摘要：【中文】本发明公开了一种紧凑型电动水密关节，包括：具有空腔A和空腔B的壳体、伺服电机、传动链、谐波减速器和旋转变压器，中间平台隔开两层空腔；中间平台上开设通孔A，壳体上开设与通孔A同轴的通孔B，谐波减速器安装在中间平台上端面，谐波减速器的输出端从壳体的通孔B伸出并在二者的连接处动密封，其输入端从中间平台上的通孔A伸入空腔B，伺服电机固定在中间平台上，其输出轴从中间平台上另一个通孔伸入空腔B中，伺服电机的输出轴和谐波减速器的输入端之间通过传动链传动；旋转变压器安装在中间平台上端面，其与谐波减速器的输出端之间同步传动，谐波减速器的输出端作为水密关节输出轴，旋转变压器用于检测水密关节的转角。 【EN】The invention discloses a compact electric watertight joint, which comprises: the device comprises a shell with a cavity A and a cavity B, a servo motor, a transmission chain, a harmonic reducer and a rotary transformer, wherein a middle platform separates two layers of cavities; the middle platform is provided with a through hole A, the shell is provided with a through hole B coaxial with the through hole A, the harmonic reducer is arranged on the upper end surface of the middle platform, the output end of the harmonic reducer extends out of the through hole B of the shell and is in dynamic seal at the joint of the through hole B and the shell, the input end of the harmonic reducer extends into the cavity B from the through hole A on the middle platform, the servo motor is fixed on the middle platform, the output shaft of the servo motor extends into the cavity B from the other through hole on the middle platform, and the output shaft of the servo motor is transmitted with the input end; the rotary transformer is installed on the upper end face of the middle platform and is in synchronous transmission with the output end of the harmonic reducer, the output end of the harmonic reducer serves as an output shaft of the watertight joint, and the rotary transformer is used for detecting the rotating angle of the watertight joint.

摘要：【中文】本发明涉及水下大深度多功能固体压载抛载装置，包括机架(1)，液压缸(3)，抓勾(5)，通轴(11)和框架(2)，所述抓勾(5)与机架通过所述通轴(11)连接，液压缸的活塞杆(306)与抓勾(5)枢轴连接，所述框架(2)通过固定轴(13)与机架连接，所述活塞杆(306)缩回时，活塞杆(306)带动抓勾(5)绕通轴(11)逆时针转动钩住框架上的锁紧轴(21)，所述活塞杆(306)伸出时，活塞杆(306)带动抓勾(5)绕通轴(11)顺时针转动，抓勾(5)与锁紧轴(21)松开。水下大深度多功能固体压载抛载装置能够解决现有固体压载抛载装置不能实现超深抛出，及不能适用不同工作深度且调试不便的问题。 【EN】The invention relates to an underwater large-depth multifunctional solid ballast load rejection device which comprises a rack (1), a hydraulic cylinder (3), a grabbing hook (5), a through shaft (11) and a frame (2), wherein the grabbing hook (5) is connected with the rack through the through shaft (11), a piston rod (306) of the hydraulic cylinder is connected with the grabbing hook (5) through a pivot, the frame (2) is connected with the rack through a fixed shaft (13), when the piston rod (306) retracts, the piston rod (306) drives the grabbing hook (5) to rotate around the through shaft (11) anticlockwise to hook a locking shaft (21) on the frame, when the piston rod (306) extends out, the piston rod (306) drives the grabbing hook (5) to rotate around the through shaft (11) clockwise, and the grabbing hook (5) and the locking shaft (21) are loosened. The underwater large-depth multifunctional solid ballast load rejection device can solve the problems that the conventional solid ballast load rejection device cannot realize ultra-deep throwing, cannot be suitable for different working depths and is inconvenient to debug.

摘要：【中文】本发明公开了一种针对Mullins效应参数的球压痕表征方法，属于压痕实验技术领域。该方法实现的步骤包括：首先通过在球压痕实验中引入无量纲函数来建立压痕实验中各物理量之间的关系，其次根据含Mullins效应的有限元模型计算获得上述关系的显示表达，然后开展压痕实验获得实际材料的载荷‑位移曲线，最后根据无量纲函数的显示表达以及压痕实验所得载荷‑位移曲线反演得到材料的Mullins效应参数。本发明的表征方法可以利用球压痕实验快速、原位、多尺度和局部表征材料的应力软化力学性质，降低了传统拉伸压缩实验的复杂性，相应提高了所得Mullins效应参数的准确度。 【EN】The invention discloses a ball indentation characterization method aiming at Mullins effect parameters, and belongs to the technical field of indentation experiments. The method comprises the following steps: firstly, a dimensionless function is introduced into a ball indentation experiment to establish a relation between physical quantities in the indentation experiment, secondly, display expression of the relation is obtained through calculation according to a finite element model containing the Mullins effect, then, the indentation experiment is carried out to obtain a load-displacement curve of an actual material, and finally, the Mullins effect parameters of the material are obtained through inversion according to the display expression of the dimensionless function and the load-displacement curve obtained through the indentation experiment. The characterization method can rapidly, in-situ, multi-scale and locally characterize the stress softening mechanical property of the material by using the ball indentation experiment, reduces the complexity of the traditional tension compression experiment, and correspondingly improves the accuracy of the obtained Mullins effect parameters.

摘要：【中文】本发明公开了一种针对Mullins效应参数的优化反演方法，属于高分子材料软化效应表征技术领域。该方法实现的步骤如下：首先开展含Mullins效应材料的力学试验，提取加载、卸载载荷‑位移信息；然后开展含Mullins效应有限元仿真计算，设置输出加载、卸载载荷‑位移信息；再基于Isight软件搭建关联商用有限元软件的参数优化流程；最后运行优化程序，反演获得Mullins效应参数。本发明为实际应用表征Mullins效应参数提供了明确可行的流程，建立了针对橡胶软化效应的一种高效、快速的参数反演手段。 【EN】The invention discloses an optimized inversion method for Mullins effect parameters, and belongs to the technical field of high polymer material softening effect characterization. The method comprises the following steps: firstly, carrying out a mechanical test of a material containing the Mullins effect, and extracting loading and unloading load-displacement information; then carrying out finite element simulation calculation containing the Mullins effect, and setting output loading and unloading load-displacement information; then, establishing a parameter optimization flow of the associated commercial finite element software based on Isight software; and finally, running an optimization program, and inverting to obtain the Mullins effect parameters. The invention provides a clear and feasible process for representing the Mullins effect parameters in practical application, and establishes an efficient and rapid parameter inversion means for the rubber softening effect.

摘要：【中文】本发明公开了一种针对Mullins效应参数的吸管表征方法，该方法实现的步骤如下：首先通过在吸管实验中引入无量纲函数来建立吸管实验中各物理量之间的关系，然后根据含Mullins效应的有限元模型计算获得上述无量纲函数的显示表达，再开展吸管实验获得实际材料的加卸载载荷‑位移曲线；随后根据无量纲函数的显示表达以及吸管实验加载载荷‑位移曲线反演得到材料的初始剪切模量和超弹性力学参数，最后根据无量纲函数的显示表达以及吸管实验卸载载荷‑位移曲线反演得到材料的Mullins效应参数。本发明能够快速、原位、多尺度和局部表征橡胶材料的应力软化力学性质，降低传统拉伸压缩实验的复杂性，提高所得Mullins效应参数的准确度。 【EN】The invention discloses a straw characterization method aiming at Mullins effect parameters, which comprises the following steps: firstly, a dimensionless function is introduced into a straw experiment to establish the relation between physical quantities in the straw experiment, then the display expression of the dimensionless function is obtained by calculation according to a finite element model containing the Mullins effect, and then the straw experiment is carried out to obtain a loading and unloading load-displacement curve of an actual material; and finally, obtaining the Mullins effect parameters of the material according to the display expression of the dimensionless function and the inversion of the suction pipe experiment loading load-displacement curve. The method can rapidly represent the stress softening mechanical property of the rubber material in situ, in multiple scales and locally, reduce the complexity of the traditional tension-compression experiment and improve the accuracy of the obtained Mullins effect parameters.