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。     

Microwave Communication to Moving Parts Inside Machines

Cables to moving parts on a linear actuator in production machines, such as pick-and-place machines, are a source of unreliability owing to the possible breaking of a cable. They further reduce the positioning precision of the actuator owing to additional forces. Slotted waveguide systems for rail vehicles based on 2.4 GHz transmission frequency are well known, but transmitters/receivers and waveguides are bulky. The paper reports on the reduction in size of the equipment, adapted to 5.8 GHz using a commercial off-the-shelf RadioLan communication module. Further, the efficient termination of the wave-guide and a new way to reduce standing-wave effects is also discussed.     

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。     

用φ76 mm穿孔机组生产φ63mm毛管的设备改进

介绍了用Φ76mm穿孔机组生产Φ63mm毛管的设备概况及其改进。改进后，Φ76mm穿孔机组增加了产品范围为后面的冷技工序减少了拉拔道次，从而降低了Φ51mm以下冷拔管的生产成本。     

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.     

中国先进研究堆导流箱流场的数值模拟

采用目前国内普遍使用的计算流体力学 (CFD)软件PHOENICS 3 2对中国先进研究堆不同结构的导流箱的三维流场进行数值模拟计算。结果表明 :导流箱入口导流板和导流筒能显著改善导流箱入口冷却剂的流动状况 ,获得入口冷却剂沿周向均匀分流的效果 ,达到显著减缓入口冷却剂对垂直辐照孔道导管及安全棒导管直接的横向水力冲刷的设计目的     

浮体门设计的探索与实践

水电站泄水道破坏修复工程,是一项风险高、难度大、前景广阔的系统工程。刘家峡水电站泄水道2号孔破坏修复的关键,是采用人工深水软导向浮体闸门封堵孔口,形成门后洞内旱地施工条件;龚嘴水电站10号冲砂底孔破坏修复的关键,增设浮体闸门采用自动潜行式浮体闸门封堵孔口,形成门后洞内旱地施工条件;哈萨克斯坦CHARDARA水电站SYNAS项目泄水底孔修复的关键,采用分次降水安装浮体闸门侧支承的方法,挡住引水发电机组的下游尾水,在泄水道进口检修门和流道出口之间形成门旱地施工。此3项泄水道修复工程在行业内没有先例,难度很大。整体方案具有创新性,并且均已高质量竣工并投入正常运行。