong interchangeability, which is suitable for mass production.

The invention relates to the technical field of preparation of lead-free metal halide scintillator crystal powder, and particularly discloses chlorine zirconium cesium crystal powder for a composite scintillator and a confinement growth method of the chlorine zirconium cesium crystal powder. The cesium zirconium chloride crystal powder is cesium zirconium chloride-gas phase oxide composite powder formed on the micro-nano scale by means of in-situ crystallization, and the cesium zirconium chloride crystal powder is composed of 50-95.3 wt% of cesium zirconium chloride and 4.7-50 wt% of gas phase oxide. The preparation method comprises the following steps: preparing zirconium chloride-gas phase oxide powder, preparing a cesium chloride solution, mixing zirconium chloride-gas phase oxide slurry, and growing chlorine zirconium cesium crystal powder in an in-situ crystallization confinement range. The cesium zirconium chloride crystal powder prepared by the method has the advantages of adjustable particle size, stable suspension and efficient scintillation luminescence performance, solves the problem of crystal powder-polymer phase separation in a composite scintillator, and can be used for large-scale preparation of the composite scintillator in the field of radiation detection.

The invention provides double-source ion beam micro-nano polishing equipment capable of accurately controlling temperature. The double-source ion beam micro-nano polishing equipment comprises an ion source, a sample temperature control mechanism and an ion beam current detection mechanism, the number of the ion sources is two, the two ion sources both face the sample table, each ion source comprises a protective shell, a gas introduction channel is arranged in the protective shell, a Penning ion gun, an accelerating electrode and an electrostatic lens are sequentially arranged at the gas introduction channel, and the Penning ion gun, the accelerating electrode and the electrostatic lens are all connected with the power supply module; the ionization voltage Vd of the Penning ion gun, the acceleration voltage Va of the acceleration electrode and the focusing voltage Ve of the electrostatic lens are regulated and controlled through the power supply module, the ion beam detection mechanism is used for monitoring the spatial distribution of ion beams in real time, and the sample temperature control mechanism is connected with the sample table and is used for regulating and controlling the temperature of the sample table. The device is high in processing efficiency, can efficiently control the temperature of a sample area, facilitates real-time detection, and optimizes ion beam energy distribution.

The motor simulator provided by the invention is used for solving the technical problems of large motor weight, large noise, high cost and large occupied area when a frequency converter motor load is subjected to a loading test. A capacitor C1 of the motor simulator is connected in parallel with a three-phase bridge circuit; three inductors of the inductor unit L1 are respectively connected with the output end of the three-phase bridge circuit; the input end of the phase voltage detection module is connected with frequency converter output voltage, and the output end is sequentially connected with the waveform shaping capture module and the switching tube waveform decomposition module; the input end of the current regulator is used for receiving a detection current signal and a set current signal, and the output end of the current regulator is sequentially connected with the duty ratio regulation module / delay angle regulation module and the PWM wave sending module; and the output ends of the switching tube waveform decomposition module and the PWM generator module are respectively connected with the logic AND gate module, and the logic AND gate module outputs signals to drive each switching tube of the three-phase bridge circuit to act so as to realize real-time tracking control of the motor simulator.

The invention discloses a grain size control method of a reclaimed material hard alloy, which comprises the following steps: S1, component analysis of the reclaimed material: the proportion of oversize products is 0-8% when the reclaimed material passes through a 110-120-mesh sieve; s2, burdening according to the use ratio of the reclaimed material being 50%-99% and the ball-to-material ratio being (2-5): 1, carrying out a ball milling test, preparing a sample, and detecting the coercive force; s3, the raw material ratio and the ball-to-material ratio are equal to those in the step S2, and a mixture is obtained through batching and ball milling; s4, the mixture is subjected to compression molding, and a pressed blank is obtained; and S5, the pressed blank is subjected to pressure sintering, and the reworked material hard alloy with the grain size being 2.0-3.0 microns is obtained. The method is simple and easy to implement, the grain size of the regenerated material can be accurately judged, the integrity and uniformity of alloy grains can be ensured, the prepared regenerated hard alloy has good physical performance, the performance very close to that of a raw material alloy can be achieved, and the application field of the regenerated hard alloy is widened.

The present invention discloses a method for controlling the motion of particles using an eccentric cylindrical flow; the controlled particles are located in a flow field between an inner cylinder and an outer cylinder whose axes are parallel and coaxial. Given the radius ratio of the inner and outer cylinders, the present invention continuously adjusts the direction and size of the flow field velocity at the point where the particles are located by changing the angular velocity and the axis spacing of the inner and outer cylinders in real time, so that the controlled particles move in a set direction, thereby achieving the purpose of controlling the particle motion trajectory. Compared with the currently known fluid dynamic particle manipulation methods, this method has the characteristics of a large particle motion range, a simple control method, and a small flow field force, and can provide a new experimental means for cutting-edge scientific fields such as microbial analysis, disease diagnosis, and drug transportation.

The present invention discloses a linear square pipeline modular detection robot based on a star-shaped tensegrity unit and a walking method. The robot includes a plurality of identical three-bar star-shaped tensegrity unit modules and connection nodes therebetween. The three-bar star-shaped tensegrity unit modules are connected end to end, and the connection nodes are rigidly connected; the central driving rods of each unit are collinear in the initial equilibrium state. The deformation of each three-bar star-shaped tensegrity unit is achieved by the elongation and shortening of the central driving rod. The present invention utilizes the principle of the longitudinal wave method to reasonably control the elongation and shortening of the central rod of each unit, and relies on the friction between the robot and the pipeline wall to realize the robot moving forward or backward in a straight line in the pipeline. The tensegrity pipeline detection robot has a simple control method, does not block the pipeline when crawling through the pipeline, is lightweight and efficient, has strong impact resistance, and has strong modular assembly, and has a good application prospect.

The preparation method of the novel CEST polymer contrast agent provided by the present invention solves the technical problems in the prior art that the exogenous small molecule contrast agents are easily metabolized, have low accumulation efficiency and short accumulation time at the lesion site, and the multifunctional modification and purification steps of the small molecule contrast agents are cumbersome. The preparation method is: aminosalicylic acid is coupled with an acryloyl chloride compound or an acrylic isocyanate compound to prepare a salicylic acid derivative monomer, and under the action of a free radical initiator, the salicylic acid derivative monomer undergoes a polymerization reaction to prepare a novel CEST polymer contrast agent. The preparation process of the method is simple, and polymer contrast agents of different molecular weights and functions can be obtained by adjusting the free radical polymerization conditions and copolymerizing with other functional molecules. The polymer contrast agent of the present invention has high accumulation efficiency and long accumulation time at the lesion site, and is easier to modify and functionalize than small molecule contrast agents. It can be widely used in the field of biomedical technology.

This application provides a power supply system and a grid connection control method. The power supply system includes a power supply, an inverter, a transformer, a power station collection module, and an inverter collection control circuit. The power station collection module is configured to obtain an amplitude value and a frequency of a grid connection voltage at a grid connection point, and obtain a power station power adjustment signal based on the amplitude value and the frequency of the grid connection voltage. The inverter collection control circuit is configured to obtain an amplitude value and a frequency of an output voltage of the inverter, obtain an inverter power adjustment signal based on the amplitude value and the frequency of the output voltage, and control, based on the power station power adjustment signal and the inverter power adjustment signal, the inverter to output a target output power. According to this application, an output power of the inverter may be adjusted by using the power station collection module and the inverter collection control circuit. A structure is simple, and a control method is simple. This improves control precision and adjustment efficiency, reduces control time, and reduces control costs.

The application discloses a robot, a neck structure of the robot and a motion control method of the robot. The neck structure of the robot is connected between a head and a body of the robot, and comprises a base for connecting the body of the robot, a top base for connecting the head of the robot, a connecting rod unit rotatably connected between the base and the top base, a driving unit for outputting driving force, and a transmission mechanism arranged between the base and the top base. The transmission mechanism transmits the driving force of the driving unit to the base and / or the top base to drive the head to rotate, pitch and extend outward. The driving unit and the transmission mechanism are one-to-one arranged in three sets. Each transmission mechanism comprises a first transmission unit and a second transmission unit. The first transmission unit transmits the driving force of the driving unit to the second transmission unit to make the second transmission unit extend and retract. The driving unit is located outside the second transmission unit. The neck structure of the robot can drive the head of the robot to rotate, pitch and extend outward, so that the bionics degree of the robot is improved.

This invention provides an organic eutectic material with a controllable charge-transfer exciton diffusion coefficient and its preparation method. The molecular formula of this organic eutectic material is (TSB). x (TSB-Br) 1‑x (TCNB)2, wherein TSB is trans-1,2-stilbene, TSB-Br is trans-4-bromostilbene, TCNB is 1,2,4,5-phenylenetetraacetonitrile, and x is the proportion of TSB molecules. The organic eutectic material prepared by this invention has a regular morphology, high crystallinity, and exhibits both strong and delayed fluorescence emission, with continuously tunable diffusion coefficients for singlet and triplet charge-transfer excitons. The preparation method described in this invention has advantages such as low raw material cost, mild conditions, and simple operation. The prepared (TSB)2... x (TSB-Br) 1‑x (TCNB)2 organic eutectic materials have potential applications in fields such as imaging, photoelectric conversion, and spintronics.

The invention belongs to the technical field of liquid lenses, and particularly relates to a device and a method for regulating and controlling a liquid lens through an electric field and a sample observation method.The device comprises a transparent conductive substrate electrode, the surface of the transparent conductive substrate electrode is covered with a transparent insulating film, and an annular channel is formed in the transparent insulating film; a plurality of discharge needle points which are transversely arranged are symmetrically distributed in the circumferential direction of the channel, insulating liquid drops are dropwise added to the channel, and a conductive sample rod is arranged above the insulating liquid drops; the plurality of discharge needle tips are used for providing a uniform transverse electric field for the insulating liquid drops, so that positive charges are distributed around the insulating liquid drops, and a local electric field formed in the channel is used for limiting the insulating liquid drops; the electric field action on the liquid drops is regulated and controlled through the transverse electric field, the transparent conductive substrate electrode and the sample rod, and then the forms of the liquid drops are regulated and controlled. The transverse electric field is generated through discharge of the needle tip and directly acts on the charged liquid drop, accurate control over the shape and curvature of the liquid drop is achieved, and the device is simple, low in cost and convenient to integrate and apply on a large scale.