磁吸附爬壁机器人项目通过鉴定

磁吸附爬壁机器人项目通过鉴定由哈尔滨工业大学承担的黑龙江省重点科技攻关项目“磁吸附爬壁机器人”已通过由省科委主持的技术鉴定。该磁吸附爬壁机器人是根据对石化工业中大量大容积金属储罐定期进行除锈、喷漆防腐作业这一目标而研制的。据了解，仅大庆油田就有几千只...     

浅析磁导航智能巡检机器人的里程检测系统

里程检测系统是磁导航智能巡检机器人的关键系统之一。基于磁导航的智能巡检机器人运行与轨道上,依靠磁传感器进行导航,一旦出现脱轨的情况就会影响机器人的正常运行。当脱轨情况发生时,需要依靠里程检测系统帮助机器人恢复到原来的轨道上。本文结合基于北斗定位和磁导航的磁导航智能巡检机器人,从智能巡检机器人的里程检测系统和脱轨自动恢复技术的工作原理出发,分析里程检测系统和脱轨自动恢复的关系,证明里程检测系统对脱轨自动恢复的重要性。     

胶囊机器人在黏液中旋进运动的研究

研究表面螺旋胶囊机器人在外部旋转磁场作用下在黏液中的运动特性。首先介绍外磁推进的胶囊机器人的系统构成,给出表面螺旋胶囊在黏液中旋进的磁主动矩的表达式,然后制作了镶有条形强磁片的胶囊机器人样品,搭建了旋转磁场试验台,配置了不同动力黏度的二甲基硅油以模拟人体体液。试验模拟旋转磁场对胶囊机器人在不同黏性液体中的旋转,证明了设计的合理性和可行性。当外部磁场强度在6.281 A/m左右时,胶囊机器人受到的驱动力矩为1.0 mN·m左右。在胶囊机器人的设计中,决定需要的外部磁场强度以及所受到的阻力矩大小的因素依次为胶囊直径、设计的工作转速和黏液的黏度。     

Characteristics of magnetic moment of capsule robots driven in pipes with curves by a spatial rotational magnetic field

针对胶囊机器人任意方向的转弯驱动,提出了向三轴正交亥姆霍兹线圈加载一定幅值和相位关系的同频谐波电流叠加空间万向旋转磁场的技术方案,研制了磁场发生装置与三相变频驱动电源,并成功地进行了万向旋转磁场的验证与转弯试验.根据磁耦合机理建立了空间磁力矩模型,并基于欧拉方程,建立了机器人摆动方程,研究了转向角与随动力矩和自转力矩的关系,进而分析了磁驱力矩分量对胶囊机器人稳定性和驱动效果的影响,结果表明,旋转磁场的随动效应有利于机器人转弯.     

磁导航巡检机器人运动控制系统设计

针对室外变电站复杂环境下巡检机器人难以保证精确的路径跟踪,设计一种基于双磁传感器导航差速转向驱动的巡检机器人,分析和推导其巡线控制算法并研制样机。试验结果表明:该方案稳定可靠,达到预期要求。     

爬壁机器人发展现状与关键技术研究综述

目的 随着爬壁机器人技术的发展,为解决其产品应用化问题,对爬壁机器人的研究进展进行梳理、分析和归纳,讨论未来的发展方向,为设计应用于高危环境和特殊场景的爬壁机器人提供思路和参考。方法 将爬壁机器人按移动方式分为履带式、轮式、足式及混合式,通过文献研究法对不同移动方式的爬壁机器人进行综述;将真空吸附、磁吸附、推力吸附等不同吸附方式的爬壁机器人进行对比,介绍了爬壁机器人自适应技术的研究现状及存在问题;总结并分析了爬壁机器人在工业、军事等领域的发展趋势。结论 总结了不同移动方式的爬壁机器人的国内外研究现状,分析了爬壁机器人不同吸附方式的优缺点,归纳预测了爬壁机器人的发展方向。     

大行程超精密二自由度机器人末端操作器及驱动器的研究

介绍了大行程超精密二自由度机器人末端操作器及其驱动器。用研制的该二自由度机器人末端操作器与通用工业机器人ＰＵＭＡ５６２配合完成了精密装配作业，成功地提高了ＰＵＭＡ５６２的响应和定位精度。最后介绍了该操作器的应用前景。     

光隔离器及其相关的磁光材料

本文简要介绍了磁光隔离器的理论、结构和分类 ,并提出了该器件今后发展的几个问题 ,最后介绍了几种磁光材料     

基于运动分离的圆锥幕墙清洗机器人系统设计

由于曲面幕墙要求机器人具有更高的环境适应性能,并对可靠性提出更高要求,所以此前的幕墙清洗机器人研究主要局限于平面或近似平面的幕墙对象,对于曲面幕墙作业对象很少涉及。本文结合广州新机场指挥塔玻璃幕墙的特点,运用运动分离方法设计了一种适用于倒圆锥曲面幕墙清洗机器人系统。实践表明该机器人系统机构简单、重量轻。文章介绍了该幕墙清洗机器人系统结构,并详细分析了外部误差对该机器人系统的影响。     

高灵活度仿人臂型七自由度冗余机器人的研究

基于新型ＰＩＴＣＨ－Ｒ０ＬＬ－ＹＡＷ关节，研制出一种高灵活度的新型仿人臂型七自由度冗余机器人系统。文中首先介绍了该机器人的机构与系统构成，然后进一步研究了运动学与工作空间，最后介绍了该机器人的应用前景。     

The Research of Anti-Wear Properties of Organomolybdenum Compounds in the Engine Oils

A four-ball tester was used to evaluate the anti-wear performance of three kinds of organomolybdemun compounds in the engine oils, i. e., molybdenum dialkyldithiophosphate (MoDDP), molybdenum dialkyldithiocarbamate ( MoDTC), and sulphur and phosphorus freeorganomolybdeum (Molybdate). The results indicate that a low concentration of MoDDP doesn' t improve the anti-wear properties of the commercial engine oils, but a high concentration of MoDDP can obviously improve the anti-wear properties and the load-carrying capacity of the engine oils. MoDTC doesn' t improve the antiwear properties of the engine oils, but worsens the anti-wear properties of the oils. Signifi can timprove ment of frictional and wear characteristics is obtained with Molybdate added in the commercial engine oils and the formulated oils.     

Certification Becomes Important for the I Quality; and Safety Supervision of the Chinese Liquor Sector

The end of 2007, over 200 unit products of more than 80 Chinese firms have passed the quality grade certification for liquor products. These products involve distilled spirits, beer, wine, yellow wine, fruit syrup wine and others, and cover over 80% of the national top-branded liquor products.……     

Deposition and Coating Properties on CVD Tungsten

Surface characterization and microstructure studies are performed on chemical vapor deposited (CVD) tungsten coating. There is about 2 μm thickness diffusion layer of tungsten in the molybdenum substrate. The thermal shock test shows tungsten coating has good adhesion with molybdenum substrate, but the elements of oxygen and carbon in the tungsten coating have the bad affection to the adhesion. The result of high-temperature diffusion experiment is the diffusion rate from molybdenum substrate to tungsten coating is faster.     

Analysis of marine hydrobiont lipid extracts as possible cryoprotective agents

We studied a combined effect of the cryoprotectants both of lipid and carbohydrate origin at the presence of DMSO or without it on cell viability and the RNA synthesis in the embryonic mollusc and echinoderm cell cultures obtained at different developmental stages. Cryoprotective properties of exogenous lipids correlated with their thermotropic behavior. Lipid extracts from marine hydrobiontes, which thermal transitions are characterized by relatively small part of calorimetric thermogram area lying at temperatures above 0 °C (6–18%), were found to possess a considerable cryoprotective activity. The results are discussed in relation to the prediction of the cryoprotective activity of lipid extracts for marine animal cells. In addition, it was found that marine invertebrate cells can be cryopreserved without DMSO at the presence of trehalose and lipid extracts of some marine hydrobiontes.     

Low-Temperature Properties of Silver

Pure silver is used extensively in the preparation of high-temperature superconductor wires, tapes, films, and other configurations in which the silver not only shields the superconducting material from the surrounding materials, but also provides a degree of flexibility and strain relief, as well as stabilization and low-resistance electrical contact. Silver is relatively expensive, but at this stage of superconductor development, its unique combination of properties seems to offer the only reasonable means of achieving usable lengths of conductor. In this role, the low-temperature physical (electrical, thermal, magnetic, optical) and mechanical properties of the silver all become important. Here we present a collection of properties data extracted from the cryogenic literature and, to the extent possible, selected for reliability.     

Early ironwork in Biscay: Survey,excavation, experimentation and materials characterization. An integral study of the mountainside ironworks (ferrerías de monte or “haizeolak”)

ABSTRACT

The production of iron in Biscay (Basque Country, Spain) has been a hallmark of this territory of the North of the Iberian Peninsula throughout its history. The Archaeology team of the Basque Country Mining Museum has spent 13 years, so far, studying the origins of this activity through the evidences left at the old pre-hydraulic iron production workshops known as mountainside ironworks (ferrerías de monte) or haizeolak. It has catalogued 170 archaeometallurgical sites of this type in Biscay, and the archeological excavation of some of them has led to the knowledge of the different stages of the production process that took place in these workshops. The team has also experimentally reproduced the work carried out in a mountainside ironworks from the High Middle Ages, and it has currently started the characterization process of this type of activity through the study of the collected materials.     

Mechanism Study on the Wear of CrAlTiN Coated High-Speed Steel Twist Drills Under Dry Cutting Conditions

As demands about environment protection are growing up, dry cutting technology is getting more and more concerns from all over the world. Main works performed here are study on dry cutting performances and wear mechanisms of M2high-speed steel (HSS) twist drills with CrAlTiN multicomponent coatings, which was deposited using magnetron sputter ion plating system, in drilling 45 and 30CrMnSiA steel, and their comparisons to those in drilling the same steel but using monolayer CrN and commercial TiN coated drills. Drilling performances of drills are evaluated mainly through the measurements of width on outer corner flank land and the cutting forces. Results show that performances of CrAlTiN coated drills are better than those of monolayer CrN and TiN coated drills. In drilling 45 and 30CrMnSiA steel, the average tool life of the CrAlTiN coated drills are 17.2 and 11.8 times higher than those of the uncoated drills. Observing wear of the drill with scanning electronic microscope, results show that there is no crack or spallation of the CrAlTiN coatings in wear zones. Main mechanism of the wear here is adhesion.     

Study on Bond Ability of Arc-Spraying Coatings with Different Surface Pretreatment on Cast-Iron

Arc spraying coatings are widely used in various applications, but uncommon in cast iron substrate. Different surface pretreatment technology is tested on substrates of gray cast iron. Surface roughness and residual stress were measured by TR200 and X-ray diffraction analyzer. Influence of different surface pretreatment methods ( dry blasting and fusebond) on roughness and residual stress was analyzed. The arc-sprayed coatings of wire 3Cr13 (φ2mm) on gray cast iron substrate is studied. The microstructure and interface of bonding layer were observed by SEM. The bond strength was taken by tensile test. Results show that bond strength with grit blasting is higher than fuse-bond; it is feasible to make wire 3Cr13 coating with arc spraying on cast iron substrate roughened by grit blasting.     

Structural Characteristics of TiO2 Ceramic Coating by Micro-Plasma Oxidation

TiO2 ceramic coatings with thickness of 20 μm were formed on the surface of pure titanium by micro-plasma oxidation. Their micro-structures were investigated by by using X-ray diffraction and their surface images were detected by using scan electronic microscope. There were three kinds of TiO2 coatings, pure anatase type TiO2 phase, mixed phases consisted of rutile type TiO2 phase and anatase type TiO2 phase, pure rutile type TiO2 phase. The coating surface with the pure anatase type TiO2 phase is rough, while the coating surface with the pure rutile type TiO2phase is smooth. The upper coating surface with the mixed type TiO2 phases is anatase type TiO2 structure and the subsurface of the TiO2 coating is rutile type TiO2structure.     

Evaluation of fatigue life of steel using steel grain size

The insightful discussion of the relationship between the construction of metallographic and fatigue life and proposition of mathematical relationships describing this relationship was conducted in the paper. This paper presents a method for estimating the fatigue life, based on the construction of the microstructural material taking into account the grain size and the participation of ferrite and pearlite phase.