313 results about "Elastic vibration" patented technology

The invention relates to the technical field of disinfection devices, and particularly discloses a medical ultrasonic probe convenient cleaning and disinfection device which comprises a cleaning box, a fixed supporting stand column is vertically installed on the side edge of the cleaning box, a lifting frame is controlled on the fixed supporting stand column through a lifting mechanism in a lifting mode, and a rotating disc is arranged in the lifting frame. The rotating disc is provided with a rotating driving mechanism in a matched mode, a plurality of rotating supporting shafts evenly distributed around the center of the rotating disc are arranged at the top of the rotating disc, the lower ends of the rotating supporting shafts are rotationally connected with the rotating disc, positioning clamping mechanisms are arranged on the rotating supporting shafts, and a synchronous rotating mechanism is arranged between the rotating supporting shafts and the rotating disc in a matched mode. A filter screen is arranged at the bottom of the lifting frame, and an elastic vibration mechanism is arranged between the rotating disc and the filter screen in a matched mode. According to the ultrasonic probe cleaning device, multi-angle cleaning of the ultrasonic probe can be achieved, the impact cleaning effect is achieved, the cleaning efficiency is high, the problem of incomplete cleaning is effectively avoided, and meanwhile vibration cleaning operation can be conducted.

The invention relates to the technical field of ultrasonic gas meters, in particular to an elastic ultrasonic resonance body and an ultrasonic gas meter sensor and a metering module packaged by the elastic ultrasonic resonance body. The elastic ultrasonic resonance body comprises a piezoelectric assembly, an elastic vibration plate located on one side of the piezoelectric assembly and a conductive connection assembly connecting the piezoelectric assembly and the elastic vibration plate; the elastic vibration plate, the conductive connection assembly and the piezoelectric assembly are assembled in a laminated mode in the axis direction. The elastic vibration plate is a stainless steel plate or a titanium alloy plate; the elastic vibration plate has good elasticity, and the acoustic-electric conversion effect can be improved. According to the ultrasonic gas meter sensor obtained by packaging the elastic ultrasonic resonance body, the arrangement of a matching layer is reduced, sound energy can be gathered during emission, a sound signal is controlled to be transmitted in a narrow sound channel, the sound signal is emitted through a port with a small section, the influence of disturbance flow is reduced, the ultrasonic gas meter sensor is installed at the two ends of a Venturi flow channel to obtain a metering module, and the metering module is used for metering. The flow measurement accuracy and stability can be improved.

The invention relates to the technical field of medical imaging, in particular to a biological tissue viscoelasticity measuring system and method.The system comprises an exciting unit, a measuring unit and a processing unit, the exciting unit excites biological tissue elastic vibration to repeatedly induce elastic waves through target radiation force; the imaging unit is used for performing optical coherence tomography scanning on elastic waves of the biological tissues and acquiring tissue vibration space distribution data of the biological tissues at different moments through scanning; and the analysis unit is used for reconstructing an elastic wave propagation process according to the tissue vibration space distribution data at different time, analyzing a phase velocity dispersion parameter of the elastic wave based on the elastic wave propagation process, and calculating the viscoelasticity of the biological tissue according to the phase velocity dispersion parameter. Therefore, the problem that related technologies can only be used for evaluating the retina elasticity and cannot measure the visco-elasticity of the retina is solved.

The invention discloses a trapezoidal sleeper track integrated construction method, and relates to the technical field of track construction, the method comprises the following steps: assembling a steel rail, a fastener and a trapezoidal sleeper into a track panel to be treated according to the length requirement of the track panel, and binding a track bed reinforcing mesh; a to-be-processed rail row is placed above the elastic vibration reduction parts of the trapezoidal sleepers, the prefabricated base sleepers are placed below the trapezoidal sleepers, the trapezoidal sleepers and the prefabricated base sleepers are fixed through angle steel or bolts to form an assembly structure, and the assembly structure and a ballast bed reinforcing mesh are bound and connected to obtain a to-be-processed device; and after the to-be-machined device is conveyed to the laying position of the construction working face, ballast bed pouring treatment and ballast bed formwork removal treatment are conducted, and construction is completed. The prefabricated foundation sleeper structure is introduced between the ballast bed and the trapezoidal sleeper, the prefabricated foundation sleeper and the ballast bed are bound through the reserved steel bars, the trapezoidal sleeper is directly arranged on the prefabricated foundation sleeper and does not need to participate in the ballast bed pouring process, the construction efficiency can be improved, and it is guaranteed that the damping effect of the trapezoidal sleeper is effectively exerted.

Disclosed in the embodiments of the present application are a toothbrush handle and an electric toothbrush. The toothbrush handle comprises a brush handle housing, an elastic sealing assembly, and a device core arranged in the brush handle housing. The device core comprises a motor support, a battery support and a motor. The elastic sealing assembly is sleeved on the circumference of a motor shaft and is sealingly clamped between the inner wall face of an extension hole and the motor shaft. The battery support comprises a support body and an elastic vibration-reducing portion connected to the upper end of the support body, the support body being provided with a battery compartment, the elastic vibration-reducing portion being provided with a motor mounting cavity having an upward opening, and the support body being fixedly connected to the brush handle housing. The upper end of the motor support abuts against the elastic sealing assembly upwards, and is in limiting fit with the elastic sealing assembly in the radial direction of the motor shaft. The motor support is provided with an upper end wall, the upper end of the motor body being fixedly connected to the upper end wall of the motor support, and the lower end of the motor body being embedded in the motor mounting cavity. The toothbrush handle of the present utility model has a good vibration-reducing effect.

The anti-blocking mortar pump comprises a supporting base, a clamping plate type shell, a vibration mechanism and a feeding mechanism, and the clamping plate type shell is arranged at the top of the supporting base; the side, away from the clamping plate type shell, of the top of the supporting base is fixedly connected with a motor through a motor base. The vibration mechanism and the feeding mechanism are both arranged in the clamping plate type shell. The vibration mechanism comprises an elastic vibration plate; a supporting shaft is fixedly connected into the elastic vibration plate. The two ends of the supporting shaft are fixedly connected with the inner wall of the clamping plate type shell. The number of the elastic vibration plates is two, and the two elastic vibration plates are obliquely arranged on the inner wall of the clamping plate type shell through the two supporting shafts. A rotating shaft is rotationally connected to the inner wall of the clamping plate type shell and located at the bottoms of the two elastic vibration plates; when the mortar pump works, mortar attached to the surface of the mortar pump can be bounced off, so that the mortar completely enters the inner cavity of the clamping plate type shell to be discharged, and the situation that the mortar pump is blocked during working can be avoided.

The utility model discloses a pump head damping structure which comprises a shell, a suction cavity, a compression cavity, a discharge cavity and an energy storage cavity are formed in the shell, the suction cavity is sequentially communicated with the energy storage cavity through the compression cavity and the discharge cavity, a water inlet pipe opening and a water outlet pipe opening are formed in the shell, and a water outlet pipe opening is formed in the shell. A water inlet pipe opening is formed in the shell, a water outlet pipe opening is formed in the shell, the water inlet pipe opening is communicated with the suction cavity, the water outlet pipe opening is communicated with the energy storage cavity, a vibration reduction cavity is further formed in the shell, an elastic vibration damping piece is arranged between the vibration reduction cavity and the energy storage cavity, the elastic vibration damping piece is connected with the vibration reduction cavity in a sealed mode, and the elastic vibration damping piece is connected with the energy storage cavity in a sealed mode. The damping structure can solve the problem that the damping effect is reduced after the damping structure works for a long time.

The present invention relates to the technical field of disinfection devices, and specifically discloses a convenient cleaning and disinfection device for medical ultrasound probes, including a cleaning box, a fixed support column vertically installed on the side of the cleaning box, a lifting frame on the fixed support column controlled by a lifting mechanism, a rotating disc inside the lifting frame, a rotating disc matched with a rotating drive mechanism, a plurality of rotating support shafts evenly distributed around the center of the rotating disc are provided on the top of the rotating disc, the lower end of the rotating support shaft is rotatably connected with the rotating disc, a positioning clamping mechanism is provided on the rotating support shaft, a synchronous rotating mechanism is matched between the rotating support shaft and the rotating disc, a filter is provided at the bottom of the lifting frame, and an elastic vibration mechanism is matched between the rotating disc and the filter. The present invention can achieve multi-angle cleaning of the ultrasound probe, as well as impact cleaning effect, with high cleaning efficiency, effectively avoiding the problem of incomplete cleaning, and can also perform vibration cleaning operation.

The utility model discloses a light-weight shock absorber, and belongs to the technical field of shock absorbers. The two ends of the support are provided with bent parts, and an installation cavity is formed in each bent part; the two ends of the central shaft are provided with step structures; the step structure correspondingly penetrates through the mounting cavity and is positioned on the bracket through the positioning assembly; the vibration isolation pieces are correspondingly arranged in all the sets of mounting cavities and arranged on the step structures in a sleeving mode; the ball joint is mounted on the central shaft in a sliding manner; the connecting end of the ball joint has bending dependent variable. According to the structural analysis, the positioning assembly and the support are simplified, and the overall weight is reduced. And meanwhile, the performance is improved, for example, the tightening amount is controlled through an adjusting nut in the positioning assembly, so that adjustment of different rigidity requirements is achieved. An elastic vibration isolation piece net pad is adopted, and hard limiting in the prior art is replaced with flexible applicability limiting. The connecting end of the ball joint has bending dependent variable, so that the displacement required by bending is met, the bending stress is improved, and the service life is prolonged.

The invention discloses an elastic frequency identification and elastic vibration suppression method for an aircraft with a large length-diameter ratio, and the method comprises the steps: carrying out the real-time online elastic frequency identification of angular velocity information collected by an inertial navigation device, and obtaining a current identification value omega 1 of an elastic vibration frequency; correcting the identification result based on the omega1 to obtain an iteration correction value omegab of frequency identification; then combining prior information of a ground modal test to obtain a prior value omega a of the elastic vibration frequency, weighting the omega a and the omega a to obtain an acquisition value omega of the elastic vibration frequency, designing a notch filter structure based on the omega, and enabling filter parameters to be automatically adjusted along with the change of the elastic frequency; according to the invention, the elastic frequency can be identified with high precision, and the elastic vibration can be well suppressed.

The invention discloses an induction power generation and frequency modulation vibration reduction integrated ballastless track vibration reduction structure, and belongs to the technical field of track traffic. A track plate and a base plate are longitudinally laid along a track line, and the track plate is located above the base plate; the adjusting layer is arranged between the track plate and the base plate; an elastic vibration reduction layer is arranged between the base plate and the piezoelectric device layer, and the elastic vibration reduction layer is filled in a limiting structure in the base plate; a silicon steel sheet iron core structure of an electromagnetic coil is arranged in the elastic vibration reduction layer in the limiting structure; the piezoelectric device layer is located between the adjusting layer and the base plate and connected with the electromagnetic coil through a wire. The piezoelectric material and the magneto-rheological elastomer material are adopted, integration of induction power generation and frequency modulation vibration reduction is achieved, when the pressure is not enough to enable the piezoelectric device to output current, the magneto-rheological elastomer material still has the mechanical property of a common rubber elastomer, the whole structure still can guarantee the vibration reduction function, and meanwhile power-off protection is achieved.

The invention relates to a flexible mechanical arm vibration control method based on a high-gain method, and the method comprises the following steps: carrying out the modeling of a flexible mechanical arm based on a Lagrange equation and a Hamilton principle, and collecting a boundary state signal of the flexible mechanical arm; according to the collected boundary state information of the flexible mechanical arm and the flexible mechanical arm model design control rate, the flexible mechanical arm is controlled; a boundary high-gain controller is constructed through the control rate, and the actuator outputs a control signal through the boundary high-gain controller; and the gain value range of the boundary high-gain controller is obtained to ensure the stability of the flexible mechanical arm. According to the method provided by the invention, the boundary high-gain controller is adopted to reduce the influence of unknown disturbance on the stability of the flexible mechanical arm, the elastic vibration of the flexible mechanical arm is inhibited, the loss caused by the fact that the flexible mechanical arm is in elastic vibration for a long time is prevented, and the flexible mechanical arm obtains relatively high precision in actual engineering application.

The invention relates to the technical field of diesel engine connecting rod surface treatment equipment, in particular to a conveying device for diesel engine connecting rod surface treatment. Comprising a hanger rail, a rack, a tackle and a suspension mechanism, the hanger rail is arranged above the rack, a treatment groove is formed in the upper side of the rack, the tackle is slidably installed on the hanger rail, the suspension mechanism is connected with the tackle through a lifting driving piece, and the lifting driving piece is used for driving the suspension mechanism to move up and down; the suspension mechanism further comprises an elastic oscillation starting piece and oscillation starting rails installed on the two sides of the rack, the output end of the lifting driving piece is elastically connected with the suspension mechanism through the elastic oscillation starting piece, and a plurality of evenly-distributed conical protrusions are arranged on the oscillation starting rails. It is ensured that the whole surface of the connecting rod is processed under the more consistent condition; therefore, more uniform dissolution rate and surface smoothness are obtained; defects such as stripes, pitting corrosion and cloud spots caused by bubble retention or uneven current are obviously reduced in a moving state.

The invention relates to the technical field of machining, in particular to a deep hole machining tool, a deep hole machining system and a deep hole machining method.The deep hole machining tool comprises a tool assembly and a main shaft assembly, the main shaft assembly comprises a main shaft piece, the main shaft piece is provided with a guide rail piece, the tool assembly comprises a cutter head piece, and the cutter head piece is installed on the main shaft piece and provided with a tool. The multiple cutters are arranged on the cutter head part, so that cutting stress can be shared when each cutter cuts a workpiece, the cutting stability of the cutters is effectively improved, elastic vibration deformation generated by cutting is reduced, the cutting precision of deep hole machining is guaranteed, multiple cutter head parts with different cutter lengths can be adopted for machining of different hole diameters, and the machining efficiency is improved. The tool does not need to be frequently replaced, re-disassembled, re-assembled and re-aligned, the position of the tool does not need to be adjusted for several times, overall deep hole machining can be completed through single-time clamping, the machining precision, the coaxial precision and the machining efficiency of deep hole machining are effectively improved, and a user can use the tool conveniently.

The invention relates to the field of hoisting machinery control, and provides a whole-process anti-swing and precise positioning self-adaptive control method and system for a crane. The method comprises the following steps: constructing a quintic polynomial speed planning model, and solving boundary conditions to obtain an S-shaped basic speed instruction for inhibiting longitudinal elastic vibration; collecting multi-source sensing data, performing Kalman filtering, and establishing a mapping relation between feedback gain and rope length and load mass; anti-swing compensation is calculated based on a two-parameter gain scheduling strategy, and saturation limitation is introduced to obtain a final driving instruction; constructing a visual double-closed-loop model, monitoring states, and realizing undisturbed switching of control modes by using an integral initial value assignment method; and setting a fault degradation and integral anti-saturation strategy. According to the invention, while flexible start-stop and millimeter-level accurate positioning are realized, the problem of swing control under variable-parameter working conditions is solved, and the operation safety is enhanced.

The invention discloses a rapid modeling method of a carrier rocket rigid-elastic-shake coupling model, which comprises the following steps of: establishing a motion equation of a carrier rocket: establishing a mass center motion equation of the carrier rocket according to a Newton's second law, establishing a motion equation around the mass center of the carrier rocket according to a moment of momentum theorem relative to the mass center, and simplifying the carrier rocket into a one-dimensional beam model; establishing an elastic vibration equation; solving force, torque and generalized force thereof; solving expressions of gravity, thrust, control force, engine swing inertia force, aerodynamic force, aerodynamic damping force, wind disturbance force, force, torque and generalized force thereof; propellant shaking is analyzed by adopting a spring-mass-damper equivalent model; propellant shaking equations in the pitching direction and the yawing direction of the carrier rocket are established, and inertia force, inertia moment and generalized force generated by propellant shaking are established; the obtained various forces, moments and generalized forces and inertia forces, inertia moments and generalized forces generated by shaking of a propellant are substituted into a motion equation of the carrier rocket to obtain a mass center motion equation, the motion equation of the rocket is around the mass center, and a six-degree-of-freedom nonlinear total dynamical model of the carrier rocket is established when the rocket tilts and tilts; elastic vibration equations in three directions of yawing and rolling are established; and solving the carrier rocket rigid-missile-shake coupling model. According to the method, rapid numerical simulation can be carried out on the carrier rocket rigid-missile-shake coupling model, the influence of a solving result on carrier rocket attitude change is analyzed, and a foundation is laid for navigation and attitude control design of the carrier rocket.

The utility model discloses an FDY oil agent mixing and stirring device, comprising: a stirring mechanism and a stirring barrel, the stirring mechanism comprises a fixed base, the upper surface of the fixed base is provided with a U-shaped limit groove, a stirring assembly and a vibration assembly, the vibration assembly comprises a vibration motor, a vibration shaft and an elastic vibration rod, the vibration motor is fixedly arranged at the upper end of the fixed base, the vibration shaft is transmission-connected with the output end of the vibration motor, the elastic vibration rod is fixedly arranged at the upper end of the vibration shaft, and a plurality of vibration blocks are arranged in a circular array on the outer wall of the stirring barrel. During use, the utility model knocks and vibrates the stirring barrel through the vibration assembly, so that the interior of the stirring barrel can be vibrated uniformly, so that the raw materials attached to the inner wall of the stirring barrel are evenly shaken off, so that the stirring and mixing inside the stirring barrel can be more fully performed, and the waste caused by the FDY oil agent raw materials attached to the inner wall of the stirring barrel is avoided.

The invention provides a combined rigidity-adjustable liquid elastic vibration isolator and a rigidity adjusting method thereof, and relates to the technical field of liquid elastic vibration isolators. Required elastic rigidity is provided through a composite elastic system formed by combining rubber and an air spring; an electronic controller (ECU controller) is used for collecting and processing signals from an inner cylinder displacement sensor, an outer cylinder displacement sensor and a pressure sensor, the signals are compared and analyzed with preset target displacement difference signals of the inner cylinder and the outer cylinder, and then the duty ratio of output pulse width modulation signals is dynamically adjusted based on the comparison result. The opening and closing of an electromagnetic valve in the air spring assembly are controlled, so that the rigidity of the air spring is adjusted, and rigidity reduction caused by aging of a rubber material is compensated. According to the control scheme, the stability of the vibration isolation frequency of the liquid elastic vibration isolator is effectively maintained, and the performance reliability of the vibration isolation system in the long-term operation process is ensured.

The invention relates to a method and a system for simulating the fatigue life of a rubber elastic damping element. The method comprises the following steps: acquiring rubber performance parameters; establishing a simulation model in finite element software, wherein the simulation model comprises a rubber surface two-dimensional model and an entity three-dimensional model; the performance parameters are input into the model for simulation calculation, nominal strain of the three-dimensional model is obtained, and an initial simulation fatigue calculation result is calculated; the temperature state of the two-dimensional finite element simulation model is updated based on the result, the nominal strain of the two-dimensional model is calculated, then an intermediate simulation fatigue calculation result is calculated, and meanwhile, simulation data of membrane unit heat transfer of the two-dimensional model is exported based on performance parameters; and obtaining a fatigue life result of the rubber free surface based on an intermediate simulation fatigue calculation result and simulation data of heat transfer of the membrane unit through iterative calculation. According to the method, the possibility that material parameters of the rubber material change along with the fatigue test process is fully considered, the temperature change of the rubber material in the rubber elastic damping element in practical application can be better reflected, and the fatigue simulation precision is effectively improved.

The invention relates to the technical field of aeroelastic analysis of aero-engines, in particular to a boosting-energy complementing gliding aircraft thermal / aeroelastic coupling modeling and analysis method considering rigid-elastic coupling. A frame for simultaneously solving rigid body motion and elastic vibration is established, the amplitude and direction disturbance characteristics of thrust pulsation and the rigidity degradation effect caused by pneumatic heat generation-heat conduction are considered, and the problem of prediction deviation caused by neglecting of rigid-elastic coupling and an extreme thermal environment in traditional solving is solved. According to the method, aeroelastic response analysis of the aircraft in different load stages (full load, half load and no load) can be simulated, and hot gas bomb response under the action of thrust disturbance and extreme thermal load is solved, so that the prediction capability of dynamic behaviors of the aircraft under complex working conditions is improved; and a theoretical technical support is provided for aeroelastic response servo suppression of the boosting-energy complementing gliding aircraft in a large impact / extreme thermal environment.

The utility model discloses a crushing device for efficiently grinding blast furnace granulated slag powder, which comprises a rack and a crusher, an inclined screen is arranged in the rack, the output end of the crusher is positioned above the screen, an elastic vibration mechanism is mounted on the rack, and the elastic vibration mechanism is connected with the screen. Through cooperative arrangement of an extrusion block and a first spring, the extrusion block is driven by a conveyor to move, and under extrusion of the first spring, the extrusion block can abut against the bottom of the screen, so that slag clamped in the screen can be extruded out, and through the first spring, the extrusion block can abut against the bottom of the screen all the time along with the screen which vibrates up and down; through cooperative arrangement of the force measuring sensor and the supporting sleeve shaft, when the force measuring sensor detects the pressure of the same position for multiple times, the linear actuator extrudes and lifts the supporting sleeve for multiple times, so that the extrusion block can be driven to impact the bottom of the screen at the position, and finally slag clamped in the screen is knocked off.

The invention relates to the technical field of civil engineering, in particular to an anti-overturning vibration isolation building. The vibration isolation building comprises a vibration isolation building body, the vibration isolation building body is supported on a foundation through an elastic vibration isolation device, the vibration isolation building further comprises a peripheral supporting structure and an anti-overturning structure, and the peripheral supporting structure comprises rock soil on the periphery of the vibration isolation building body, a retaining wall or a peripheral supporting building fixedly connected with the ground foundation; the anti-overturning structure comprises at least two layers of transverse elastic supporting sets which are arranged between the vibration isolation building body and the peripheral supporting structure up and down, and each transverse elastic supporting set comprises a plurality of transverse elastic supporting devices which are arranged at intervals in the horizontal direction. The safety and reliability of a vibration isolation building main body can be greatly improved when an earthquake occurs, and the device has good vibration and earthquake double-control performance, is simple in structure, good in economical efficiency, high in cost performance, safe and reliable, and can be widely applied to various vibration isolation building projects provided with peripheral supporting structures.

The utility model discloses a belt type soybean cleaning machine which comprises a machine body and a driving mechanism, a conveying installation frame is installed in the middle of the machine body in a penetrating mode, two sets of transmission wheel rollers are symmetrically and rotationally installed in the two sides of the conveying installation frame, and the output end of the driving mechanism is in transmission connection with one set of end faces of the two sets of transmission wheel rollers. The outer sides of the two sets of transmission wheel rollers are in transmission sleeve connection with a porous leakage net filter belt, a mounting plate box is arranged above the porous leakage net filter belt and located in the machine body, the bottom of the mounting plate box is connected with a mounting concave plate, and a plurality of sets of rotating connection rotating rods are evenly and rotatably connected between the interiors of the mounting concave plate. The soybean cleaning and screening device has the advantages that through the integrated elastic vibration and water guide rotary cleaning and screening structure, soybeans are stably cleaned, damage and waste caused by splashing are prevented, the cleaning effect is improved, and due to the water absorption guide type mutual cleaning structure, the convenience of follow-up cleaning is improved, and the overall using effect is improved.

The invention relates to the technical field of karst soil cave detection, in particular to a vibration alarm device for karst soil cave collapse early warning, which comprises a mounting top plate, a vibration box and an elastic fixing assembly, and is characterized in that the elastic fixing assembly is fixedly locked and mounted on the lower side of the mounting top plate and is used for movably connecting the vibration box; the upper conical spring and the lower conical spring are oppositely arranged, and the vibration sensor is fixed in the middle, so that the vibration force transmitted by the elastic fixing assembly on the mounting top plate is improved, the elastic vibration amplitude of the vibration sensor in the vibration box is improved, efficient detection is realized, and the early-stage micro-vibration signal detection rate of collapse can be improved; meanwhile, the vibration box is elastically connected through the elastic fixing assembly, the multi-direction vibration or shaking effect of the vibration box can be improved, and the vibration box of different sizes and models can be adaptively installed through the elastic fixing assembly.

A wolfberry picking, receiving and transporting device comprises a picking body, a walking mechanism, a supporting frame, a picking vibration device, an elastic vibration picking brush device, a transport device and a fruit receiving device. The walking mechanism is mounted on both sides of the picking body, the supporting frame is mounted on the inner side of the picking body, the picking vibration device is mounted on the supporting frame, the elastic vibration picking brush device is mounted below the picking vibration device, the picking vibration device provides a vibration source, and the elastic vibration picking brush device is mounted below the picking vibration device. The picking body is formed by left and right body parts, the supporting frame is mounted on the inner sides of the left and right body parts respectively, the transport device is mounted on the body, the fruit receiving device is mounted on the body, and is located below the elastic vibration picking brush device, the fruit receiving device is connected to the transport device, the picking vibration device is powered by a hydraulic motor, the elastic vibration picking brush device is mounted on the picking vibration device, and can perform vibration picking, and the transport device transports the picked wolfberry fruits.

The invention discloses an ammunition automatic filling robust control method based on singular system IL disturbance estimation, and aims to solve the problems of flexible transmission, parameter uncertainty, periodic external disturbance, residual vibration and the like in an automatic filling system. According to the method, a fast-slow dual-time-scale cooperative control architecture is constructed, a slow subsystem adopts a disturbance self-adaptive PD controller, low-frequency periodic disturbance is estimated and compensated online in combination with an iterative learning mechanism, and the trajectory tracking precision is improved; the fast subsystem carries out real-time estimation and feedforward suppression on high-frequency elastic vibration based on an extended state observer (ESO); and filtering and amplitude limiting are further carried out on slow and fast control inputs, a self-adaptive scheduling strategy based on tracking errors is designed, and the slow and fast control inputs are dynamically fused to generate a final control instruction. According to the method, only motor end position / speed measurement is needed, a load end sensor is not needed, high precision, high robustness and excellent vibration suppression capability are achieved, and the dynamic performance and complex condition adaptability of automatic ammunition filling are remarkably improved.

A method for composite attitude control of a spacecraft with nonlinear sloshing and large flexible appendages disclosed by the present invention belongs to the technical field of spacecraft control. The implementation method of the present invention is as follows: various non-conservative disturbance torques acting on the spacecraft during on-orbit operation are characterized by Te; the attitude motion of the spacecraft body at any angle is described by Euler quaternions; the elastic vibration of 1 to m flexible appendages is described by the assumed mode discretization method; the motion description of the equivalent spherical pendulum model of liquid sloshing is improved by using the split variable technique; a large-range motion dynamics model of a liquid-filled spacecraft with large flexible appendages is established; the spacecraft attitude dynamics model is linearized; an output feedback attitude control law for a liquid-filled flexible spacecraft designed according to the Lyaponuv stability theorem; an input shaping-output feedback composite attitude controller for a liquid-filled flexible spacecraft designed based on the output feedback attitude control law of the liquid-filled flexible spacecraft and the Euler quaternion input command, thereby realizing active vibration suppression and improving the accuracy of spacecraft composite attitude control.

The utility model discloses a silica crushing device convenient to replace and maintain, and mainly relates to the field of silica crushing. Comprising a crushing box, a crushing roller is arranged in the crushing box, a filter screen which is obliquely arranged is arranged below the crushing roller, and a discharging port is formed in the position, located at the bottom end of the inclination direction of the filter screen, of the side wall of the crushing box. The top end of the filter screen in the inclined direction is movably inserted into the elastic vibration block in the mounting groove, and a positioning rod used in cooperation with the bottom end of the filter screen in the inclined direction is arranged at the discharging port. The crushing device has the advantages that the technical problem that a filter screen of an existing crushing device is complex to replace and maintain can be solved, the filter screen in the crushing device can be replaced more simply and rapidly, the filtering accuracy of the filter screen is guaranteed, the convenience of later replacement and maintenance is improved, and the using smoothness of the crushing device is improved.

The liquid elastic vibration isolator integrally comprises a liquid cavity surrounded by a vulcanized body, the upper portion of the liquid cavity is sealed by an upper cover plate, the interior of the liquid cavity is divided into an upper liquid cavity body and a lower liquid cavity body through a flow channel body, the flow channel body is provided with a liquid channel for communicating the upper liquid cavity body with the lower liquid cavity body, and a lower cover plate is assembled below the vulcanized body. A rubber elastic piece is arranged between the runner body and the lower cover plate, a lower liquid cavity is defined by the rubber elastic piece and the vulcanized body, and an air cavity is defined by the rubber elastic piece and the lower cover plate. In the initial state, the rubber elastic piece is in a bowl shape with the center protruding upwards, an upper protruding arc is formed at the center protruding position, the outer periphery of the upper protruding arc is concaved downwards to form a lower concave ring, the outer periphery of the lower concave ring protrudes upwards to form an upper protruding ring, the outer periphery of the upper protruding ring is a horizontal annular straight edge, and any adjacent shapes are in smooth transition connection. The size of the liquid cavity and the size of the air cavity are changed by changing the shape of the rubber elastic piece, and then the load transmitted to the machine body is reduced.

The utility model relates to the technical field of railway vehicles, in particular to an elastic wheel with adjustable compression amount, a wheel set and a railway vehicle. The elastic wheel with the adjustable compression amount comprises a wheel rim, a wheel center, an elastic vibration reduction piece, a pressing ring and an adjusting ring. The radial outer edge portion of the wheel center is provided with an installation notch, the pressing ring is arranged on the installation notch, and the pressing ring, the radial outer edge portion of the wheel center and the wheel rim form an annular inner cavity used for containing the elastic damping piece in a surrounding mode. The elastic damping piece is arranged in the annular inner cavity; the wheel center and the pressing ring located on the side of the annular inner cavity are each provided with an annular groove, and the adjusting rings are arranged in the annular grooves. The wheel center and the pressing ring are each provided with an adjusting bolt penetrating in the axial direction, and the end of each adjusting bolt abuts against the corresponding adjusting ring. According to the elastic wheel capable of adjusting the compression amount, the position of the adjusting ring is mainly controlled through the adjusting bolt, so that the compression amount of the elastic vibration reduction rubber part is controlled, and the problem that the wheel is slow is solved; an anti-slowdown base plate and a limiting groove structure are arranged, so that the problems that the elastic wheel is excessively slowdown, and a wheel rim and a wheel center have an overlarge turning angle are solved; in addition, a conductive metal reed is adopted to replace a traditional backflow cable structure, so that the problem of loosening or breakage caused by the fact that the backflow cable is pulled by a wheel or foreign matter is effectively avoided.