183results about How to "Adjust stiffness" patented technology

The inventive vibration absorber comprises an execution unit, a control unit and a sensor. The execution unit consists of a magnetic inductor, a coil, a magnetic rheological elastic body, a vibration-absorbing mass block and a base. The above magnetic inductor consists of inner and outer sleeves, or a U-shaped iron-core and an armature or top and bottom plates and a column iron-core. Between inner and outer sleeves, the U-shaped iron-core and the armature or the top and bottom plates are filled the magnetic rheological elastic bodies. By regulating the voltage on the coil, the rigidity and the elasticity of the magnetic rheological elastic body are regulated to make its vibration frequency change, so as to make the vibration frequency of the vibration absorber execution unit is the same as that of the vibration-damping object.

The invention relates to a car collision cushioning device and a cushioning energy-absorbing method based on the magnetorheological technology. The cushioning device comprises a bumper, a magnetorheological buffer and a feedback circuit, wherein the magnetorheological buffer is arranged between the bumper and a frame cross member by flanges and composed of a helical spring, a field core, a piston, a piston rod, a cylinder, magnetorheological fluid, a first actuating coil, a magnetorheological elastomer and a second actuating coil, the feedback circuit is composed of a first acceleration sensor, a second acceleration sensor and a controller, in an instant of car collision, the controller judges whether the acceleration signal differential value of the acceleration sensor exceeds a preset threshold value or not, and regulates current output to the first actuating coil and the second actuating coil by self-adapting according to difference of collision speed, changes rigidity and damp of a car collision cushioning system, thereby reducing passenger injury and car damage caused by collision.

The invention discloses a semi-active magnetic-current variable-piezoelectric feedback type damper, comprising an inner tube and an outer tube. A revolving shaft is arranged in the middle of the innertube, and is fixedly connected with two vanes which are arranged by the angle of 180 degrees in the inner tube. The vanes are hollow and provided with mass blocks inside respectively, the upper and lower ends of each mass block are connected with the inner wall of the corresponding vane through springs. Two thin plates are arranged in the inner tubes and perpendicular to the vanes respectively. The cavity of the inner tube is filled with magnetorheological fluid. Piezoelectric generator units are respectively arranged on the surfaces of the thin plates, and pressure sensors are respectively arranged at the tops of the piezoelectric generator units. The outer wall of the inner tube is wound with a field coil along the axis direction. The pressure sensors, the field coil, a controller and an electric power extracting and storing unit are in series connection to form a closed loop, wherein the controller and the electric power extracting and storing unit are arranged at the top of the inner tube.

In a method for chassis control of a motor vehicle which has at least one wheel suspension, a vehicle body, and a shock absorber having a rebound stage, whose stiffness is adjustable, and a compression stage, whose stiffness is adjustable, the stiffness of the compression stage is changed for a compressive load of the shock absorber generated by a specific vehicle body movement, and the stiffness of the rebound stage is additionally changed for a subsequently following tensile load of the shock absorber generated by the specific vehicle body movement, or the stiffness of the rebound stage is changed for a tensile load of the shock absorber generated by a specific vehicle body movement, and the stiffness of the compression stage is additionally changed for a subsequently following compressive load of the shock absorber generated by the specific vehicle body movement.

The invention relates to a flexible biped robot, in particular to a pneumatic-electric combined driving flexible biped robot. The problems that linkage between joint flexibility and a dynamic response characteristic of existing flexible biped robots is poor, the walking efficiency of the robots is low and the dynamic stability of the robots is poor are solved. The pneumatic-electric combined driving flexible biped robot comprises a left leg, a right leg and a pelvis. The left leg and the right leg each comprise a thigh, a shank, a foot, a hip joint, a knee joint and an ankle joint. Each hip joint comprises a one-way series-connection elastic driver and a hip joint transmission mechanism. Each one-way series-connection elastic driver comprises a motor, a motor seat, a torsion spring, a first hub, a second hub, a first clamping ring, a second clamping ring and a hip joint driving shaft. Each hip joint transmission mechanism comprises a driving belt wheel, a driven belt wheel, a driving belt and a hip joint driven shaft. The driving belt wheels are mounted on the hip joint driving shafts correspondingly. Each knee joint comprises a knee joint driving mechanism and a knee joint transmission mechanism. The pneumatic-electric combined driving flexible biped robot belongs to the field of humanoid robots.

The invention discloses a flexible manipulator with a bow-shaped continuous curved inner cavity. The flexible manipulator comprises a body and an auxiliary body, wherein the body and the auxiliary body are made of the same or different flexible materials, and a non-extensible layered material can be arranged inside the auxiliary body. The overall appearance of the body is in a bow-like shape, anda bow-shaped continuous closed cavity and a vent opening communicating with an external driving air source are formed in the body. The auxiliary body is fixedly connected with the bottom surface of the body. During operation, the driving air source inflates or deflates the closed air cavity inside the body through the vent opening, so that bending and stretching movement of the body is achieved under the restraint of the auxiliary body. According to the flexible manipulator with the bow-shaped continuous curved inner cavity, the overall arrangement of the bow-like shape and the air cavity of the bow-like shape can effectively improve the movement speed and output force of the manipulator, and the realization of a high-speed reliable grasping function is facilitated.

The invention relates to a stiffness-variable electromagnetic energy feedback suspension, and belongs to the technical field of novel suspensions of vehicles. The stiffness-variable electromagnetic energy feedback suspension comprises an upper hanging lug, a lower hanging lug, a motor shield, a motor fixing plate, an upper bracket, a middle bracket, a lower bracket, a spring A, a spring B, a stator base, a damping-adjustable device and an energy feedback device. A piston rod is fixed with a sprung mass through the motor fixing plate, the motor shield and the upper hanging lug; a stator is fixed with an unsprung mass through the stator base and the lower hanging lug; the spring A is in parallel connection with the damping-adjustable device; the stiffness characteristics of a system can changed by adjusting the opening of a throttle hole in the damping-adjustable device; the energy feedback device comprises the stator, an armature winding and a permanent magnet; when the suspension vibrates, the energy feedback device is driven to generate electricity, vibration energy is converted to electrical energy, and energy recovery is achieved.

The invention discloses a suspended frequency modulation mass damper, comprising a spring, a mass block and a viscous fluid damper; the mass block is suspended on an upper suspension girder or roof plate through the spring and the viscous fluid damper; the viscous fluid damper mainly comprises a sealed cylinder, a guide rod passing through the cylinder and capable of sliding up and down and a piston fixed on the guide rod; and the damping coefficient of the viscous fluid damper is changed along with the change of the displacement of the viscous fluid damper. The device capable of controlling vertical vibration has simple structure, small occupying area and high space utilization ratio.

The invention discloses a metal and ceramic bonding agent and a preparation method of the metal and ceramic bonding agent, a CBN grinding wheel and a manufacturing method of the CBN grinding wheel. The metal and ceramic bonding agent is composed of, by mass fraction, 75%-92% of ceramic and 8%-25% of metal. The ceramic is composed of, by mass fraction, 40%-65% of SiO2, 8%-35% of B2O3, 6%-20% of Al2O3, 5%-18% of Na2O5, 0.5%-5% of CaO, 3%-10% K2O, 0.5%-2% of MgO and 2%-6% of TiO2. The metal is composed of, by mass fraction, 55%-80% of Cu, 15%-30% of Sn and 5%-20% of Ni. The metal and ceramic bonding agent can be used as a CBN grinding wheel bonding agent and overcomes the defects that in the grinding process of the ceramic CBN grinding wheel, the surface roughness of a workpiece is large, chatter marks are generated easily, and impact resistance is poor.

The intelligent gas spring includes a casing, an inner cylinder with cylinder cap and piston to separate the space inside the casing into main gas chamber and subsidiary gas chamber communicated through an on-off gas channel, and a stroke valve installed on the inner cylinder cap to suit with the damping cylinder on the piston. The gas channel may be opened or closed accurately and timely based on the varying road condition so as to regulate the rigidity of the gas spring intelligently to suit for different road condition. The present invention has excellent shock absorbing performance to make the automobile possess high riding comfort and excellent operation stability, and may be installed widely in various kinds of automobile.

The invention discloses a shield tunnel segment lining-anchor rod structural system. Anchor rods are driven around a shield tunnel segment lining, and the effective connection between the anchor rods and the segment lining is established through steel bolts. The shield tunnel segment lining-anchor rod structural system introduces the anchorage function of the anchor rods into a shield tunnel segment lining structure, which can reduce the settlement or the floatation of tunnels, lighten the influence of recessive characters of surrounding soil bodies, strengthen the rigidity of adverse positions such as corners of the tunnels, stratum catastrophe positions and so on, and improve the whole and local stability of tunnel structures.

The invention relates to a vibration isolation and buffer device for machine-born equipment, in particular to a totally-closed rigidity adjustable type vibration isolator, which comprises a casing, an installation core shaft, a protective rubber cover, an upper rubber ring, a spherical vibration isolation part and a lower rubber ring. The casing is of a sealed structure, the top of the casing is provided with an installation hole where the installation core shaft is arranged, and the spherical vibration isolation part is arranged in the sealed casing and is connected with the bottom of the installation core shaft together. The upper rubber ring is sleeved at the upper portion of a damp rubber ball, and the lower rubber ring is sleeved at the lower portion of the damp rubber ball which is sealed in the casing. The totally-closed rigidity adjustable type vibration isolator adopts a totally-closed structure to have small environment influence, utilizes a combination structure combining the spherical surface and the cylindrical surface to improve vibration isolation and retarding effects, utilizes the structures of the upper rubber ring and the lower rubber ring to limit the swinging of the head of the installation core shaft and improve using safety, and can be suitable for different frequency ranges by rotating the upper cover to adjust the rigidity of the vibration isolator.

The invention discloses an adjustable damping seat. The adjustable damping seat comprises a cover plate and a soleplate, wherein a damping component is arranged between the cover plate and the soleplate and comprises a pair of shear type connecting rod mechanisms which are symmetrically arranged; a first connecting rod and a second connecting rod of the shear type connecting rod mechanisms are hinged in the middle; corresponding ends of the first connecting rod and the second connecting rod are rotationally arranged on the lower surface of the cover plate and the upper surface of the soleplate through a first connecting shaft and a second connecting shaft respectively; corresponding other ends of the first connecting rod and the second connecting rod are movably arranged on the upper surface of the soleplate and the lower surface of the cover plate respectively; the soleplate in the middle of the second connecting shaft is provided with a propulsion device; the other end of the propulsion device is connected with a spring expansion device; and the lower surface of the cover plate is also provided with an adjusting device capable of driving the shear type connecting rod mechanisms to rotate around the middle of the adjusting device to adjust a height between the cover plate and the soleplate. The problems of troublesome height adjustment and poor damping effect, driving comfort of a driver and fatigue resistance existing in a currently used seat are solved.

The invention discloses a multi-layer bubbled foil radial dynamic pressure gas bearing, which comprises a bearing block and a shaft which is arranged in the bearing block, wherein the inner side of the bearing block is provided with an elastic supporting component; the elastic supporting component comprises multi-layer elastic bubbled elements arranged on the inner side of the bearing block and a top flat foil arranged between the elastic bubbled elements and the shaft; the top flat foil is attached to the elastic bubbled elements; a shell-shaped bulge with a continuous surface fillet is arranged on each layer of elastic bubbled elements; and one end of the elastic supporting component is fixed on the bearing block through a positioning element, and the other end of the elastic supporting component is free. The multi-layer bubbled foil radial dynamic pressure gas bearing is novel in structure, can generate timely and effective deformation, has adjustable local and integral rigidity and damping height, and has high load adaptability and excellent stability.

The invention discloses an assembly type steel structure self-return module based on slotting steel plate shear wall energy consumption. The module comprises vertical edge components, transverse guide components, connecting components and a slotting steel plate shear wall, wherein multiple post-tensioned prestressed steel strands are arranged along the two transverse edge components, and are anchored at the outer side wing edges of the two vertical edge components to form a prestressed frame; and the connecting components are arranged at the two ends of the slotting steel plate shear wall in the prestressed frame, and are connected with the transverse edge components through high-strength bolts. The module can simplify the construction process and improve the industrial degree; and the structure is returned to the normal position through the prestressed steel strands after major earthquake, and the slotting steel plate shear wall is not required to be replaced, so that the operation is simpler and more convenient, the structure still can be returned to the normal position without generating residual deformation after encountering the earthquake development plasticity, the maintenance time is shortened, the maintenance cost is reduced, and the module is put into the use target as soon as possible.

The invention provides a pedestrian leg buffer beam of an automobile bumper. One end of the buffer beam is connected with the bumper, and the other end is connected with a front end skeleton of a automobile body. Along the direction from the bumper to the automobile body, the pedestrian leg buffer beam comprises a primary energy absorption area and a secondary energy absorption area which are adjacently connected with each other, wherein the primary energy absorption area is higher than the secondary energy absorption area in the vertical direction. The rigidity of the pedestrian leg buffer beam of an automobile bumper is easily controlled, so that the injury on pedestrian legs is reduced during impact, and the production cost and the maintenance cost are lower.

The invention discloses a self-powered type magneto-rheological damping device which comprises an outer barrel, wherein two inner barrels are fixed in the outer barrel, and the insides of the inner barrels are hollow to form damping cavities; a ball screw pair is arranged between the inner barrel, rigid rods are respectively connected to the two ends of the ball screw pair, and the two rigid rodspenetrate through the damping cavities to be connected with an inner wall of the outer barrel; a plurality of blades are fixedly arranged on the parts, in the damping cavities, of the rigid rods, theinner barrels are filled with magneto-rheological fluid, and the outsides of the inner barrels are wound by electrified coils; a movable device connected with the ball screw pair is arranged under theball screw pair, a mass block is arranged in the movable device, steel plates are arranged at the two sides of the mass block, magnets are arranged on a lateral wall of the movable device, and the steel plates are located among adjacent magnets; rotors are in interference fixed connection to the peripheries of the rigid rods, and each rotor is composed of a permanent magnet and a rotor magnet yoke; a stator core is arranged at the periphery of each rotor, a stator winding is arranged on each stator core, a stator shell is fixedly connected to the outside of each stator, and the stator shellsfixedly contact outer walls of the inner barrels.

The invention discloses a fuel-saving driving evaluation system for acceleration and deceleration processes and an algorithm. The fuel-saving driving evaluation system comprises a waste fuel quantity computing unit, the waste fuel quantity computing unit is implanted into an engine control unit and consists of a signal storage unit, a deceleration waste fuel quantity computing unit and a waste fuel quantity processing and storage unit, the signal storage unit is connected to the deceleration waste fuel quantity computing unit, the deceleration waste fuel quantity computing unit is connected to the waste fuel quantity processing and storage unit, the waste fuel quantity computing unit acquires required information from a storage unit of the engine control unit and stores the required information in the information storage unit, the deceleration waste fuel quantity computing unit acquires information from the information storage unit and computes waste fuel quantity of each deceleration process, waste fuel quantity information which is obtained via computation is inputted into the waste fuel quantity processing and storage unit, and the waste fuel quantity processing and storage unit computes the total waste fuel quantity of deceleration processes. By the aid of the fuel-saving driving evaluation system and the algorithm, the waste fuel quantity in the acceleration and deceleration processes of a vehicle can be computed accurately.

A damping-rigidness-controllable double-freedom-degree vibration active control platform comprises a cross-shaped beam frame and a square base which are connected through a flexible hinge. A cross-shaped beam of the cross-shaped beam frame is distributed in the diagonal directions of the square base. A structure column is arranged at the center of the cross-shaped beam frame. Sensors and actuators are connected between the lower portions of the diagonal top ends of the cross-shaped beam frame and the square base respectively. Four limiting columns are arranged between the cross-shaped beam of the cross-shaped beam frame and the square base respectively. Prearranged gaps are reserved between the limiting columns and the cross-shaped beam frame. Four balancing weights are fixed on the lower portion of the cross-shaped beam frame between the sensors or the actuators and the limiting columns respectively. Twisting limiting spring pieces are arranged at the symmetrical positions on the lower portion of the cross-shaped beam frame between the limiting columns and the flexible hinge. The electromagnetic type sensors and the electric-damping electric-rigidness actuators are used to achieve detecting of angular speed and actuating, the flexible hinge and the spring piece with changeable thickness are combined to achieve controllable damping and rigidness in a quantifying mode, and double-freedom-degree vibration active control in the x direction and the y direction of the structure is achieved.

The invention belongs to the field of robot intelligent sensing, and discloses a rigidity and flexibility coupling mechanical finger with force level sensing and a sensing method thereof. The mechanical finger comprises finger bones, a flexible joint and a pull rope; the finger bones are serially connected by the pull rope; the flexible joint is positioned between the finger bones; and a strain chip is arranged in the flexible joint. The invention further discloses a method for sensing the force level of the mechanical finger; and the method comprises the following steps: (a) initial conditions are set; (b) the stress distribution of a spring piece is calculated through a kinetic equation of the spring piece; (c) the deformation shape of the finger is obtained by using the stress distribution; and (d) the positive contact force of a finger point of the mechanical finger is obtained by using a torque balance equation. The mechanical finger is simple in manufacturing, high in function integration degree, high in reliability and low in cost, and realizes the functions of shape sensing, touch sensing and force sensing.

The invention discloses a low-frequency large-deflection adjustable inertia load analog piece, which consists of a connecting flange, a gear, connecting brackets, a flexible load main body, a connecting sliding sleeve, a roller and a counter weight mass block, wherein the connecting flange is directly fixedly connected with an output shaft of a solar array driving structure; the connecting flangeis connected with the flexible load main body through the connecting brackets and the connecting sliding sleeve; the gear is used for synchronously adjusting an angle between the two connecting brackets, adjusting the rigidity of the inertia load analog piece and guaranteeing that a square tube beam on the end part of the flexible load main body is parallel to the end part of the solar array driving structure; the connecting sliding sleeve freely slides on the square tube beam on the end part of the flexible load main body, and the flexible load main body is symmetrically distributed along anaxis of the solar array driving structure; and the counter weight mass block is reasonably arranged on the flexible load main body, the mass distribution of the inertia load analog piece is adjusted,and the inertia of the analog piece is adjusted simultaneously. The inertia load analog piece is simple in structure and convenient to operate, easily adjusts modal frequency and is wide in adjustingrange.

The invention discloses a semi-active magneto-rheological tuned mass damper. The semi-active magneto-rheological tuned mass damper comprises a barrel body; a connection block is arranged in a bottom plate of the barrel body; and a working cylinder is fixed to the connection block. Separation plates are arranged in the working cylinder, and the working cylinder is divided into a center cavity, damping cavities and side cavities. The center cavity is internally provided with a mass block capable of horizontally moving in the axis direction of the axis of the working cylinder. The center of the mass block is provided with a groove and a rolling bearing, and the periphery of the mass block is connected with piston rods capable of sliding along the rolling bearing. The damping cavities are internally provided with pistons, and the pistons are fixedly connected to the piston rods. The piston rods penetrate through holes reserved in the partition plates, extend into the side cavities and areconnected with one ends of springs in the side cavities. The other ends of the springs are fixedly connected into the working cylinder. The damping cavities are filled with magneto-rheological fluid,and powered-on coils are wound around the damping cavities. The powered-on coils are connected with an induction control device inside the barrel body.

The invention belongs to the technical field of tribology of mechanical engineering, particularly relates to a multi-mode friction wear test device and method, and solves the problems of function limitation and complex operation of a friction wear test device in the prior art. According to the technical scheme, the method comprises the following steps: clamping a ball sample / rolling sample on a clamp, and clamping a plane sample by using a plane sample clamp; controlling the plane sample to move up and down through the lifting platform to enable the ball sample / rolling sample to contact with the plane sample; and enabling the motor to drive the ball sample / rolling sample to reciprocate up and down according to set parameters, and performing a reciprocating impact / sliding / rolling test, a two-mode composite test and a three-mode composite test on the plane sample. The three-dimensional force sensor measures the force borne by the plane sample clamp, and a friction coefficient-cycle indexcurve is obtained through analysis. The test device and method can be used for carrying out rigidity-adjustable impact, sliding and rolling multi-mode friction and wear tests, are simple to operate,can save the test cost, and are suitable for research of composite friction.

The invention discloses a temperature-controlled intelligent tuned inertial mass damper. The damper is composed of two parts, namely a working cavity temperature control part and a main damper body part. The working cavity temperature control part comprises a temperature monitoring part and a temperature adjusting part. The main damper body part comprises an SMA spring and an inertial mass damperbody connected with the SMA spring through a rack, the rack is connected with a driving gear, the driving gear is in contact with a follow-up flywheel, the follow-up flywheel is connected with a cylinder, and the cylinder is located in a box body filled with viscous liquid. According to the temperature-controlled intelligent tuned inertial mass damper, the inertia force of the damper body can be increased by converting axial motion into rotary motion, and on the premise of ensuring the damping effect, the mass of the damper body is reduced. The damping and stiffness of the SMA spring can alsobe adjusted in real time by changing the temperature, so that the damper body has the stable working performance in a wide frequency domain, and therefore the good damping effect is achieved.

The invention relates to a vibration damping device in the vibration control field, in particular to a dynamic vibration absorbing device with tunable rigidity. The dynamic vibration absorbing device comprises a pedestal, an elastic element, one end of which is connected with the pedestal, an adaptor which is connected with the other end of the elastic element, an energy absorbing mass block which is connected with the adaptor, a tuner for driving the elastic element to stretch out and draw back in the axial direction of the tuner, and a first vibration sensor arranged on the pedestal; the tuner comprises a deformation material connected with the elastic element, and a drive mechanism for driving the deformation material to stretch out and draw back in the axial direction of the drive mechanism; and the material of the elastic element comprises a metal material, a carbon fiber composite material, a glass fiber composite material and an elastic rubber material. The elastic element of the device can be regulated in degree of stretching out and drawing back through the deformation material, so that the purpose of regulating the rigidity of the elastic element is achieved. The dynamic vibration absorbing device is wide in regulating range, and is strong in real-time property; and the controllable deformation range of the deformation material is within a micro dimension, and controllable precision is high.

The invention relates to an automobile body structure, in particular to an automobile body longitudinal beam structure provided with a built-in air bag, and solves the problem that the fixed rigidity of the conventional automobile body longitudinal beam cannot adapt to multiform collision energy absorption. The automobile body longitudinal beam structure comprises an energy-absorbing longitudinalbeam front part connected with a front bumper, and a high-rigidity longitudinal beam rear part connected with a front baffle plate. The interior of the longitudinal beam is hollow. The automobile body longitudinal beam structure is characterized in that: an air bag is arranged in the longitudinal beam front part; the air bag is aerated to ensure that the periphery of the air bag is clung to the inner wall of the longitudinal front part; a pressure sensor is arranged in the air bag; and a controllable valve opened and closed by a pressure sensor is arranged on one side of the air bag. The automobile body longitudinal beam structure can adjust the overall rigidity of the longitudinal beam front part according to different collision conditions, thereby realizing deformation energy absorptionunder different collision conditions.

The invention relates to a supporting method of a motion platform of a machine tool. A process for determining the rigidity and the position of an air-floating guide rail in a support system comprises the following steps of: a, testing the work deformation of an initial motion platform under a work state; b, testing a hammer mode of the motion platform; c, comparing and analyzing data of two tests and finding an adverse mode which has larger effect on the dynamic property of the motion platform; d, simulating and changing the rigidity and the position of an air-floating guide rail support by using a mode modifying method; e, practically regulating the air-floating guide rail according to a direction supplied by the simulation; f, testing the work deformation of the regulated motion platform under the work state; and g, judging whether the regulated motion platform satisfies requirements, if so, quitting, and otherwise, returning the step b to circulate. The invention can ensure that the integral rigidity and the anti-vibration ability of the motion platform satisfy requirements.

The invention discloses controllable dicoupling film and throttling hole type semi-active suspension which comprises a casing with an opening in the top end, a rubber main spring arranged at and used for blocking the opening in the top end of the casing, a reinforcing block arranged on the rubber main spring, a connecting rod fixedly connected with the reinforcing block and a rubber base film arranged at the bottom of the inner side of the casing, wherein the casing comprises an upper casing and a lower casing connected through a bolt; a sealed cavity filled with an ethylene glycol liquid is formed between the rubber main spring and the rubber base film; a flow passage plate dividing the cavity into an upper cavity and a lower cavity is arranged in the cavity; an air cavity and a throttling hole are formed in the flow passage plate in a staggered manner; a dicoupling film is arranged at the top of the air cavity; the air cavity is communicated with a vacuum valve arranged outside the casing through an airflow passage; the suspension further comprises an electromagnetic valve for driving the rubber base film to close or open the throttling hole; air outlets are formed in the lower casing. The suspension with the structure has the advantages of low energy consumption, long service life and good vibration isolation effect.

The invention relates to the technical field of pipeline transportation machinery, and discloses an end hose, which is arranged at the tail end of a transportation pipeline and comprises a hose body. A feeding port of the hose body is communicated with a discharging port at the tail end of the transportation pipeline, at least part of the outer side of the hose body along the length direction is provided with an elastic container, and pressure inside the elastic container can be adjusted so that the stiffness of the end hose is adjusted. The pressure inside the elastic container is increased after media are filled into the elastic container, the surface tension of the elastic container can be increased along with the pressure, the stiffness of the elastic container and the hose body in the length direction is enhanced, the stiffness of the end hose can be adjusted by adjusting the pressure inside the elastic container to meet the requirements of different applications scenarios on the stiffness of the end hose, substantial swing of the end hose in transportation can be prevented, splashing of materials is decreased, material distribution is more convenient, and personal safety of operators is guaranteed. The invention further discloses an end hose stiffness control system and pipeline transportation machinery.

An omnidirectional high-accuracy spatial direction fine tuning device is disclosed, which has a soleplate (3) and a cylindrical bracket (2). The bracket (2) is inside provided with three piezoelectric ceramic drivers (1) which are radially evenly distributed in a radial direction. One end of the piezoelectric ceramic driver (1) is fixedly connected to the bottom of the bracket (2) while the other end thereof is hinged with the soleplate (3). The three piezoelectric ceramic drivers (1) are hinged with the soleplate (3) via a ball (11) and a ball socket (41), respectively. Moreover, the cylindrical surface of the bracket (2) is provided with a helical groove (21). On account of the helix-shaped groove, namely the helical groove, arranged on the bracket in the invention, the bracket is endowed with elastic deformation and resetting ability; by respectively driving the three piezoelectric ceramic drivers to perform straight-line displacement, the soleplate, namely a normal line of an outer end face of a carrying platform, can be accurately controlled to swing towards any spatial orientation, thus realizing accurate fine tuning direction.