Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

钻井钢丝绳检测方法与装置的研究

钻井钢丝绳对于钻井平台安全可靠性有直接影响。采用磁性检测方法对钻井钢丝绳进行检测,并对钻井钢丝绳的励磁方式、聚磁方法及传感器与钢丝绳的配合间隙问题进行分析。在此基础上,研制了钻井钢丝绳检测仪器,能够实现对钻井钢丝绳断丝、磨损等缺陷的定性、定量检测,并能够对缺陷进行定位,为钻井钢丝绳的寿命评估提供了依据,对提高钻井平台的安全性具有重要意义。     

钢缆带式输送机驱动轮的更换方法

钢缆带式输送机在长期使用过程中 ,它的驱动轮轴承以及齿轮联轴器都要磨损 ,最终导致磨损超标。为了保证设备运行安全 ,必须解决它的更换问题。针对这一问题 ,介绍了运用松驰牵引钢丝绳的方法 ,实现了不截断牵引钢丝绳进行驱动轮的整体更换 ,通过对平煤集团一矿 4个驱动轮的更换 ,证明这种方法简便易行 ,安全可靠。     

立井钢丝绳罐道的特点及使用

介绍了钢丝绳罐道的特点,从《煤矿安全规程》的要求出发,考虑钢丝绳罐道的形式、 刚度、定位张紧、布置方式、钢丝绳数目等因素,分析了钢丝绳罐道的选择要点,并指出了钢丝绳罐 道的使用和维护方法。     

Failure analysis of a wire rope

Wire ropes, pulleys, counterweights, and connecting systems are used for auto tensioning of contact wires of electric railways. A wire rope in one such auto tensioning system suffered premature failure. Failure investigation revealed fatigue cracks initiating at nonmetallic inclusions near the surface of individual wire strands in the rope. The inclusions were identified as Al-Ca-Ti silicates in a large number of stringers, and some oxide and nitride inclusions were also found. The wire used in the rope did not conform to the composition specified for AISI 316 grade steel, nor did it satisfy the minimum tensile strength requirements. Failure of the wire rope was found to be due to fatigue; however, the ultimate fracture of the rope was the result of overload that occurred after fatigue failure had reduced the number of wire strands supporting the load.     

预应力锚固技术在龙滩水电站高边坡工程中的应用

龙滩水电站进水口高边坡最大坡高达420m，为保证高边坡的稳定，采用预应力锚索技术。预应力锚索的加固作用非常明显，不仅为边坡的稳定提供了经济、有效的手段，而且为按期截流创造了条件。     

钢丝绳抽油杆抽油超冲程分析

通过对钢丝绳抽油杆和常规钢杆振动模型固有频率的分析，从理论上分析了钢丝绳抽油杆和常规钢杆振动形成谐振(超冲程)的奈件；同时讨论了振动阻尼系数对共振的影响关系，从理论上得出了钢丝绳抽油杆在抽油时更易形成超冲程，进而从理论上解释了钢丝绳抽油杆在抽油过程中的泵效较高的事实，进一步解释了当前人们对钢丝绳应用和研究中的一些疑点和难点，为钢丝绳抽油系统的设计和应用提供了重要的理论指导。     

钢丝绳牵引胶带输送机动力制动系统改造

介绍了钢丝绳牵引胶带输送机制动系统改造方案前、后的对比。     

单线循环客运索道设计参数研讨(续三)

论证客运索道设计中的几个重要参数,建立抱索器钳口夹紧力计算公式,第一次给出钳口夹紧力与钢索金属断面积的比值,并进行了钢索弯曲应力计算公式的推导.     

斜井提升钢丝绳磨损“失效树”分析

介绍了引起斜井提升钢丝绳失效的各种因素 ,并建立“失效树” ,为煤矿生产中判断其失效原因及预防提供可靠依据。