395 results about "Hydraulic machinery" patented technology

The invention relates to the technical field of mechanical arm control, and particularly discloses a multi-axis motion control method based on a six-axis hydraulic mechanical arm, and the method comprises the following steps: establishing a kinetic model and a hydraulic system model of the six-axis hydraulic mechanical arm, generating a motion track in a Cartesian space or a joint space based on a preset task demand, and generating a multi-axis motion model of the six-axis hydraulic mechanical arm; the track smoothness is optimized through an S-type acceleration and deceleration algorithm; a deviation coupling synchronous control strategy is adopted, and position, speed and pressure signals of all hydraulic cylinders are collected in real time. According to the multi-axis motion control method based on the six-axis hydraulic mechanical arm, through multi-layer modeling, multi-algorithm fusion and intelligent optimization, the core problems of synchronous errors, non-linear interference, high energy consumption and the like in multi-axis cooperative control of the hydraulic mechanical arm are solved, high-precision, high-robustness and low-energy-consumption industrial-grade motion control is achieved, and the multi-axis motion control method is suitable for industrial production. The method is suitable for heavy-load carrying, precision assembling and other complex scenes.

A hydraulic damper comprises a main tube, a piston assembly, a base valve assembly, and a compression stop assembly. The compression stop assembly includes an insert defining an inner chamber, and a sleeve displaceable along with the main piston assembly and configured to be slidably introduced inside the inner chamber. The sleeve has a diameter lower than the diameter of the main tube defining a first external flow channel between the sleeve and the main tube; the sleeve is attached to the piston assembly by a spring disposed within the sleeve; and the insert is provided with a plurality of axially-spaced holes and has an annular flange adjoining the inner wall of the main tube and separating the compression chamber from a second external flow channel between the radially external outlets of the holes and the base valve assembly.

The invention provides a movable hydraulic mechanical arm and a control method, and the mechanical arm comprises a base which adopts the design of a movable chassis with an independent drive, so that the equipment moving capability is provided. The arm support assembly is formed by connecting a plurality of arm supports in series through rotary joints, and each joint is provided with a hydraulic actuator to achieve the driving function. The sensing and positioning system is responsible for obtaining the state of the mechanical arm and surrounding three-dimensional environment information and providing data support for intelligent control. The control system is arranged on the arm support and connected with the subsystems through cables, and cooperative motion control based on state information and environment information is achieved. The hydraulic system comprises three core assemblies, wherein hydraulic power units are in one-to-one correspondence with the actuators; the hydraulic execution unit is integrated on an actuator oil port valve block and comprises a servo valve, a pressure sensor and an emergency locking valve. The hydraulic auxiliary unit provides oil storage, temperature control and filtering functions. The key problems of dynamic coupling, response delay, low energy efficiency and the like are solved.

The invention provides a hydraulic mechanical arm structure control method and system based on data fusion, and the method comprises the steps: firstly initializing a mechanical arm structure and unifying a global coordinate system, then collecting multi-source heterogeneous sensor data in real time, carrying out the data fusion through an unscented Kalman filtering algorithm, and obtaining the real-time high-dimensional state estimation of the mechanical arm structure. According to construction task requirements and obstacle information and spatial constraint conditions of a construction area, the system uses a path generation algorithm to plan an expected trajectory of an end effector in a world coordinate system. And finally, in combination with real-time high-dimensional state estimation and the expected trajectory, an optimal control instruction for driving the mechanical arm frame and the base is generated by applying a control law based on operation space dynamics, and accurate control is achieved. The operation precision and adaptability of the mechanical arm in a complex environment are effectively improved.

The invention discloses a hydraulic arm safety control method and device based on parallel learning and a high-order CBF, and the method comprises the steps: building a kinetic equation of a hydraulic mechanical arm through a Lagrange method, integrating unmodeled dynamics, structural parameter change and external interference into an uncertain item, and describing the generalized uncertainty of the uncertain item in a linear parameterization form; for the problem of insufficient excitation in a complex environment task, a parallel learning mechanism is introduced, and historical data and real-time data are combined to realize parameter identification. For high relative order safety constraints (such as obstacle distance constraints and joint limiting constraints) in a task space, an obstacle function family is constructed. A dynamic error buffer function is introduced, and a high-order adaptive control barrier function condition is designed. The high-order self-adaptive control obstacle function constraint is embedded into a real-time quadratic programming solving problem, input obtained through optimization solving can keep the track precision, meanwhile, a joint instruction is automatically corrected to prevent constraint failure, and minimum intervention type safety control is achieved.

The invention discloses a hydraulic machinery feasibility research report grading review method based on a large language model, comprising the following steps: collecting and analyzing an original hydraulic machinery feasibility research report to generate a logic structure tree and a structured text; based on the logic structure tree, hierarchical gating and strategy scheduling are executed, and gating scheduling data are generated; according to review strategy parameters in the gating scheduling data, executing three-constraint parallel partitioning on the structured text to obtain a sub-document set; utilizing the gating scheduling data to execute auditing adversarial compliance review on each sub-document of the sub-document set to form a preliminary review conclusion set; and aggregating the preliminary review conclusion set, executing cross-subdocument consistency judgment and result summarization, and generating a final review conclusion. According to the method, the compliance problem of the hydraulic machinery research-length document report can be completely and accurately identified.

The invention discloses a hydraulic mechanical heat dissipation device in the field of hydraulic heat dissipation equipment. The hydraulic mechanical heat dissipation device comprises a heat dissipation pipe, a collection unit and a control unit. A liquid cooling mechanism is communicated in the heat dissipation pipe, and an air cooling mechanism is arranged outside the heat dissipation pipe; the acquisition unit is used for acquiring temperature of hydraulic oil in two ends of the radiating pipe; and the control unit is used for controlling the cooling amplitude of the liquid cooling mechanism and / or the air cooling mechanism based on the temperature acquired by the acquisition unit. According to the scheme, the heat dissipation power can be automatically and flexibly adjusted according to the actual temperature condition of the hydraulic system, so that the heat dissipation accuracy is improved.

The invention discloses a mechanical arm online calibration method and system. The method comprises the steps that a hydraulic mechanical arm no-load dynamic model based on the Lagrangian method is constructed; the method comprises the following steps: establishing an improved Denavit-Hartenberg kinematic error model; constructing a position prediction model by using a convolutional neural network and training the position prediction model; performing error compensation correction on the predicted position based on the model; online calibration parameters are determined and dynamically adjusted; and iterative optimization is repeated to realize real-time calibration. The system comprises a dynamical model construction unit, a kinematic error model establishment unit, a position prediction model training unit, an error compensation calculation unit, a calibration parameter determination unit and a model iterative optimization unit which work cooperatively. The method and the system can respond to working condition changes in real time, integrate multi-source errors, improve calibration precision, effectively reduce track deviation and guarantee operation quality and stability.

The invention relates to a rocker arm assembly with roller deactivation. More specifically, a variable valve lift rocker arm assembly may include an outer rocker arm body having a valve end and a cam end and configured to rotate about a first shaft. The inner rocker arm body may be configured to rotate about a first shaft or a second shaft and selectively and operably locked to the outer rocker arm body via a latch assembly. The latch assembly may have a first latch pin actuated by a latch pin spring, a second latch pin, and a third latch pin driven hydraulically, mechanically or pneumatically. The latch assembly may have a locked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is locked, and an unlocked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is permitted.

The invention relates to the field of hydraulic mechanical equipment, and discloses a folding type hydraulic lifting platform which is characterized in that a scissor type support is arranged above a movable vehicle body, rotating rods are rotationally connected to the middle and one side of the bottom of the scissor type support correspondingly, and rotating shafts are rotationally connected to the middles of the two rotating rods correspondingly; a hydraulic cylinder is arranged between the two rotating shafts, a lifting platform body is arranged at the top of the scissor type support, an L-shaped connecting rod is fixedly connected to the lower surface of the lifting platform body, a second sliding block is fixedly connected to one end of the L-shaped connecting rod, and a guide stand column is slidably connected to the outer wall of the second sliding block; a pushing assembly is arranged at the top of the guide stand column. The material pushing assembly comprises a lead screw, a threaded sleeve, a scissor type push rod and a push plate. Through meshing transmission of the spur rack and the gear and cooperation with telescopic linkage of the push plate driven by the lead screw, cooperative control over lifting action and material pushing is achieved, and the problem of material clamping stagnation caused by step-by-step operation of existing equipment is solved.

An electro-hydraulic steering system comprises a hydraulic steering actuator and a hydro-mechanical steering unit for actuating the hydraulic steering actuator in response to a steering demand from a steering wheel connected to the hydro-mechanical steering unit by a steering shaft. An electric motor is operative to apply a torque to the steering shaft and is controlled to provide a haptic steering torque feedback to a user through the steering wheel. The motor is controlled to provide a haptic steering torque feedback that follows a predetermined profile compensating for the effects of a spring in the hydro-mechanical steering unit which opposes movement of the steering member. The motor may be controlled to provide haptic steering torque feedback during a dead band range of movement of the steering member before the hydro-mechanical steering unit begins supplying fluid to the steering actuator.

The utility model discloses a material testing device under erosion and cavitation coupling action, which comprises a container, an ultrasonic transducer, an injector head and a circulating device, a placing table is arranged in the container, the ultrasonic transducer is used for being arranged above the placing table, the injector head is arranged at the lower end of the ultrasonic transducer, and the circulating device is arranged on the placing table. The circulating device comprises a booster pump, a liquid inlet of the booster pump is communicated with the container, and a liquid outlet of the booster pump is connected with the injector head through a pipeline; in the using state, the ultrasonic transducer is electrically connected with an ultrasonic power source through a wire. According to the utility model, the erosion medium is pumped into the injector head through the booster pump, and meanwhile, the ultrasonic transducer enables the erosion medium to generate a large number of bubbles in the injector head, so that the erosion medium with the bubbles impacts a test material at a high speed, and the test condition of the hydraulic mechanical material is met.

The invention discloses an intelligent asymptotic motion control method and system for a hydraulic mechanical arm. The method comprises the following steps: firstly, establishing a nonlinear mathematical model of a multi-degree-of-freedom series hydraulic mechanical arm system; secondly, estimating an endogenous uncertain item suffered by the system based on a multi-layer feedforward neural network; then, a robust control law for other uncertain items of the system is constructed, and an intelligent asymptotic motion controller of the hydraulic mechanical arm system is designed; designing a multilayer feedforward neural network updating law; and finally, parameters of the intelligent asymptotic motion controller of the hydraulic mechanical arm system are selected. According to the method, asymptotic tracking control of all the joints can be achieved on the premise that rotational inertia information of the hydraulic mechanical arm is not needed, and the tracking performance, adaptability and reliability of the system under complex working conditions are improved.

The invention relates to the technical field of sediment and bubble monitoring, in particular to a sediment and bubble concentration monitoring device and method.The sediment and bubble concentration monitoring device comprises a laser transmitter, a light sensor, a light coupler, a light transmitting piece, an image obtaining device and a beam splitter, and further comprises an electromagnetic flowmeter and a detector which are arranged on a pipeline module; the laser transmitter, the spectroscope and the image acquisition device are placed at fixed positions in the shell so as to shoot silt and gas particles in the flowing pipeline, and then data are transmitted to the processor; a processor calculates the concentration of sediment and bubbles in a pipeline through data preprocessing of a k-Mean clustering algorithm, median filtering and connected domain analysis and a CNN convolutional neural network algorithm, and in the prior art, only the sediment concentration can be measured, but the concentration of gas cannot be monitored at the same time. According to the invention, the content of silt and gas and the influence on hydraulic machinery can be monitored at the same time, timely early warning is provided, and the operation efficiency and safety of equipment are effectively improved.

The invention relates to the technical field of mechanical control, in particular to a full-hydraulic mechanical control method, a machine, equipment and a program product. The method comprises the steps that under the condition that the full-hydraulic machine is in an economic operation mode, the rotating speed adjusting step length of an engine in the full-hydraulic machine is obtained; based on the rotating speed adjusting step length, the motor current adjusting step length of a hydraulic driving motor in the full-hydraulic machine is obtained, and the larger the rotating speed adjusting step length is, the larger the motor current adjusting step length is; adjusting an engine speed of the engine based on the speed adjustment step, and adjusting a motor current of the hydraulic travel motor based on the motor current adjustment step, where the motor current decreases when the engine speed increases; when the engine speed decreases, the motor current increases. Under the condition that the full-hydraulic machine is in the economic operation mode, the stability and smoothness of the full-hydraulic machine can be improved, and the driving experience of a driver is improved.

The present invention belongs to the technical field of hydraulic machinery, and particularly relates to a canal forming machine, which includes a forming machine body and a forming die arranged on its surface. An integrated leveling and cutting assembly is arranged on the outer surface of the forming die. The integrated leveling and cutting assembly at least includes a conveyor belt, a plurality of rolling rollers, a plurality of leveling shells, and a plurality of guide wheels. The plurality of guide wheels are arranged at intervals around the edge of the forming die. A conveyor belt is commonly connected to the outside of the plurality of guide wheels. The plurality of rolling rollers and the leveling shells are arranged at intervals on the surface of the conveyor belt. One end of the rolling roller close to the forming die is connected with a driven gear. At least two arc-shaped movable blocks are rotatably connected to the end of the rolling roller far away from the forming die. By adopting the technical scheme of the present invention, the problems that the surface of the canal formed by the existing canal forming machine is uneven and not smooth, and an additional device is needed to make expansion joints, and the formed quality of the made expansion joints is poor, time-consuming and laborious can be solved.

The invention discloses a hydraulic mechanical arm modeling and optimizing method based on a digital twinning technology, which comprises the following steps: based on geometric performance parameters of a hydraulic mechanical arm, establishing a corresponding virtual geometric morphology model through modeling software; establishing a corresponding kinematics attribute model based on the position and attitude data of each joint of the hydraulic mechanical arm; optimizing the kinematics attribute model by using an Adam optimization method to obtain an optimized attribute model; constructing a dynamic simulation model of the hydraulic system according to the working state data of each component in the hydraulic system; integrating the virtual geometric morphology model, the optimized attribute model and the dynamic simulation model to obtain a digital twinborn model of the hydraulic mechanical arm; and operating state data of the hydraulic mechanical arm are collected in real time, and the state of the digital twin model is updated based on the operating state data. According to the method, the modeling precision of the hydraulic mechanical arm is effectively improved.

The invention relates to the technical field of dynamic analysis and predictive control of hydraulic machinery, and discloses a method, a device, equipment and a medium for positioning a hydraulic interference source of a pumped storage power station, and the method comprises the steps: constructing a non-uniform density monitoring network of the pumped storage power station; generating a spatial frequency domain matrix of the characteristic frequency band based on the non-uniform density monitoring network, wherein the spatial frequency domain matrix comprises amplitude distribution and phase distribution; based on the phase distribution, a preset inversion algorithm is adopted to solve an interference source space positioning result; and calculating a turbulent energy contribution rate based on the interference source space positioning result and the amplitude distribution, and performing pumped storage power station vortex system energy risk assessment based on the turbulent energy contribution rate. According to the method, the three-dimensional coordinate accurate locking of the hydraulic interference source is realized, the turbulent energy contribution rate is calculated based on the interference source positioning result and the amplitude distribution, the pumped storage power station vortex system energy risk assessment is realized, and the sub-meter positioning and high-risk early warning capabilities are provided for the hydraulic vibration source of the one-pipe multi-machine system of the pumped storage power station.

The invention discloses a hydraulic mechanical arm bilateral teleoperation control method based on improved wave variables. The method comprises the steps that an improved wave variable method between a master end manipulator and a slave end hydraulic mechanical arm is constructed, the wave variable conversion process is improved by redesigning impedance parameters, distortion of signals in the transmission process is optimized, and the global stability of a system under the communication time delay condition is ensured; constructing a slave-end adaptive robust controller to accurately track a reference trajectory; constructing a grabbing force feedback mechanism based on a geometrical shape; an operator can remotely sense the grabbing state of the hydraulic mechanical arm, the operation efficiency and the operation accuracy are improved, and finally bilateral long-distance immersion type accurate teleoperation grabbing control over the hydraulic mechanical arm is achieved. The method shows good performance in the actual operation environment and the virtual environment, the accurate operation efficiency and operation safety of the hydraulic mechanical arm can be effectively improved, and immersion type accurate operation of remotely operating the hydraulic mechanical arm by an operator is achieved.

The invention discloses a multifunctional composite hanging device of a farmland operation robot. Comprising a hanging seat which is rotatably mounted behind a rear frame of the farmland operation machine and located at the bottom of a rear seat, a hydraulic driving cylinder hinged between the hanging seat and the rear frame of the farmland operation machine, a telescopic arm movably mounted at the rear end of the hanging seat, a hanging hook fixed to the surface of the rear end of the telescopic arm, and a hydraulic head socket arranged on the surface of the rear seat. The rear hanging base is fixed on the surface of the front end of the rear hanging farmland mechanical frame; according to the multifunctional composite hanging device for the farmland operation robot, the technical limitation of a traditional hanging device is broken through by designing the multifunctional composite hanging device for the farmland operation robot and adopting collaborative innovation of a universal design, hydraulic mechanical automatic butt joint and an automatic hanging technology, and automation, precision and unmanned hanging of a farm tool are achieved; an efficient and reliable composite hanging and matching solution is provided for a farmland operation robot, and the method has important significance in improving the agricultural production efficiency, reducing the labor cost and promoting the development of intelligent agriculture.

The utility model relates to the technical field of hydraulic mechanical equipment, in particular to a gate hoisting system which comprises a grabbing beam and a gate lifting lug, and the grabbing beam comprises a grabbing beam body, an unhooking pin assembly and a hook assembly; the hook assembly comprises a hook body and a hook, the gate lifting lug comprises a gate lifting lug body, an upper guide part and a lower guide part, and a lifting lug hole is formed in the gate lifting lug body; the upper guide part comprises an upper guide inclined surface; the upper guide inclined surface is connected with the inner wall of the gate lifting lug body; the lower guide part comprises a supporting piece and a lower guide slope, the supporting piece is located on the inner side of the gate lifting lug body, one end of the lower guide slope is connected with the supporting piece, and the other end is inserted into the lifting lug hole; and in the downward moving process of the hook, the hook is in contact fit with the upper guide inclined surface or the lower guide inclined surface to drive the hook to rotate in the direction away from the lifting lug hole. By means of the hoisting system, the problem that positioning and guiding cannot be achieved in the hooking and unhooking process can be effectively solved.

The invention relates to a PID-DOB composite driving track control method for a hydraulic mechanical arm, and belongs to the field of track gauges of hydraulic mechanical arms. The method comprises the steps that firstly, modeling is conducted on a hydraulic system of the hydraulic mechanical arm; the saturation characteristic and the dead zone characteristic of the hydraulic system are analyzed; secondly, all shafts of the mechanical arm are identified and modeled by analyzing a signal spectrogram of normal work of the hydraulic mechanical arm, second-order linear system models of all the shafts are obtained, and a segmented PID control method is designed on the basis of the identified second-order linear system models; composite PID-DOB control rate design is carried out on the basis of a PID control method; the DOB estimates and compensates external disturbance and modeling errors of the system in real time; according to the segmented PID control method, the control process is divided into a starting segment, a main body segment and a braking segment according to time, speed and position information. The control precision and stability of the hydraulic mechanical arm are improved.

The invention discloses a reinforcement learning-based PID (Proportion Integration Differentiation) control method for a hydraulic mechanical arm, which belongs to the technical field of heavy-load hydraulic mechanical arm control and comprises the following steps of: S1, acquiring hydraulic cylinder displacement data of the hydraulic mechanical arm in an experiment process by utilizing a displacement sensor; s2, designing a PID-like controller based on the obtained hydraulic cylinder displacement signal and the hydraulic cylinder instruction displacement signal; s3, automatically adjusting a time-varying gain by using an evaluation neural network-execution neural network architecture, and correcting a gain parameter of the PID controller in real time to obtain an optimal gain parameter of the PID controller; and S4, realizing high-precision tracking control of the hydraulic cylinder based on the optimal control parameters of the PID controller. The method is used for compensating for strong nonlinearity, unknown disturbance, multi-joint coupling and the like existing in mechanical and hydraulic systems, the tracking precision of a hydraulic mechanical arm system is improved, the complex and time-consuming manual parameter adjusting process in traditional PID control is avoided, the structure is simple, and meanwhile the strong self-adaption and learning capacity is achieved.

The invention discloses a method and device for achieving track control of a hydraulic mechanical arm, a target operation area is perceived through a depth camera, division of the operation area and marking of obstacles are completed in combination with an artificial intelligence algorithm, and tight coupling of environment modeling and task planning is achieved. According to the method, the plurality of candidate operation areas can be quickly generated and transmitted back to the ground station, an operator only needs to visually select or correct, the manual operation amount is greatly reduced, and the operation efficiency is remarkably improved. According to the embodiment of the invention, the track control precision and the working efficiency of the hydraulic mechanical arm are improved, the dependency degree of operation on artificial experience is reduced, the friendliness of man-machine interaction is enhanced, the safety and the reliability of the system can be ensured in a complex mining area scene, and the method has good application value and popularization prospect.

The invention discloses a hydraulic mechanical arm multi-loop hierarchical control method and system based on hybrid modeling, and belongs to the technical field of hydraulic robot control. The method comprises the steps that historical operation state data of the hydraulic mechanical arm is utilized, data loss, physical loss and regularization constraint minimization serve as targets, system dynamics identification is conducted through a physical information neural network, and a physical-data hybrid dynamics model is constructed; trajectory tracking of an end effector of the hydraulic mechanical arm is conducted through a physical-data hybrid dynamics model, the expected joint angle, the expected joint angular velocity and the expected joint angular acceleration are determined and input into an active disturbance rejection servo controller in combination with forward kinematics, and servo control is conducted on the hydraulic mechanical arm through the nonlinear feedback control rate. The working efficiency and precision of the hydraulic mechanical arm can be improved, and the problem that the trajectory tracking precision of an existing hydraulic mechanical arm needs to be improved under the complex working condition is solved.

The present invention discloses a long-lasting anti-corrosion multilayer coating on the surface of a turbine blade and a preparation method thereof, specifically comprising: preparing powder particles for spraying, preparing an anti-erosion coating and a composite anti-cavitation coating by HVOF, and alternately spraying to obtain the long-lasting anti-corrosion multilayer coating; the multilayer coating is composed of an anti-erosion coating and an anti-cavitation coating alternately sprayed on a blade substrate, and the anti-cavitation coating and the anti-erosion coating are alternately exposed and have appropriate layer thicknesses to specifically resist cavitation damage in non-flood seasons and erosion damage in flood seasons, reduce the overall abrasion rate of the coating, and extend the service life of the blade. At the same time, the service life of the blade is regulated by changing the number of layers of the anti-erosion coating and the anti-cavitation coating, which is also helpful to predict the overhaul cycle of the turbine and reduce the exploration workload. It has important application prospects in the field of surface protection of hydraulic machinery.

The invention belongs to the technical field of hydraulic systems, and particularly relates to a balance valve effectiveness simulation verification method and system. The balance valve effectiveness simulation verification method is scientific and reasonable in design, and is realized through the following steps: constructing a hydraulic-mechanical coupling model containing a balance valve in AMESim, applying variable load force and periodic forcible entry force, performing real-time simulation in combination with Simulink, and comparing working conditions when the balance valve is installed and when the balance valve is not installed; and quantitatively analyzing the displacement tracking error, the pressure stabilization time and the oscillation amplitude. The system comprises a model building module, a load applying module, a joint simulation module and a result analysis module, and the stability of the balance valve in the hydraulic system can be verified efficiently at low cost. The method is suitable for engineering machinery such as forcible entry robots, and scientific basis is provided for design and optimization of the balance valve.

The invention discloses a prefabricated sleeper of a railway ballast track and an automatic sleeper replacing device, and belongs to the field of track maintenance equipment. Comprising a sleeper body, rails are symmetrically arranged on the upper surface of the sleeper body, a movable vehicle body is arranged on the upper surfaces of the two rails, and a hydraulic mechanical arm is arranged on the left side of the movable vehicle body; the grooves are formed in the lower portion of the rail, the embedded bolts are fixed in an embedded mode, and a layered connecting structure of the fixing assemblies and the screw spikes is matched, so that a reliable fixing system between the rail and the sleeper body is formed, and the structural stability and the connecting firmness of the railway ballast track in the daily operation process are guaranteed; and the screw-thread matching mode of the embedded bolts and the screw spikes can be accurately matched with a torsion mechanism of a sleeper replacing mechanism, and the problem that the adaptability of a traditional sleeper fastener and automatic equipment is poor is solved.

The invention relates to the technical field of hydraulic machinery, and discloses an intelligent hydraulic flat gate which comprises a frame, a gate plate is arranged on the inner side of the frame, a mounting hole is formed in the surface of the frame, and a bolt penetrates through the surface of the mounting hole; the device further comprises a movable assembly. The limiting device is used for limiting the bolt when the bolt is loosened; according to the intelligent hydraulic flat gate, the loosening condition of the bolt in the mounting hole is handled through the arrangement of the movable assembly, in normal, all parts of the movable assembly are in a stable state, and when the bolt tends to loosen due to factors such as vibration, the threaded fit between the bolt and the connecting rod is changed, so that the bolt is loosened. The rotating disc rotates through a series of transmission, the sliding rod in the rotating disc is used for pushing the fixing plate and driving the inserting block to be close to the bolt and inserted into the threaded groove from the two sides, the bolt is prevented from further loosening, loosening of the bolt is limited, connection stability is guaranteed, and potential safety hazards are reduced.

The invention discloses an anti-impact hydraulic closed type pump control system and hydraulic mechanical equipment, the anti-impact hydraulic closed type pump control system comprises a closed type pump set, a power assembly and two anti-impact valve sets arranged in parallel relative to the power assembly, an oil inlet of one anti-impact valve set is connected with the first end of the power assembly, and an oil outlet of the other anti-impact valve set is connected with the second end of the power assembly. The oil inlet of the other anti-impact valve group is connected with the second end of the power assembly; the anti-impact valve set comprises an external control buffer valve, a buffer damper and an energy accumulator, a feedback end and a control end are arranged on the two opposite sides of a valve element of the external control buffer valve respectively, and the control end is provided with a spring used for driving the valve element to move and be closed in the direction towards the feedback end. An oil inlet of the external control buffer valve is provided with a feedback oil way connected with the feedback end and a control oil way connected with the control end, and the buffer damper and the energy accumulator are sequentially arranged on the control oil way. According to the anti-impact hydraulic closed pump control system, pressure impact of the high-pressure side oil way can be weakened, and the pressure of the low-pressure side oil way is prevented from being rapidly reduced.