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Tandem double-duct type flight robot and dynamics cooperative control method thereof

The invention relates to the technical field of unmanned aerial vehicles, and discloses a tandem double-duct type flight robot and a dynamics cooperative control method thereof. The invention provides a whole dynamics modeling and cooperative control strategy of an aerial vehicle and a mechanical arm based on the tandem double-duct type flight robot and the dynamics cooperative control method thereof. In a controlling process, an acting force of the mechanical arm is not considered as disturbance on the aerial vehicle, and the mechanical arm and the aerial vehicle are not controlled respectively; a whole flight robot platform is considered as a complete dynamic system; the aerial vehicle participates in adjustment of postures of a tail end of the mechanical arm through position control; the changes of a gravity center and a joint torque of the mechanical arm are caused by motions, and a corresponding moment is generated to assist the control on the postures of the aerial vehicle. The flight robot can realize automatic hovering and environment interaction, and has the advantages of small spatial size, large effective load, high passibility and accessibility, high control response sensitivity, great improvement of system stability and robustness, and the like.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY

Environment-friendly mid-voltage fire resistant cable

The invention discloses an environment-friendly mid-voltage fire resistant cable, which comprises an aluminum alloy conductor arranged in the middle of the cable, wherein a conductor shielding layer, a cross-linked polyethylene insulation layer and an insulation shielding layer are sequentially extruded on the aluminum alloy conductor in a three-layer co-extruding manner; a metal shielding layer is arranged outside the insulation shielding layer; an insulation wire core consists of the aluminum alloy conductor, the conductor shielding layer, an insulation layer, the insulation shielding layer and the metal shielding layer; the metal shielding layer, a composite fire resistant heat insulation layer, a metal belt interlocked armored fireproof layer and an outer sheath layer are sequentially arranged outside the insulation shielding layer; three insulation wire cores and a filling material are stranded to form a cable core; and the composite fire resistant heat insulation layer consists of an inorganic heat insulation layer wrapped outside the cable core, a low-smoke halogen-free antiflaming polyolefin inner protection layer extruded outside the heat insulation layer and an inorganic fiber layer wrapped outside the inner protection layer. The environment-friendly mid-voltage fire resistant cable is a fire resistant aluminum alloy conductor mid-voltage cable which is low in cost, has high bendability, high fire resistance and high antiflaming performance, and is energy-saving and environment-friendly during manufacturing.
Owner:JIANGSU CHANGFENG CABLE

High-power umbrella-type wind power generation system

The invention discloses a high-power umbrella-type wind power generation system, which comprises a track rope, a lift force guiding body, an umbrella stair and a generating set, wherein one end of the track rope passes through the umbrella stair to tie the lift force guiding body, and the other end thereof is fastened to a heavy; the lift force guiding body straightens the track rope to form an umbrella track; the lift force guiding body and an umbrella keep distance; the umbrella stair is formed by one or more than one umbrellas; the adjacent umbrellas keep distance; the center of each umbrella is provided with a hole for the track rope to pass through; when the umbrella is expanded, a large upward tensile force can be formed due to the function of a wind force. The umbrella is divided into a bearing umbrella and an acting umbrella according to functions, wherein the bearing umbrella is fastened to the track rope for balancing the system; the acting umbrella makes movement up and down for acting; the acting umbrella is connected with an acting rope; one end of the acting rope is fastened and connected with the acting umbrella, and the other end thereof is connected with the generating set, and thus, the generating set is pulled to make mechanical movement, and thereby, the wind energy is converted into electric energy.
Owner:GUANGDONG HIGH ALTITUDE WIND POWER TECH

Centering adjustment method for wheel sets of locomotive test stand and traction force meter stand thereof

ActiveCN102564777AMeet the requirements of the test conditionsEasy to control and moveRailway vehicle testingMeasurement of vehicle's tractive/propulsive powerMeasurement deviceReduction drive
The invention relates to a centering adjustment method for wheel sets of a locomotive test stand and a traction force meter stand thereof. In order to enable all locomotive wheels of a locomotive to completely fall into corresponding rail wheels in foundation pits of the test stand, during test, the centers of the locomotive wheels are required to be kept perpendicularly centered with the centers of the rail wheels, and the locomotive is required to run in location mode in the horizontal direction, and thus the tested locomotive can be ensured to run stably and safely on the test stand. The centering adjustment method of the test stand of the locomotive comprises the following steps of 1 selecting the central lines of the foundation pits of the rail wheels to serve as location reference lines; 2 adopting a double-traction force meter stand to serve as the test stand; 3 performing secondary centering adjustment on the locomotive wheel sets and the rail wheel sets; and 4 providing the same pre-tightening force for a car coupler of the tested locomotive, and offsetting or reducing the horizontal displacement of the locomotive caused by deformation of the car coupler buffer. A speed reducer shaft of the traction force meter stand is parallel with a crew, a nut is screwed on the screw, a chain wheel on the speed reducer shaft is connected with a chain wheel on the nut through a chain, and one end of the screw is connected with a traction force measurement device.
Owner:CRRC DALIAN INST CO LTD

Flat, braided, omnidirectionally reflective collar and leash

InactiveUS20110203533A1Good grip and controlReadily flexedSafety beltsTaming and training devicesVisibilityMicrosphere
A flexible abrasion resistant omnidirectionally reflective, preferably retractable, flat belt pet leash / pet collar exhibits omnidirectional reflectivity. The omnidirectionally reflective flat belt pet leash reflects an incoming light beam back in the direction from which it emanated. The reflected light beam provides accurate illumination of the pet leash and the location of the pet during dusk or nighttime hours. This reflective pet collar and / or leash is created by forming a substantially flat reflective woven band composed of narrow width reflective strips that comprise woven or knitted reflective threads. A raised, braided, dimensional band is optionally placed atop the substantially flat reflective woven band to further increase reflectivity and visibility thereof. The flexible reflective threads are composed of microsphere retroreflectors coated with water resistant compound and, optionally, a poly-phosphorus material. The collar or leash may alternatively be formed by embedding a plurality of microscopic reflectors into the braided weave of a fabric. Upon being embedded, the microscopic reflectors act like smooth mirrors which operate collectively to provide a reflective medium. Due to the braided weave of the fabric and the presence of the raised, braided dimensional band atop the woven fabric, microscopic reflectors within the dimensional band direct light incident thereon from virtually any angle back to its source.
Owner:NITE GLOW INDS

Wire drawing machine

The invention discloses a wire drawing machine. Along a wood board transmission direction, the upper end face of a frame is orderly provided with a front steel wire roller which performs rough grinding on wood boards, a disk brush group which performs wire drawing on the wood boards and a rear steel wire roller which polishes the wood boards, wherein the disk brush group consists of a plurality of disk brushes which are distributed abreast; each disk brush is driven to rotate by a respective transmission motor of each disk brush and comprises a disk and steel wires densely distributed on the lower end face of the disk; the disks are all parallel to the upper end face of the frame and are all arranged on a disk brush mounting platform; a disk brush driving motor is fixedly arranged on the disk brush mounting platform; an output shaft of the disk brush driving motor runs through the disk brush mounting platform to be fixedly connected with the disks; and the disk brush group drives the steel wires to rotate through the disks. Compared with the conventional wire drawing machine, in the wire drawing machine of the invention, grooves and lines are widened, which not only increases the contact areas of the steel wires and the surfaces of the wood boards, but also increases a drawing force when the steel wires are contacted with the wood boards, thus the widening of the lines is benefited and the aim of achieving optimal wire drawing effect is achieved.
Owner:ZHEJIANG SHENGHUA YUNFENG GREENEO

PVC wrapping film

The invention discloses a PVC wrapping film which comprises the following raw materials in parts by weight: 80-120 parts of PVC resin, 10-20 parts of a plasticizer, 4-6 parts of butadiene-acrylonitrile rubber P83 powder, 1.5-2.5 parts of oleamide, 4-6 parts of a tribasic and dibasic heat stabilizer, 2-3 parts of CPE, 1-1.5 parts of ACR and 0.5-1.5 parts of stearic acid. The PVC wrapping film has the beneficial effects that (1) the film has high flexibility, damage difficulty, high bursting force resistance, impact resistance, tear resistance and high tension and can replace case packing; (2) a shrinkage ratio is large, articles can be tightly coated after thermal shrinkage, and if the film is made into a through bag of which two ends are open to be subjected to thermal shrinkage, the articles can be lifted at the two opening ends, the weight of 15KG can be borne, and the articles are convenient to carry; (3) the transparency is excellent, the light transmittance is 80 percent, products can be displayed and can be promoted invisibly, and a delivery error during the cargo movement link is reduced; (4) the film is moisture-proof, waterproof and dustproof, a packaging effect can be achieved, attractive appearance of the products can be realized, and the products are protected; (5) the PVC wrapping film is non-toxic, tasteless and pollution-free and belongs to an environment-friendly packaging material.
Owner:郭良来

Caterpillar band and sucker combined type traveling device for wall-climbing robot

The invention discloses a caterpillar band and sucker combined type traveling device for a wall-climbing robot, and belongs to the technical field of wall-climbing robots. The caterpillar band and sucker combined type traveling device for the wall-climbing robot comprises rear wheels, a caterpillar band, auxiliary wheels, a torsion bar hanging mechanism and front wheels, wherein the caterpillar band is arranged between the rear wheels and the front wheels; a plurality of suckers are distributed on the surface of the outer side of the caterpillar band; the torsion bar hanging mechanism is arranged on the inner side of the caterpillar band; one end of the torsion bar hanging mechanism is hinged to a chassis of the wall-climbing robot; the other end of the torsion bar hanging mechanism is hinged to the auxiliary wheels; the auxiliary wheels are meshed with the inner side of the caterpillar band; and areas, which correspond to the auxiliary wheels, of the surface of the inner side of the caterpillar band are magnetic force action areas. The suckers can be reliably absorbed on a wall surface without an independent vacuum source or a controller; when the caterpillar band and sucker combined type traveling device moves, movement impact and driving loss can be effectively reduced; and the caterpillar band and sucker combined type traveling device is simple in structure and low in cost.
Owner:常州东吉路国际贸易有限公司
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