摘要：【中文】本发明公开了一种进料输送设备的工作方法，进料输送设备包括有轨道系统、升降进料小车、进料斗系统、轨道系统、伸缩输送机、卷扬机、变幅输送机、固定输送机，第一伸缩输送机的角度由调平油缸进行驱动，调平油缸的行程满足函数：，式中自变量表示第一伸缩输送机在伸缩过程中任意位置与水平面之间的夹角，h表示油缸安装座与第二伸缩输送机铰接点的垂直距离，表示第一伸缩输送机初始位置与水平面之间的夹角。 【EN】The invention discloses a working method of feeding conveying equipment, wherein the feeding conveying equipment comprises a track system, a lifting feeding trolley, a feeding hopper system, a track system, a telescopic conveyor, a winch, a variable-amplitude conveyor and a fixed conveyor, wherein the angle of the first telescopic conveyor is driven by a leveling oil cylinder, and the stroke of the leveling oil cylinder meets the function:in the formula (iv) independent variableThe included angle between any position of the first telescopic conveyor and the horizontal plane in the telescopic process is shown, h is the vertical distance between the oil cylinder mounting seat and the hinged point of the second telescopic conveyor,the angle between the initial position of the first telescopic conveyor and the horizontal plane is indicated.

摘要：【中文】本发明涉及一种爬绳机器人的工作方法，所述爬绳机器人包括有主支架、电源、减速电机、从动双排大链轮、主动双排小链轮、从动双排小链轮、活动主轴；其特征在于还包括电磁自锁装置、绳索组件、检测装置、辅助水平移动装置；所述绳索组件通过铰链与主支架连接，主动双排小链轮通过链条带动双排小链轮和从动双排大链轮，从动双排大链轮固定于活动芯轴上，所述工作方法包括人工干预方法、清洁维护方法、自锁方法；具有应用领域广，安全性能好等特点。 【EN】The invention relates to a working method of a rope climbing robot, wherein the rope climbing robot comprises a main bracket, a power supply, a speed reducing motor, a driven double-row large chain wheel, a driving double-row small chain wheel, a driven double-row small chain wheel and a movable main shaft; the device is characterized by also comprising an electromagnetic self-locking device, a rope assembly, a detection device and an auxiliary horizontal moving device; the rope assembly is connected with the main support through a hinge, the driving double-row small chain wheel drives the double-row small chain wheel and the driven double-row large chain wheel through a chain, and the driven double-row large chain wheel is fixed on the movable mandrel; has the characteristics of wide application field, good safety performance and the like.

摘要：【中文】一种高坡锚固用锚杆钻机的工作方法,锚杆钻机包括行走履带、倾角传感器、储液器、调节油缸、吊耳、第一支撑座、第一球铰机构、驱动油缸、第二球铰机构、第二支撑座、支撑板、液压油源总成、卷扬机、钢丝绳、遥控装置、支撑平台、锚杆钻机、并联机构；所述工作方法包括就位方法、施工方法、冷却方法；本发明通过安装在支撑平台上的并联机构，能够带动锚固钻机实现多方位钻孔作业，灵活度高。 【EN】A working method of a jumbolter for high slope anchoring comprises a walking crawler belt, a tilt angle sensor, a liquid storage device, an adjusting oil cylinder, a lifting lug, a first supporting seat, a first spherical hinge mechanism, a driving oil cylinder, a second spherical hinge mechanism, a second supporting seat, a supporting plate, a hydraulic oil source assembly, a winch, a steel wire rope, a remote control device, a supporting platform, a jumbolter and a parallel mechanism; the working method comprises a positioning method, a construction method and a cooling method; the anchoring drilling machine can be driven to realize multidirectional drilling operation through the parallel mechanism arranged on the supporting platform, and the flexibility is high.

摘要：【中文】本发明涉及一种自适应爬绳检测机器人，所述爬绳检测机器人包括有主支架、电源、减速电机、从动双排大链轮、主动双排小链轮、从动双排小链轮、活动主轴；其特征在于还包括电磁自锁装置、绳索组件、检测装置、辅助水平移动装置；所述绳索组件通过铰链与主支架连接，主动双排小链轮通过链条带动双排小链轮和从动双排大链轮，从动双排大链轮固定于活动芯轴上，检测机器人正面安装有检测装置，通过导轨的水平移动以及检测机器人的上下爬升，使得整个被检测面都能被覆盖。具有检测效率高，抗干扰能力强，应用领域广，安全性能好等特点。 【EN】The invention relates to a self-adaptive rope climbing detection robot which comprises a main support, a power supply, a speed reducing motor, a driven double-row large chain wheel, a driving double-row small chain wheel, a driven double-row small chain wheel and a movable main shaft, wherein the main support is arranged on the main support; the device is characterized by also comprising an electromagnetic self-locking device, a rope assembly, a detection device and an auxiliary horizontal moving device; the rope assembly is connected with the main support through a hinge, the driving double-row small chain wheel drives the double-row small chain wheel and the driven double-row large chain wheel through a chain, the driven double-row large chain wheel is fixed on the movable core shaft, the detection robot is positively provided with the detection device, and the whole detected surface can be covered by the detection device through horizontal movement of the guide rail and up-and-down climbing of the detection robot. The method has the characteristics of high detection efficiency, strong anti-interference capability, wide application field, good safety performance and the like.

摘要：【中文】本发明公开了一种受软错误影响的逻辑电路可靠性边界计算方法及设备，本发明方法包括：将电路可靠性目标表示为多阶段分量之和；对电路进行单故障模拟，获取T₁值；对电路进行双故障模拟，获取T₂值；计算电路的可靠性边界；与现有技术相比，本发明方法是利用概率分布模型，首先将待计算的大规模和超大规模逻辑电路可靠性目标表示为多阶分量之和的形式；然后模拟计算出单故障和双故障的电路工作情况，以此计算电路在故障发生时的正确输出概率；最后将模拟结果代入可靠性边界表达式即可得到电路可靠性的一阶与二阶上下限。本方法保证了在合理的时间内计算出与电路真实可靠性非常接近的可靠性边界值，且适用于大规模和超大规模逻辑电路的可靠性计算。 【EN】The invention discloses a method and a device for calculating the reliability boundary of a logic circuit affected by soft errors, wherein the method comprises the following steps: representing a circuit reliability target as a sum of the multi-stage components; performing single-fault simulation on the circuit to obtain T₁A value; performing double-fault simulation on the circuit to obtain T₂A value; calculating a reliability boundary of the circuit; compared with the prior art, the method of the invention utilizes a probability distribution model, and firstly expresses the reliability target of the large-scale and super-large-scale logic circuit to be calculated as the sum of multi-order components; then, simulating and calculating the working conditions of the circuit with single fault and double faults so as to calculate the correct output probability of the circuit when the faults occur; and finally substituting the simulation result into the reliability boundary expression to obtain the first-order and second-order upper and lower limits of the circuit reliability. The method ensures that the reliability which is very close to the real reliability of the circuit is calculated in reasonable timeBoundary value, and is suitable for reliability calculation of large-scale and super large-scale logic circuits.

摘要：【中文】本发明提供一种单自由度远程运动中心机构，它由基座、动平台、第一支链、第二支链和末端器械组成。第一支链与第二支链均由两个连杆通过转动副连接，基座和动平台通过第一支链和第二支链转动连接。通过上述连接，安装在动平台上的末端器械可绕空间中连线MN的转动，形成一种单自由度远程运动中心机构。本发明包含构件少，结构简单可靠，容易加工和装配，具有较好的刚度，可作为医疗显微操作器的姿态调整机构，也可应用于多自由度微创手术机器人中。 【EN】The invention provides a single-degree-of-freedom remote motion center mechanism which comprises a base, a movable platform, a first branched chain, a second branched chain and a terminal instrument. The first branched chain and the second branched chain are connected through two connecting rods through revolute pairs, and the base and the movable platform are rotationally connected through the first branched chain and the second branched chain. Through the connection, the tail end instrument arranged on the movable platform can rotate around the connecting line MN in the space to form a single-degree-of-freedom remote motion center mechanism. The invention has the advantages of few components, simple and reliable structure, easy processing and assembly and better rigidity, can be used as a posture adjusting mechanism of a medical micro-operator, and can also be applied to a multi-degree-of-freedom minimally invasive surgery robot.

摘要：【中文】一种高坡锚固用锚杆钻机,包括行走履带、倾角传感器、储液器、调节油缸、吊耳、第一支撑座、第一球铰机构、驱动油缸、第二球铰机构、第二支撑座、支撑板、液压油源总成、卷扬机、钢丝绳、遥控装置、支撑平台、锚杆钻机、并联机构；本发明通过安装在支撑平台上的并联机构，能够带动锚固钻机实现多方位钻孔作业，灵活度高，能够应对比较复杂的工作情形，并且采用遥控技术，消除了传统的工作平台，操作人员无需随着整个装置进行锚固钻孔作业，实现远程操控，提高了操作人员的安全系数。 【EN】A jumbolter for high slope anchoring comprises a walking crawler, a tilt angle sensor, a liquid storage device, an adjusting oil cylinder, a lifting lug, a first supporting seat, a first spherical hinge mechanism, a driving oil cylinder, a second spherical hinge mechanism, a second supporting seat, a supporting plate, a hydraulic oil source assembly, a winch, a steel wire rope, a remote control device, a supporting platform, a jumbolter and a parallel mechanism; the anchoring drilling machine can be driven to realize multidirectional drilling operation through the parallel mechanism arranged on the supporting platform, the flexibility is high, the anchoring drilling machine can cope with complex working conditions, the traditional working platform is eliminated by adopting a remote control technology, an operator does not need to perform anchoring drilling operation along with the whole device, remote control is realized, and the safety coefficient of the operator is improved.

摘要：【中文】一种锚杆钻机系统,包括行走履带、倾角传感器、储液器、调节油缸、吊耳、第一支撑座、第一球铰机构、驱动油缸、第二球铰机构、第二支撑座、支撑板、液压油源总成、卷扬机、钢丝绳、遥控装置、支撑平台、锚杆钻机、并联机构、液压系统；本发明通过安装在支撑平台上的并联机构，能够带动锚固钻机实现多方位钻孔作业，灵活度高，能够应对比较复杂的工作情形，并且采用遥控技术，消除了传统的工作平台，操作人员无需随着整个装置进行锚固钻孔作业，实现远程操控，提高了操作人员的安全系数。 【EN】A jumbolter system comprises a walking crawler, a tilt angle sensor, a liquid storage device, an adjusting oil cylinder, a lifting lug, a first supporting seat, a first spherical hinge mechanism, a driving oil cylinder, a second spherical hinge mechanism, a second supporting seat, a supporting plate, a hydraulic oil source assembly, a winch, a steel wire rope, a remote control device, a supporting platform, a jumbolter, a parallel mechanism and a hydraulic system; the anchoring drilling machine can be driven to realize multidirectional drilling operation through the parallel mechanism arranged on the supporting platform, the flexibility is high, the anchoring drilling machine can cope with complex working conditions, the traditional working platform is eliminated by adopting a remote control technology, an operator does not need to perform anchoring drilling operation along with the whole device, remote control is realized, and the safety coefficient of the operator is improved.