39results about How to "Reduce fatigue wear" patented technology

The invention relates to a two-freedom-degree limit anisotropic flexible biomimetic ankle which comprises a connector for being connected with a prosthetic socket, a connecting rod connected to the lower end of the connector, a spring mounting bracket connected to the middle of the connecting rod, a central sphere pin pair connected to the lower end of the connecting rod, an ankle limit end cover arranged on the upper portion of the central sphere pin pair and a sphere pin pair base arranged below the central sphere pin pair. A limit cambered surface with four spring guide holes is arranged at the upper end of the ankle limit end cover, and an inner spherical surface is arranged at the lower end of the ankle limit end cover. The spring mounting bracket is supported in the limit cambered surface through four spiral compression springs installed in the four spring guide holes. An inner spherical surface is arranged at the upper end of the sphere pin pair base. The central sphere pin pair is in clearance fit with the inner spherical surface of the ankle limit end cover and the inner spherical surface of the sphere pin pair base, and a bolt pin on the side face of the central sphere pin pair is in clearance fit with a bolt pin guide groove in the ankle limit end cover and a bolt pin guide groove in the sphere pin pair base. The two-freedom-degree limit anisotropic flexible biomimetic ankle has two degrees of freedom, can perform plantar flexion, dorsal flexion, introversion and extroversion, has different angle ranges and flexibility in each direction, and enables an amputee to walk on a more complicated pavement.

The invention discloses a walking energy collection system, which comprises a piezoelectric power generation device and an electric energy collection device connected with the piezoelectric power generation device. The piezoelectric power generation device comprises a pressure bearing component, a support component, a two-stage pressure amplification component, an elastic component and a piezoelectric component, wherein the pressure bearing component bears walking pressure; the support component supports the pressure bearing component; the two-stage pressure amplification component adopts a wedge block, and amplifies pressure in a combined way; the elastic component resets the pressure amplification component and the pressure bearing component; and the piezoelectric component converts mechanical energy into electric energy. The electric energy collection device comprises a rectification circuit, an energy storage capacitor, a control circuit and a voltage stabilizing circuit, which are sequentially cascaded. According to the walking energy collection system, the mechanical energy in a walking process is converted into the electric energy which is easily collected and utilized, so that the collection efficiency of the electric energy collection device is improved; the walking energy collection system is suitable for the low-frequency excitation of walking; and fatigue wear to the components in the system at work can be effectively reduced.

The invention relates to a trajectory planning method for variable speed drop of composite press. The trajectory planning method comprises: first, the differential command signals are input in a proportional pilot control valve to control the circulation drop of the press and collect signals of the movable beam displacement, return cylinder pressure and instruction; then, the movable beam displacement is treated by differential method to get the falling velocity signal of movable beam and the mathematical model of valve flow is obtained by training the collected parameters by neural network algorithm; then, combining the force balance equation of the return cylinder and the continuity equation of the flow, a comprehensive mathematical model of the falling system is built; finally, with the error integral of the return cylinder pressure as the optimization index, the improved genetic algorithm is used to optimize the cubic wire interpolation trajectory, and the control trajectory of the moving beam falling is obtained. The trajectory planning method for variable speed drop of composite press adopts the movable beam falling instruction path planning method can effectively avoid the impact of rigid and flexible impact system, restrain the system pressure fluctuations and improve the efficiency and accuracy of trajectory planning activities to enhance the transmission beam falling, improving engineering adaptability.

The invention belongs to the field of ice-breaking ships, in particular to an adaptive ice-breaking device for ships. The device comprises a base, a reserve box, a crankshaft, an electric motor, a controller, a conveyor belt, a speed reducer, an electromagnetic clutch, a connecting rod, a slider vibration exciting rod, small and large electromagnets, a return spring, a stop pin, an electric motorcontroller and the like; One end of the crankshaft is connected with the output shaft of the speed reducer through an electromagnetic clutch to transmit torque, and the other end is connected with theconnecting rod through a rotating pair; The slider vibration exciting rod and the connecting rod are connected through a ball hinge, and the slider vibration exciting rod and the slider rail are connected through a ball to realize the guidance and reduce the friction; The slide rail has four arc-shaped grooves, the ball is located in the arc-shaped groove, and the slide rail is fixed on the base.The controller selects the rotational speed of the motor according to the natural frequency fn of the sea ice, so that the frequency f1 of the exciting force exerted by the vibration hammer on the ice is equal to the natural frequency fn of the ice, so as to realize the resonant ice breaking. The invention is based on the resonance principle, and has the advantages of low cost-effectiveness ratio, strong adaptability and high ice breaking efficiency.

The invention discloses a bidirectional adjustable groove profile carrier roller frame used for a tube-shaped belt conveyer, comprising a bracket for mounting the carrier roller frame, the middle part of the bracket is provided with a medium carrier roller, two lateral carrier rollers are arranged at the two sides of the bracket in a symmetrical way; the invention is characterized in that the margin of each lateral carrier roller is provided with an included angle adjusting mechanism used for adjusting the included angle between the lateral carrier roller axial line and the bracket, and the two ends of the bracket are provided with a height adjusting mechanism used for adjusting the height of the bracket. The carrier roller frame of the invention is adjustable in height and angle, and simple in structure, the conveyer belt in the section is natural in transition, thus relieving fatigue wear, reducing stress concentration and prolonging service life, as well as causing the whole belt machine to be well closed, the running to be smooth without being jammed, and reducing the occurrence of distortion.

The invention discloses an electronic device comprising a middle frame assembly, which comprises a first frame body and a second frame body, wherein the first frame body is sleeved in the second framebody, and the first frame body is slidably connected with the second frame body; a flexible screen assembly which comprises a reel and a flexible screen, wherein the reel is arranged on the inner side of the first frame body; and a driving assembly which is arranged on the inner side of the first frame body and is connected with the flexible screen. Under the action of the driving assembly, the flexible screen can be switched between a first screen state and a second screen state; in the first screen state, the second frame body is accommodated in the first frame body, and the screen part, used for displaying, of the flexible screen covers the first frame body; and in the second screen state, at least part of the second frame body is moved out of the first frame body, and the screen part,used for displaying, of the flexible screen covers the first frame body and a part of the second frame body moved out of the first frame body, so that the display effect of the flexible screen can beimproved.

The invention provides an assembly type stair damping structure. The assembly type stair damping structure comprises a bottom plate, a top stair plate, a bottom stair plate, middle stair plates, supporting seats and supporting springs I, wherein the top stair plate is arranged at the top of the bottom plate; the bottom stair plate is arranged at the bottom of the bottom plate; at least two middlestair plates are movably connected alternately; the outermost sides of the alternately connected middle stair plates are movably connected with the top stair plate and the bottom stair plate correspondingly; a guide rail on the side surface of the top stair plate is fixedly connected with the supporting seats; the rest supporting seats are connected with the middle stair plates through the supporting springs; every two adjacent supporting seats are connected through a connecting spring; a pedal plate is rotationally mounted on the top surface of each middle stair plate; and an elastic supporting plate is arranged between each pedal plate and the corresponding middle stair plate. By means of rotation of the pedal plates, elastic deformation of the elastic supporting plates, the movement relation between the stair plates movably connected with one another and movement of the supporting seats pushed by the stair plates in the bottom plate, graded damping is formed, and most of impact force can be filtered out.

A method for producing a wear resistant polyethylene medical implant includes forming a medical implant, such as an orthopedic implant, made at least partially of ultra high molecular weight polyethylene (UHMWPE). The polyethylene may be irradiated with gamma ray or e-beam radiation to form free radicals and then crosslinked to eliminate free radicals prior to exposure to oxygen. The so treated bearing surface of the crosslinked polyethylene is then coated with a photoinitiator. Thereafter the bearing material is photocrosslinked with ultra-violet (UV) radiation. The photocrosslinking process can also be applied to non-crosslink UHMWPE.

The invention discloses a shale oil gas hydraulic fracturing Y-shaped fluid end and belongs to the technical field of oil filed hydraulic fracturing equipment. The shale oil gas hydraulic fracturing Y-shaped fluid end comprises a Y-shaped fluid end valve box, a suction mechanism, a discharging mechanism and a plunger mechanism, wherein the suction mechanism, the discharging mechanism and the plunger mechanism are mounted in the fluid end valve box. The center line of the suction mechanism is a first center line. The center line of the discharging mechanism is a second center line. The center line of the plunger mechanism is a third center line. The first center line, the second center line and the third center line are distributed in a Y shape. A discharging valve hole in the discharging mechanism, a suction valve hole in the suction mechanism and a plunger hole form a Y-shaped inner cavity. A fluid end plunger reciprocates in the plunger hole. When the fluid end plunger is far from the intersection of the three center lines, the pressure of the Y-shaped inner cavity is decreased, and fracturing liquid enters the Y-shaped inner cavity from a low-pressure liquid inlet through the suction valve hole; and when the fluid end plunger is close to the intersection of the three center lines, the plunger pressurizes the fracturing liquid in the Y-shaped inner cavity to be discharged through the discharging valve hole.

The invention discloses a wind turbine generator blade capable of efficiently utilizing wind energy, and relates to the technical field of wind power generation equipment. The wind turbine generator blade comprises fan blades, speed regulating devices, speed reducing devices and a rotating main shaft, wherein the blades are arranged on the rotating main shaft, the multiple fan blades are arranged,the plurality of fan blades are central-symmetrically arranged along the rotating main shaft, when the plurality of fan blades rotate, the rotating axis coincides with the axis of the rotating main shaft, the speed regulating devices are arranged at the tail parts of the fan blades correspondingly, the speed regulating devices can rotate, the speed reducing devices are arranged on one side, closeto the rotating main shaft, of the front parts of the fan blades correspondingly, and the speed reducing devices are vertically arranged with the fan blades correspondingly. The wind turbine generator blade has the beneficial effects that the speed regulating device and the speed reducing device are arranged, and the speed regulating device and the speed reducing device are in cooperation with each other, so that the rotating speed of the wind turbine generator can be effectively controlled, and rotating speed of the wind turbine generator is close to a rated rotating speed, so that the powergeneration rate of the wind turbine generator is improved.

The invention relates to the technical field of peripheral parts of automobile power assemblies, in particular to a power assembly rear suspension and clutch booster integrated support and a rear suspension device. The support comprises a base, a variable cross-section connecting plate and a fixing plate. Since the base is installed on the side of a gearbox, a soft pad mounting surface of the variable cross-section connecting plate is used to install a vibration isolation soft pad, the fixing plate is used for installing a clutch booster, namely, suspension fixation and clutch booster installation are integrated and then fixed to the side face of the gearbox through the base to form four-point suspension, sliding friction between the rear suspension support and the clutch booster support is avoided, fatigue abrasion is reduced, and the risk that the rear suspension device is broken is reduced. Moreover, the soft pad mounting surface is located above the side of a first mounting hole, so that sufficient space is reserved for the mounting of the clutch booster, and the soft pad mounting surface is far away from the mass center of a power assembly, and therefore, the stability of therear suspension device can be effectively improved, and the number of parts can be effectively reduced.

The invention discloses a ship boarding platform which comprises a mounting shaft rod. A platform is fixedly connected to the left side of the outer surface of the mounting shaft rod, guardrails are fixedly connected to the front surface and the back surface of the top of the platform, handrails are fixedly connected to the ends, away from the platform, of the guardrails, and a lifter is movably connected to the middle of the bottom of the platform. The platform comprises a platform plate body, steps are movably connected to the middle positions of the two sides of the top of the platform plate body, dragging ways are movably connected to the positions, located on the front surfaces and the back surfaces of the steps, of the top of the platform plate body, and a protection mechanism is movably connected to the middle position of the front surface of the platform plate body. The invention relates to the technical field of ships. Internal energy conversion is carried out through vibration generated by treading, internal components are supported in a non-contact mode through a magnetic force, overall vibration is isolated, vibration superposition is avoided, relative safety of the internal components is protected, fatigue abrasion is reduced, and the service life of equipment is prolonged.

The invention belongs to the technical field of automobile engine manufacturing, and particularly relates to an air-blowing vibrator. The air-blowing vibrator comprises a machine body frame, a lower jacking structure of a conveying line body, an overturning translation structure, an air-blowing vibration structure and an air-blowing vibration jacking structure, wherein the machine body frame stretches across the workpiece conveying line body, and the lower jacking structure of the conveying line body is located below the workpiece conveying line body, and is used for taking out a workpiece. The overturning translation structure is arranged at the upper part of the machine body frame and used for taking away and transferring the workpiece. The air blowing vibrating structure is arranged beside the workpiece conveying line body, in the machine body framework. The machine body frame provides a platform for placing the air-blowing vibration structure. The air-blowing vibration jacking structure is arranged on a special platform of the machine body frame, and the air-blowing vibration jacking structure is embedded in the air-blowing vibration structure. According to the air-blowing vibrator, the problem that the overturning translation structure is tedious is solved, the mutual correlation of workpiece connection and overturning translation is reduced, the stability of the overturning translation is enhanced, and the relative position precision of the connection and vibration positioning is improved.

The invention provides lubricating grease for an industrial robot. The lubricating grease is prepared from base oil, a tetrapolyurea-composite calcium sulfonate thickener, an antioxidant, a solid additive, an extreme-pressure anti-wear agent, an antirust agent and an anti-foaming agent. The invention further provides a preparation method of the lubricating grease for the industrial robot. The lubricating grease of the invention is mostly remarkably characterized by very long high-temperature service life, very low friction coefficient, capability of improving the transmission efficiency of a speed reducer and reducing energy consumption, excellent fretting wear resistance, as well as excellent extreme-pressure wear resistance, water resistance, shearing resistance, rust prevention and stability. In addition, the production and preparation process of the lubricating grease is simple, and the product is environment-friendly and stable in quality.

The invention belongs to the technical field of speed reducers, and discloses a torque shunting speed reducer and an application method, a detection and control system thereof; the torque shunting speed reducer is provided with a speed reducer shell; the two ends of the inner part of the speed reducer shell are provided with an input shaft and an output shaft through bearings respectively, an input shaft straight gear is connected to the input shaft through a key, an output shaft third straight gear is fixed at one end of the output shaft through a key, the output shaft third straight gear ismeshed with the input shaft straight gear, an output shaft first straight gear and an output shaft second straight gear are fixed at the other end of the output shaft through keys, and a first shunting shaft and a second shunting shaft are fixed on the two sides of the output shaft through bearings respectively. According to the torque shunting speed reducer, the two shunting shafts are additionally arranged on the two sides of the output shaft, so that the rotating torque borne by the output shaft is effectively shunted to the straight gears on the two shunting shafts, the maximum rotating torque possibly borne by the output shaft is reduced, fatigue abrasion and damage possibly caused in the speed reducer are reduced, and the service life of the speed reducer is prolonged.

The invention provides a basalt fiber reinforced polyvinyl chloride composite material. The basalt fiber reinforced polyvinyl chloride composite material comprises the following components in parts byweight: 30-38 parts of basalt fibers, 55-65 parts of polyvinyl chloride, 0.3-0.8 part of a coupling agent, 0.1-0.3 part of a cross-linking agent, 0.1-1.0 part of an assistant cross-linking agent, 0.2-1.0 part of a coupling agent and 0-8 parts of titanium dioxide. According to the basalt fiber reinforced polyvinyl chloride composite material provided by the invention, the wear resistance is improved.

The invention provides a gas-distribution assembly and an engine. The gas-distribution assembly comprises a rotating shaft, a swinging rocker arm, a blocking assembly, a rocker arm rolling wheel and adriving wheel; the swinging rocker arm is rotationally arranged on the rotating shaft in a sleeving mode; the blocking assembly is connected with one end of the swinging rocker arm; the rocker arm rolling wheel is rotationally connected with the other end of the swinging rocker arm; and the driving wheel comprises a cam and a plurality of teeth, the multiple teeth are arranged in the circumferential direction of the cam, the rocker arm rolling wheel is a cylindrical gear, and the driving wheel meshes with the rocker arm rolling wheel. According to the gas-distribution assembly, the teeth arranged in the circumferential direction of the cam drive the rocker arm rolling wheel to rotate, so that the outer surface of the cam does not make direct contact with the smooth cylindrical rolling wheel any more, relative sliding between the cam and the rocker arm rolling wheel is reduced, thus fatigue abrasion caused by friction is reduced, and the service life of the gas-distribution assembly isprolonged; and the cam drives the rocker arm rolling wheel to rotate through the teeth, so that the transmission ratio of the cam to the rocker arm rolling wheel is more stable, and thus the gas-distribution assembly is conveniently controlled for exhaust.

The invention discloses a walking energy collection system, which comprises a piezoelectric power generation device and an electric energy collection device connected with the piezoelectric power generation device. The piezoelectric power generation device comprises a pressure bearing component, a support component, a two-stage pressure amplification component, an elastic component and a piezoelectric component, wherein the pressure bearing component bears walking pressure; the support component supports the pressure bearing component; the two-stage pressure amplification component adopts a wedge block, and amplifies pressure in a combined way; the elastic component resets the pressure amplification component and the pressure bearing component; and the piezoelectric component converts mechanical energy into electric energy. The electric energy collection device comprises a rectification circuit, an energy storage capacitor, a control circuit and a voltage stabilizing circuit, which are sequentially cascaded. According to the walking energy collection system, the mechanical energy in a walking process is converted into the electric energy which is easily collected and utilized, so that the collection efficiency of the electric energy collection device is improved; the walking energy collection system is suitable for the low-frequency excitation of walking; and fatigue wear to the components in the system at work can be effectively reduced.

The invention relates to a trajectory planning method for variable speed drop of composite press. The trajectory planning method comprises: first, the differential command signals are input in a proportional pilot control valve to control the circulation drop of the press and collect signals of the movable beam displacement, return cylinder pressure and instruction; then, the movable beam displacement is treated by differential method to get the falling velocity signal of movable beam and the mathematical model of valve flow is obtained by training the collected parameters by neural network algorithm; then, combining the force balance equation of the return cylinder and the continuity equation of the flow, a comprehensive mathematical model of the falling system is built; finally, with the error integral of the return cylinder pressure as the optimization index, the improved genetic algorithm is used to optimize the cubic wire interpolation trajectory, and the control trajectory of the moving beam falling is obtained. The trajectory planning method for variable speed drop of composite press adopts the movable beam falling instruction path planning method can effectively avoid the impact of rigid and flexible impact system, restrain the system pressure fluctuations and improve the efficiency and accuracy of trajectory planning activities to enhance the transmission beam falling, improving engineering adaptability.

The invention relates to a two-freedom-degree limit anisotropic flexible biomimetic ankle which comprises a connector for being connected with a prosthetic socket, a connecting rod connected to the lower end of the connector, a spring mounting bracket connected to the middle of the connecting rod, a central sphere pin pair connected to the lower end of the connecting rod, an ankle limit end cover arranged on the upper portion of the central sphere pin pair and a sphere pin pair base arranged below the central sphere pin pair. A limit cambered surface with four spring guide holes is arranged at the upper end of the ankle limit end cover, and an inner spherical surface is arranged at the lower end of the ankle limit end cover. The spring mounting bracket is supported in the limit cambered surface through four spiral compression springs installed in the four spring guide holes. An inner spherical surface is arranged at the upper end of the sphere pin pair base. The central sphere pin pair is in clearance fit with the inner spherical surface of the ankle limit end cover and the inner spherical surface of the sphere pin pair base, and a bolt pin on the side face of the central sphere pin pair is in clearance fit with a bolt pin guide groove in the ankle limit end cover and a bolt pin guide groove in the sphere pin pair base. The two-freedom-degree limit anisotropic flexible biomimetic ankle has two degrees of freedom, can perform plantar flexion, dorsal flexion, introversion and extroversion, has different angle ranges and flexibility in each direction, and enables an amputee to walk on a more complicated pavement.

The invention discloses a steel roller thermal refining process. The steel roller thermal refining process comprises the specific thermal refining steps that when liquid metal is smelted, yttrium-based heavy rare earth alterant is added to iron liquid according to the proportion that 2-3 kilograms of the yttrium-based heavy rare earth alterant is added to every ton of the iron liquid; and the materials are fully mixed to be uniform, so that harmful elements of P, S, H and O are removed through the yttrium-based heavy rare earth alterant, grains are refined, and the micro-structure is improved.By means of the steel roller thermal refining process, strength and impact toughness of a roller material are improved, fatigue wear is reduced, and the service life of a roller is prolonged; in addition, a uniform, continuous and smooth oxidation film is pushed to be formed and maintained on the surface of the roller material, and thus wear resistance and corrosion resistance are improved; by means of an integral method, the adding amount of expensive alloying elements of molybdenum and nickel can be reduced, the alkalization heat treatment process can be improved, and the roller still has good comprehensive performance.

The invention belongs to the field of ice-breaking ships, in particular to an adaptive ice-breaking device for ships. The device comprises a base, a reserve box, a crankshaft, an electric motor, a controller, a conveyor belt, a speed reducer, an electromagnetic clutch, a connecting rod, a slider vibration exciting rod, small and large electromagnets, a return spring, a stop pin, an electric motorcontroller and the like; One end of the crankshaft is connected with the output shaft of the speed reducer through an electromagnetic clutch to transmit torque, and the other end is connected with theconnecting rod through a rotating pair; The slider vibration exciting rod and the connecting rod are connected through a ball hinge, and the slider vibration exciting rod and the slider rail are connected through a ball to realize the guidance and reduce the friction; The slide rail has four arc-shaped grooves, the ball is located in the arc-shaped groove, and the slide rail is fixed on the base.The controller selects the rotational speed of the motor according to the natural frequency fn of the sea ice, so that the frequency f1 of the exciting force exerted by the vibration hammer on the ice is equal to the natural frequency fn of the ice, so as to realize the resonant ice breaking. The invention is based on the resonance principle, and has the advantages of low cost-effectiveness ratio, strong adaptability and high ice breaking efficiency.

The invention discloses a diaphragm pump and a pump head structure thereof. The pump head structure comprises a transmission head, a diaphragm and a valve seat which are sequentially arranged in the direction of an output shaft of a motor, and the diaphragm is provided with a first surface matched with the transmission head and a second surface matched with the valve seat; a plurality of wading parts capable of making contact with fluid are arranged on the second surface, a pressurizing cavity is formed between each wading part and the valve seat, and the area ratio of the wading parts to thediaphragm is 50%-70%. According to the diaphragm pump and the pump head structure thereof, parameters such as the water outlet flow and the working efficiency of the diaphragm pump can be improved under the condition that it is guaranteed that the size of the diaphragm pump is not changed and the structural durability is good, and therefore the requirements of users for high performance, low cost,low noise, small size and the like of the diaphragm pump are met.

The invention relates to the technical field of automobile braking equipment, and discloses an air compressor for an automobile braking system. The air compressor comprises an air compressor main body, an air storage tank body is fixedly mounted at the bottom end of the air compressor main body, the interior of the air compressor main body communicates with the interior of the air storage tank body through a connecting pipeline, an inner cavity of the air storage tank body communicates with the braking system and a parking system on an electric automobile through pipelines, a friction plate I is fixedly installed at one end of an output shaft of the air compressor main body, and an installation disc body is arranged on the right side of the outer portion of the air compressor main body. According to the air compressor for the automobile braking system, a balance air bag is arranged on the air storage tank body, so that air pressure in the air storage tank body can be balanced when a motor spindle on the electric automobile stops rotating, then the phenomenon that the air pressure in the air storage tank body changes due to expansion caused by heat and contraction caused by cold can be effectively avoided, and further, a sufficient and stable braking pressure source is provided for the braking system and the parking system on the electric automobile.

The invention discloses a sock-like shoe and a manufacturing method thereof. The sock-like shoe structurally comprises a shoe sole, a natural rubber foaming layer and a sock body. The shoe sole is fixedly connected with the natural rubber foaming layer, and the natural rubber foaming layer is fixedly connected with the sock body. The natural rubber foaming layer comprises a foot sole region from afoot sole to a tiptoe, and a heel region from a foot arch to a heel. A rhombic through hole is formed in the width direction of the heel region, and a special-shaped through hole is formed in the width direction of the foot sole region. The shoe sole is longitudinally provided with an anti-slip through groove in the horizontal direction, the anti-slip through groove is connected with the special-shaped through hole in the foot sole region, and the sock body is provided with an opening allowing wear of the foot. The sock-like shoe has the technical effects that disengagement in the walking process is avoided, pressure on the foot sole of a wearer is reduced, meanwhile, the comfort of the wearer is better facilitated, and the service life of the shoe is prolonged.

The invention relates to a control system and method for flexible docking of a movable beam of a hydraulic machine and a leveling system. Input the command signal with the same difference to the proportional servo valve of the leveling cylinder to control the circular fall of the leveling cylinder and collect the displacement of the leveling cylinder and the pressure of the rodless chamber, and record the corresponding command signal; use the neural network algorithm to carry out model identification on the collected data , get the flow model of the valve port of the leveling cylinder control valve, and calculate the feedforward value of the speed valve port of each leveling cylinder; then, collect the position information of the movable beam and the four leveling cylinders in real time, and calculate the position information of each leveling cylinder according to the displacement difference Control the opening of the valve port, and at the same time, the displacement deviation compensation module of the four leveling cylinders adjusts and compensates the valve ports of the control valves of each cylinder; after docking, use the sliding mode controller to perform pressure tracking control on the rodless cavity of the four leveling cylinders . The invention adopts the coordinated control of the main cylinder and the leveling system and the coordinated control method of four cylinders, can realize the flexible docking of the movable beam and the hydraulic leveling system, and has strong engineering adaptability.

The embodiment of the invention provides a rotary excavating drilling rig and an engineering machine and relates to the field of engineering machines. The rotary excavating drilling rig comprises a drilling rig body, a bulldozing plate, a guide structure and a pressure bearing plate. The drilling rig body is provided with a cavity. The bulldozing plate is connected with the guide structure and located in the cavity. The guide structure is movably connected with the drilling rig body and can slide relative to the drilling rig body. The pressure bearing plate is connected with the guide structure, located outside the cavity and used for being in drive connection with driving equipment, so that the driving equipment drives the bulldozing plate to move in the cavity. By means of the rotary excavating drilling rig and the engineering machine provided by the invention, the rock core and slag unloading time can be shortened, operation is convenient and easy, and the rock core and slag unloading efficiency is improved easily; and meanwhile, excessive abrasion of components is avoided, and the service lives of the rotary excavating drilling rig and the engineering machine are guaranteed.

The invention relates to the field of food processing, and particularly discloses shrimp meat steamed stuffed buns and a preparation method thereof. The shrimp meat steamed stuffed bun comprises the following raw materials in parts by weight: 4900-5100 parts of shrimp meat, 3200-3600 parts of shiitake mushrooms, 900-1000 parts of scallions, 100-120 parts of fresh ginger, 90-110 parts of edible salt, 10-20 parts of ground pepper, 20-30 parts of white sugar, 15-17 parts of monosodium glutamate, 5-7 parts of chicken essence, 400-500 parts of cooking wine, 4-8 parts of eucommia, 4-8 parts of purple perilla, 3-5 parts of Chinese wolfberry and 3-5 parts of luffa stem. The shrimp meat steamed stuffed bun has the advantages of being suitable for old people to eat and capable of maintaining bones of the old people.

The invention provides an assembly type stair damping structure. The assembly type stair damping structure comprises a bottom plate, a top stair plate, a bottom stair plate, middle stair plates, supporting seats and supporting springs I, wherein the top stair plate is arranged at the top of the bottom plate; the bottom stair plate is arranged at the bottom of the bottom plate; at least two middlestair plates are movably connected alternately; the outermost sides of the alternately connected middle stair plates are movably connected with the top stair plate and the bottom stair plate correspondingly; a guide rail on the side surface of the top stair plate is fixedly connected with the supporting seats; the rest supporting seats are connected with the middle stair plates through the supporting springs; every two adjacent supporting seats are connected through a connecting spring; a pedal plate is rotationally mounted on the top surface of each middle stair plate; and an elastic supporting plate is arranged between each pedal plate and the corresponding middle stair plate. By means of rotation of the pedal plates, elastic deformation of the elastic supporting plates, the movement relation between the stair plates movably connected with one another and movement of the supporting seats pushed by the stair plates in the bottom plate, graded damping is formed, and most of impact force can be filtered out.