摘要：【中文】本发明提供了一种基于高压输入的反激变换器启动电路和启动方法，高压电池为反激变换器提供输入源；高压电池通过输入启动电路将高压电转化为低压电，为控制芯片提供输入电压，输入启动电路向电容充电，电容的第一电极连接控制芯片的输入端，并为控制芯片提供输入电压，控制芯片正常运行后，为反激变换器的开关MOS管提供控制信号；反激变换器开始工作，反激变换器的输出端提供输出电压至电容的第一电极；自关断电路将输入启动电路切断，以使输入启动电路停止向电容的第一电极充电，减小正常运行时输入启动电路带来的功耗。 【EN】The invention provides a flyback converter starting circuit and a starting method based on high-voltage input, wherein a high-voltage battery provides an input source for a flyback converter; the high-voltage battery converts high-voltage electricity into low-voltage electricity through the input starting circuit and provides input voltage for the control chip, the input starting circuit charges the capacitor, a first electrode of the capacitor is connected with the input end of the control chip and provides the input voltage for the control chip, and after the control chip normally operates, the control chip provides a control signal for a switching MOS (metal oxide semiconductor) tube of the flyback converter; the flyback converter starts to work, and the output end of the flyback converter provides output voltage to a first electrode of the capacitor; the self-shutdown circuit shuts off the input starting circuit, so that the input starting circuit stops charging the first electrode of the capacitor, and power consumption caused by the input starting circuit in normal operation is reduced.

摘要：【中文】本发明提供了一种基于高压输入的反激变换器的欠压启动电路和启动方法，高压电池通过输入启动电路将高压电转化为低压电，为控制芯片提供输入电压，输入启动电路向第二电容充电，第二电容的第一电极连接控制芯片的输入端；输入欠压电路在高压电池的供电电压达到阈值电压前，控制使能电路断开；当使能电路断开时，控制芯片被禁止使用，当供电电压达到阈值电压后，控制芯片正常运行，控制芯片为反激变换器的开关MOS管提供控制信号；当反激变换器的输出正常建立后，控制芯片的供电由输入启动电路切换为输出电压提供；自关断电路将输入启动电路切断，以使输入启动电路停止向第二电容的第一电极充电，减小正常运行时输入启动电路带来的功耗。 【EN】The invention provides an undervoltage starting circuit and a starting method of a flyback converter based on high-voltage input, wherein a high-voltage battery converts high-voltage electricity into low-voltage electricity through an input starting circuit to provide input voltage for a control chip, the input starting circuit charges a second capacitor, and a first electrode of the second capacitor is connected with an input end of the control chip; the input undervoltage circuit controls the enabling circuit to be switched off before the power supply voltage of the high-voltage battery reaches the threshold voltage; when the enabling circuit is disconnected, the control chip is forbidden to be used, and when the power supply voltage reaches a threshold voltage, the control chip normally operates and provides a control signal for a switching MOS (metal oxide semiconductor) tube of the flyback converter; when the output of the flyback converter is normally established, the power supply of the control chip is switched to be provided by the input starting circuit to the output voltage; the self-shutdown circuit shuts off the input starting circuit, so that the input starting circuit stops charging the first electrode of the second capacitor, and power consumption caused by the input starting circuit in normal operation is reduced.

摘要：【中文】本发明涉及一种微小卫星协同运输在轨装配航天器的合作博弈控制方法。针对微小卫星协同控制在轨装配航天器姿轨运动的问题，建立了微小卫星‑在轨装配航天器组合体的姿轨运动模型；构建了协同运输过程中的初始终端状态约束、动力学约束以及微小卫星控制约束；设计了微小卫星协同运输在轨装配航天器的合作博弈控制方法；最后以实例验证了本发明提出方法的有效性。 【EN】The invention relates to a cooperative game control method for a microsatellite cooperative transportation in-orbit assembly spacecraft. Aiming at the problem that the micro satellite cooperatively controls the attitude and orbit motion of the in-orbit assembly spacecraft, an attitude and orbit motion model of the micro satellite-in-orbit assembly spacecraft combination is established; initial terminal state constraint, dynamic constraint and microsatellite control constraint in the cooperative transportation process are constructed; a cooperative game control method for the in-orbit assembly spacecraft for the cooperative transportation of the microsatellite is designed; finally, the effectiveness of the method provided by the invention is verified by examples.

摘要：【中文】一种新型逆变功率单元，包括第一逆变散热模块、第二逆变散热模块、风道组件以及驱动组件；第一逆变散热模块和第二逆变散热模块背靠背垂直对称设置在风道组件的两侧；第一逆变散热模块与第二逆变散热模块通过环路并行热管连接；驱动组件与风道组件连接；功率单元使用两个散热器，采用背靠背双面对称布局结构，不仅散热均匀，而且散热效率高，降低产品故障率；采用环路并行热管散热的功率单元，体积小，散热量大，可以灵活安装在变流器不同方位，减少了变流器体积和重量。 【EN】A novel inversion power unit comprises a first inversion heat dissipation module, a second inversion heat dissipation module, an air duct assembly and a driving assembly; the first inversion heat dissipation module and the second inversion heat dissipation module are vertically and symmetrically arranged on two sides of the air duct assembly back to back; the first inversion heat dissipation module is connected with the second inversion heat dissipation module through a loop parallel heat pipe; the driving assembly is connected with the air duct assembly; the power unit uses two radiators and adopts a back-to-back double-side symmetrical layout structure, so that the heat dissipation is uniform, the heat dissipation efficiency is high, and the failure rate of a product is reduced; the power unit adopting the loop parallel heat pipe for heat dissipation has small volume and large heat dissipation capacity, can be flexibly arranged in different directions of the converter, and reduces the volume and weight of the converter.

摘要：【中文】本发明涉及了一种用于熨斗底板在抛光与喷砂间上下料的机器人工作站，包括机器人；机器人的驱动端固定有安装横梁；安装横梁底侧安装有至少一个用于熨斗底板进行旋转的第二旋转机构；第二旋转机构底侧的旋转端安装有夹持机构；夹持机构的两个夹持端上安装有夹块；夹块内侧设有用于夹持熨斗底板边缘的夹持槽；机器人还包括实现对熨斗底板翻面的功能的第一旋转机构。本发明的一种用于熨斗底板在抛光与喷砂间上下料的机器人工作站，实现熨斗底板底面抛光工序与熨斗底板内腔喷砂工序之间的自动化上下料，替代人工，降低人工成本；避免人工手动操作所引起的磕碰伤与表面划伤，保证熨斗底板的质量，提高熨斗底板的加工效率，省时省力。 【EN】The invention relates to a robot workstation for feeding and discharging an iron soleplate between polishing and sand blasting, which comprises a robot, wherein the robot is arranged on the workstation; a mounting cross beam is fixed at the driving end of the robot; at least one second rotating mechanism used for rotating the iron bottom plate is arranged at the bottom side of the mounting cross beam; a clamping mechanism is arranged at the rotating end at the bottom side of the second rotating mechanism; clamping blocks are arranged on the two clamping ends of the clamping mechanism; the inner side of the clamping block is provided with a clamping groove for clamping the edge of the soleplate of the iron; the robot further comprises a first rotating mechanism for realizing the function of turning over the iron soleplate. The robot workstation for feeding and discharging the iron bottom plate between polishing and sand blasting realizes automatic feeding and discharging between the iron bottom plate bottom surface polishing process and the iron bottom plate inner cavity sand blasting process, replaces manpower, and reduces the labor cost; the collision injury and surface scratch caused by manual operation are avoided, the quality of the iron bottom plate is ensured, the processing efficiency of the iron bottom plate is improved, and time and labor are saved.

摘要：【中文】本发明提供一种熨斗底板抛光设备及自动化抛光喷砂线，属于熨斗底板生产设备领域，包括抛光机本体；输送线，用于将待抛光产品输送至抛光机本体内，并将抛光完成的产品输送出抛光机本体；挡停放行组件，设置在所述输送线上，且位于抛光机本体进料口一侧，用于控制待抛光产品之间的流动间隙；挡停定位组件，设置在所述输送线上，且位于抛光机本体出料口一侧，用于挡住抛光完成后的产品以供机器人抓取。本发明的整个抛光过程只需要人工上料即可，其他调节过程完全自动化，提高了工作效率，且降低了人工成本。抛光喷砂线包括内腔喷砂设备、底面喷砂设备、熨斗底板抛光设备、第一机器人以及第二机器人，工作效率高，且人工成本低。 【EN】The invention provides a polishing device for an iron soleplate and an automatic polishing sand-blasting line, belonging to the field of production equipment for the iron soleplate and comprising a polishing machine body; the conveying line is used for conveying the product to be polished into the polishing machine body and conveying the polished product out of the polishing machine body; the stopping and releasing assembly is arranged on the conveying line, is positioned on one side of a feed inlet of the polishing machine body and is used for controlling a flow gap between products to be polished; and the stopping and positioning assembly is arranged on the conveying line and positioned on one side of a discharge port of the polishing machine body and is used for stopping the polished product for the robot to grab. The whole polishing process only needs manual feeding, and other adjusting processes are fully automatic, so that the working efficiency is improved, and the labor cost is reduced. The polishing sand blasting line comprises inner cavity sand blasting equipment, bottom surface sand blasting equipment, iron bottom plate polishing equipment, a first robot and a second robot, the work efficiency is high, and the labor cost is low.

摘要：【中文】本发明公开了浅槽分选机底部链轮机构，包括槽体、驱动机构、传动机构、尾部拉紧机构、上滑道、下滑道、排矸口、底部链轮机构、爬坡链轮机构和链条，槽体顶部的一端设置有驱动机构，槽体顶部的外侧且位于驱动机构的正下方固定安装有排矸口，槽体的顶部远离驱动机构的一端设置有尾部拉紧机构，槽体的顶部且位于驱动机构与尾部拉紧机构之间设置有传动机构，本发明所达到的有益效果是：本发明结构简单，易于维护，制造成本低，效果显著，设备运行故障率低，运行负荷减小，实用性强，通过在浅槽分选机底部设置链轮机构可以降低链条与滑轨之间的磨损，提高了设备的稳定性，从而延长了设备使用寿命，降低了员工频繁更换易损件的劳动强度。 【EN】The invention discloses a bottom chain wheel mechanism of a shallow slot separator, which comprises a slot body, a driving mechanism, a transmission mechanism, a tail tensioning mechanism, an upper slideway, a lower slideway, a waste rock discharge port, a bottom chain wheel mechanism, a climbing chain wheel mechanism and a chain, wherein the driving mechanism is arranged at one end of the top of the slot body, the waste rock discharge port is fixedly arranged at the outer side of the top of the slot body and under the driving mechanism, the tail tensioning mechanism is arranged at one end of the top of the slot body, which is far away from the driving mechanism, and the transmission mechanism is arranged at the top of the slot body and between the driving mechanism and the tail tensioning mechanism, and the invention has the advantages that: the shallow slot separator has the advantages of simple structure, easy maintenance, low manufacturing cost, obvious effect, low failure rate of equipment operation, reduced operation load and strong practicability, and the chain wheel mechanism arranged at the bottom of the shallow slot separator can reduce the abrasion between a chain and a slide rail and improve the stability of the equipment, thereby prolonging the service life of the equipment and reducing the labor intensity of frequent replacement of easily damaged parts by staff.

摘要：【中文】本发明涉及了一种用于熨斗底板在喷砂工序间上下料的机器人工作站，包括机器人；机器人的驱动端固定有夹爪支板；夹爪支板的正面固定有夹爪机构；夹爪机构的设置有第一手指和第二手指；第一手指在与第二手指对应的一面固定有第一夹块；第二手指的前端设置为与熨斗底板的尖部对应的V形双指；V形双指的每个指在与第一夹块对应的位置设置有第二夹块；机器人还包括实现对熨斗底板翻面功能的第一旋转机构。本发明的一种用于熨斗底板在喷砂工序间上下料的机器人工作站，实现了喷砂工序间上下料的自动化，替代人工，降低人工成本；同时，也避免人工手动操作所引起的磕碰伤与表面划伤，保证了熨斗底板的质量，提高了熨斗底板的加工效率。 【EN】The invention relates to a robot workstation for loading and unloading an iron soleplate between sand blasting processes, which comprises a robot, a loading and unloading device and a control device, wherein the robot workstation comprises a robot body; a clamping jaw support plate is fixed at the driving end of the robot; a clamping jaw mechanism is fixed on the front surface of the clamping jaw support plate; the clamping jaw mechanism is provided with a first finger and a second finger; a first clamping block is fixed on one surface of the first finger corresponding to the second finger; the front end of the second finger is provided with a V-shaped double finger corresponding to the tip of the soleplate of the iron; each finger of the V-shaped double fingers is provided with a second clamping block at the position corresponding to the first clamping block; the robot further comprises a first rotating mechanism for realizing the function of turning over the iron soleplate. According to the robot workstation for loading and unloading the iron bottom plate between the sand blasting procedures, the automation of loading and unloading between the sand blasting procedures is realized, the manual work is replaced, and the labor cost is reduced; meanwhile, the collision injury and surface scratch caused by manual operation are avoided, the quality of the soleplate of the iron is ensured, and the processing efficiency of the soleplate of the iron is improved.

摘要：【中文】本发明涉及了一种衣架自动扣码机，包括主机架；所述主机架内安装有衣架固定机构和衣架码扣组装机构；所述衣架固定机构设置在衣架上料输送线与衣架下料输送线之间，用于从衣架上料输送线上接收衣架并对衣架的挂钩进行定位和锁紧固定，在衣架码扣组装机构对衣架完成安装码扣的操作后将衣架放行至衣架下料输送线上。本发明的一种衣架自动扣码机，在衣架输送线上对衣架进行定位和固定，并通过衣架码扣组装机构取码扣并扣在衣架上，整个过程中，固定机构不移动，连续性好，扣码操作更流畅，整体结构相对简单，扣码效率高，通过对衣架挂钩处进行定位和固定，适用于市面上大部分挂钩类似的衣架，兼容性好。 【EN】The invention relates to an automatic clothes hanger code attaching machine, which comprises a main frame; a clothes hanger fixing mechanism and a clothes hanger buckle assembling mechanism are arranged in the main rack; the clothes hanger fixing mechanism is arranged between the clothes hanger feeding conveying line and the clothes hanger discharging conveying line and used for receiving clothes hangers from the clothes hanger feeding conveying line, positioning and locking hooks of the clothes hangers to be fixed, and the clothes hangers are released to the clothes hanger discharging conveying line after the clothes hanger stacking and buckling assembly mechanism completes mounting and buckling operation on the clothes hangers. According to the automatic clothes hanger code buckling machine, clothes hangers are positioned and fixed on a clothes hanger conveying line, and the code buckles are taken and buckled on the clothes hangers through the clothes hanger code buckling assembly mechanism, in the whole process, the fixing mechanism does not move, the continuity is good, the code buckling operation is smoother, the overall structure is relatively simple, the code buckling efficiency is high, the hook positions of the clothes hangers are positioned and fixed, the automatic clothes hanger code buckling machine is suitable for most clothes hangers similar to hooks in the market, and the compatibility is good.

摘要：【中文】本发明提供一种压滤机滤布用冲洗装置，包括支撑框架，支撑框架上设有齿条轨道，支撑框架通过齿条轨道滑动连接有滑动平台，滑动平台包括连接板、驱动电机、长轴和短轴，短轴设置在长轴的相对一侧，短轴的数量为两个，分别设置连接板的两侧。本发明通过滑动平台带动冲洗机构运动，可以有效全面的对滤布进行冲洗，确保滤布表面干净整洁，大大降低了人工冲洗的劳动强度、省时省力，有效的延长滤布的使用寿命，同时对设备无损坏，达到了减人增效，降低人员劳动强度，增强选煤效率，提高产品质量的目的，充分利用煤炭资源，满足生产系统的需要。体现了自动一体化生产的模式，降低了生产运营成本，能够更高的经济效益。 【EN】The invention provides a washing device for filter cloth of a filter press, which comprises a supporting frame, wherein a rack rail is arranged on the supporting frame, the supporting frame is connected with a sliding platform in a sliding manner through the rack rail, the sliding platform comprises a connecting plate, a driving motor, a long shaft and two short shafts, the two short shafts are arranged on the opposite side of the long shaft, and the two short shafts are respectively arranged on two sides of the connecting plate. The invention drives the flushing mechanism to move through the sliding platform, can effectively and comprehensively flush the filter cloth, ensures that the surface of the filter cloth is clean and tidy, greatly reduces the labor intensity of manual flushing, saves time and labor, effectively prolongs the service life of the filter cloth, does not damage equipment, achieves the purposes of reducing labor and increasing efficiency, reducing the labor intensity of personnel, enhancing the coal dressing efficiency and improving the product quality, fully utilizes coal resources and meets the requirements of a production system. The mode of automatic integrated production is reflected, the production and operation cost is reduced, and higher economic benefits can be achieved.