Design and application of mechanical rotation pulse device for water depth and water level measurement

针对超声波、光电等水深水位传感器抗污染能力差,无法实现水深水位同时检测的问题,提出了一种机械式旋转脉冲水深水位测量装置,该测量装置分滚筒提升装置、夹紧装置和控制装置三部分。在重锤下降的过程中,通过实时检测光电编码器输出的旋转脉冲数可以得到重锤下降的位移、速度、加速度,找出重锤下降的加速度突变点,由此判断出蓄水池的水面和固液界面两个临界点,进而计算出蓄水池的水深、水位和沉淀物料厚度。测试结果表明:该装置抗污染能力强,在重锤为510 g、采样时间间隔为0.10 S时测量效果最佳,测量误差小于1%。A new type of mechanical rotation pulse measurement device is proposed,aiming at problem that ultrasonic and photoelectric sensors have poor ability to resist pollution and can't realize water depth and water level detection at the same time.The measurement device points cylinder lifting device,clamping device and control device.In falling process of heavy hammer,the downward displacement,velocity,acceleration of heavy hammer can be obtained through real-time detection on output rotation pulse number of photoelectric encoder.Then the two falling acceleration mutation points of heavy hammer can also be founded when heavy hammer gets into the water and arrives at the solid-liquid interface in a reservoir.Thus the reservoir water depth,water level and precipitation material thickness can be calculated.The measurement result shows that the pollution resistance capability of the device is strong and the water depth measurement error of the device is less than 1 % when the weight of heavy hammer is 510 g and the sampling time interval is 0.10 s.国家自然科学基金资助项目(U1204107;51475459); 河南省高等学校精密制造技术与工程重点学科开放实验室开放基金资助项目(PMTE201318A); 河南理工大学博士基金资助项目(B2012—101); 河南理工大学教改项目(2014JG061); 河南省教育厅科技技术研究重点项目(14B460033

Boot imitating robot based under-drive mechanism

本发明涉及仿生机器人领域，具体地说是一种基于新型欠驱动机构的仿象鼻机器人，包括驱动机构、连接剪叉机构和多个象鼻节，其中在每个象鼻节上均设有联动剪叉机构，驱动机构通过所述连接剪叉机构与最靠近所述驱动机构的象鼻节上的联动剪叉机构相连，各个象鼻节上的联动剪叉机构依次相连，所述连接剪叉机构和各个联动剪叉机构通过所述驱动机构作用同步开合，且每个象鼻节设有联动剪叉机构一侧的通过该联动剪叉机构作用张开或闭合。本发明控制简单，稳定性好且可以承受较大负载

Single-driven self-adaptive mechanical finger

本发明涉及机器人关节技术领域，具体地说是一种单驱动形状自适应机械手指，包括手掌连接部、指节传动组件、指节动力汲取组件和多个指节，所述多个指节依次通过铰接轴铰接，且第一指节通过铰接轴与手掌连接部铰接，在手掌连接部上设有驱动第一指节摆动的驱动轴，各个铰接轴之间均通过指节传动组件相连，各个铰接轴上均设有指节动力汲取组件，所述指节动力汲取组件包括第一摩擦盘、第二摩擦盘和弹簧，第一摩擦盘和第二摩擦盘紧贴，且第一摩擦盘空套于对应的铰接轴上并与相邻的指节传动组件相连，第二摩擦盘设有一个随铰接轴转动的盘套，弹簧套装在所述盘套上。本发明采用一个驱动源驱动整个手指，且每个指节的输出扭矩可控，形状自适应能力强

Boot imitating robot based under-drive mechanism

本发明涉及仿生机器人领域，具体地说是一种基于新型欠驱动机构的仿象鼻机器人，包括驱动机构、连接剪叉机构和多个象鼻节，其中在每个象鼻节上均设有联动剪叉机构，驱动机构通过所述连接剪叉机构与最靠近所述驱动机构的象鼻节上的联动剪叉机构相连，各个象鼻节上的联动剪叉机构依次相连，所述连接剪叉机构和各个联动剪叉机构通过所述驱动机构作用同步开合，且每个象鼻节设有联动剪叉机构一侧的通过该联动剪叉机构作用张开或闭合。本发明控制简单，稳定性好且可以承受较大负载

Large space allowance capture mechanism

本发明涉及空间卫星技术领域，具体地说是一种空间大容差捕获机构，其中捕获闸线由捕获锥的锥端伸出，在捕获锥内设有送线机构和捕获钩收放机构，捕获闸线通过所述送线机构驱动释放或缩回，所述捕获闸线与捕获钩相连，在捕获接口装置中部设有一个与所述捕获锥外形相匹配的锥口，捕获钩在捕获时穿过所述锥口，在捕获闸线内部设有闸线内芯，在捕获钩上设有多个可张合的钩杆，所述闸线内芯一端与所述捕获钩收放机构相连，另一端与所述各个钩杆的交汇端相连，所述捕获钩穿过所述捕获接口装置后，所述钩杆通过所述捕获钩收放机构驱动所述闸线内芯移动张开。本发明能够给机械臂留有较大容差，并能在捕获完成后确定捕获目标和本体卫星的相对位置

亚熔盐法粉煤灰脱铝渣水热处理后碱含量的影响因素

以亚熔盐法处理粉煤灰的脱铝渣为原料,采用动态水热法分解脱碱,研究了不同A/S(Al_2O_3/SiO_2质量比)、C/S(CaO/SiO_2质量比)和不同脱铝溶出工艺对硅渣碱含量的影响. 结果表明,随脱铝渣A/S增加,碱含量先降低后升高,脱铝渣A/S为0.11,硅渣Na_2O含量降至1.18%,适当的A/S有利于提高硅渣中含铝托贝莫来石的晶化程度;脱铝渣C/S为0.98,硅渣Na_2O含量仅有1.31%,随脱铝渣C/S增加,硅渣碱含量增加,C/S过高会降低硅酸钠钙(NaCaHSiO_4)的分解率,不利于生成含铝托贝莫来石相;溶出时间和停留时间较长的脱铝渣在脱碱过程中不易生成含铝托贝莫来石

亚熔盐法粉煤灰脱铝渣水热处理后碱含量的影响因素

以亚熔盐法处理粉煤灰的脱铝渣为原料,采用动态水热法分解脱碱,研究了不同A/S(Al_2O_3/SiO_2质量比)、C/S(CaO/SiO_2质量比)和不同脱铝溶出工艺对硅渣碱含量的影响. 结果表明,随脱铝渣A/S增加,碱含量先降低后升高,脱铝渣A/S为0.11,硅渣Na_2O含量降至1.18%,适当的A/S有利于提高硅渣中含铝托贝莫来石的晶化程度;脱铝渣C/S为0.98,硅渣Na_2O含量仅有1.31%,随脱铝渣C/S增加,硅渣碱含量增加,C/S过高会降低硅酸钠钙(NaCaHSiO_4)的分解率,不利于生成含铝托贝莫来石相;溶出时间和停留时间较长的脱铝渣在脱碱过程中不易生成含铝托贝莫来石

Recent Developments in Surface/Interface Modulation and Structure-Performance Relationship of Cathode Catalysts for Li-Air Batteries #br#

锂-空气电池被认为是最具潜力的新一代化学电源体系之一，具有能量密度高、质量轻便、可逆性高、环境污染小等优点. 但其电极上缓慢的氧还原（ORR）与氧析出（OER）动力学过程导致了能量效率降低、过电位高、循环性能差等问题，制约了锂-空气电池的发展. 双效正极催化剂的设计与开发是解决上述问题的重要途径之一. 作者通过总结近几年锂-空气电池正极催化剂的研究进展，并结合其课题组自身的工作，综述了锂-空气电池正极催化剂表界面调控及构效关系研究方面的最新进展，并展望了未来关于锂-空气电池研究的切入点，对设计、开发高效锂-空电池催化剂具有重要指导意义.Lithium-air battery has been considered to be one of the most promising secondary battery systems because of its high energy density. However, the sluggish kinetics of the oxygen reduction reaction (ORR) and oxygen evolution reaction (OER) on the cathode, and the high overpotential, poor cycle stability and low rate capacity have severely blocked the development and application of Li-air battery. One of the effective strategies to alleviate these issues is to develop cathode catalysts for Li-air batteries. The design and development of bifunctional cathode catalysts with high activity and efficiency on both ORR and OER is highly desired for Li-air battery.The surface or interface structure has a significant impact on the catalytic performance. In this review, the recent progress in surface/interface modulation and structure-performance relationship of the cathode catalysts for Li-air batteries is summarized. The aspects of crystal plane effect, defect engineering, and surface-interface synergetic design have all been reviewed, which also include the recent results from the authors’ group. The new lithium-air battery system based on lithium superoxide with large rate capability and ultra-low overpotential is also presented. In the last, the key issues and future perspectives are also discussed. Although great progress has been made in the research of lithium-air batteries in recent years, the foundamental scientific issues such as catalytic mechanism and electrochemical reaction mechanism are still unclear. The solution of these problems is of great importance in the design and development of high-efficiency catalysts, and in the development of lithium-air batteries. Therefore, the applications of advanced characterization and analysis techniques should be emphasized in the future research, especially in situ electrochemical characterization technology to analyze the reaction mechanism at catalyst surface/interface, as well as the formation and decomposition process of the reaction products. Combined with the electrochemical performance analysis and theoretical calculation, the mechanism of catalyst action and electrochemical reaction will be revealed, which is of great significance to promote the development of lithium-air battery.北京市自然科学基金（No. 2182082）、国家自然科学基金（No. 11575192）、中科院重大仪器研制项目（No. ZDKYYQ20170001）、中科院CAS-DOE国际合作项目（No. 211211KYSB20170060）及中科院百人计划项目支持作者联系地址：中国科学院大学材料科学与光电技术学院， 北京 100049Author's Address: College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences,  Beijing 100049, P. R. China通讯作者E-mail：[email protected]