In view of the complex condition of unevenness in the fully mechanized coal mining face, a large number of sensors need to be arranged in the shape detection for the vertical plane of the scraper conveyor, which leads to the problem of difficult measurement and low precision. A method of calculating the vertical plane shape of the scraper conveyor based on the running track of the shearer is put forward by using strapdown inertial navigation system. Firstly, the shearer trajectory was obtained by solving the information of strapdown inertial navigation system using the equivalent rotation vector method. Secondly, the real time shape coupling relationship between the shearer and the middle trough of scraper conveyor was studied, and the vertical plane shape solving model of the scraper conveyor based on the running track of shearer was established. By measuring the pitch angles of the middle troughs of the 4~6 sections at the initial position of the scraper conveyor as the priori information, the pitch angles of the middle troughs of each section in the running process of the shearer could be calculated in a rolling manner, thus the vertical plane shape of the scraper conveyor in the working face was obtained. Finally, a joint simulation experiment platform for shearer and scraper conveyor was built to verify the experiment. The experimental results showed that the error between the scraper conveyor model's solution shape and the actual shape was less than 15 mm, which met the detection accuracy of the actual work requirements. The use of the calculation method can accurately grasp the shape change of the scraper conveyor in real time, avoid the damage of the scraper conveyor due to the excessive bending angle, and make the scraper conveyor work normally. It can provide information for the height adjustment of the lower drum of the shearer, and ensure the smoothness of the fully mechanized coal mining face.

To solve the coupling problems in the factory position and orientation adjustment process of multi freedom degree automobile electric seat and eliminate the influence of cushion irregular surface on the adjustment process to achieve the rapidly adjustment, a seat position and orientation adjustment method based on the control variable method was proposed. Firstly, according to the fitting curve of the cushion surface and the seat geometry structure, the mathematical relationship between the point on the seat external contour and the joint angles or displacement was established. Then, the current position and orientation of seat was calculated and the seat adjustment scheme was put forward. Lastly, the simulation and experimental verification was carried out to verify the feasibility of the proposed method. Simulation and experimental results showed that the proposed method could eliminate the effect of cushion irregular surface and joint coupling on the adjustment process and improve the accuracy and efficiency of adjustment. The results of the study have certain reference significance for improving the factory position and orientation adjustment method of automobile electric seat and seat adjustment efficiency.

Diluting viscosity is an important form for heavy oil recovery technology, while mixer is the main tool to improve mixing effect in this process. Firstly, a new type of core tube heavy oil mixing and diluting mixer structure was proposed. The method of core pipe micro hole ejection was adopted to realize the mixing of thin oil and heavy oil in annular space, meanwhile, the tapered tube structure was designed to form irregular turbulence according to the Venturi effect to achieve twice mixing. The proposed structure had a good mixing effect and little influence on oil hydraulic pressure drop. Secondly, the influence of five factors which included micro pore diameter, micro pore density, injection angle, internal cone angle and inlet and outlet pressure difference on the mixing non-uniformity coefficient and the dilution ratio was studied by CFD (computational fluid dynamics)numerical simulation. Finally, a mixer for butt 3 1/2" tubing was designed according to the actual conditions of heavy oil mixing and diluting in Tahe oilfield and the laboratory experiment was carried out. The obtained mixing non-uniformity coefficient was 0.023 4 and the dilution ratio was 0.290 1, which was achieved the ideal level and indicated that this mixer has a good diluting viscosity performance. The research results provide technical support for improving the recovery efficiency of heavy oil and reduce the failure rate of pumping equipment.

In order to effectively broaden the silence frequency band of acoustic liner, a new type of flexible wall acoustic liner structure with multistage cavity is proposed to overcome the shortcomings of the strong noise elimination selectivity of Helmholtz resonators, the specific and non-adjustable silence frequency band and inflexibility of the traditional single acoustic liner. The single stage rigid wall of the traditional acoustic liner was replaced by a new type of multistage flexible wall made of aluminum alloy material, and the volume of the flexible cavity was adjusted by applying the voltage, so that its slience frequency band was widened and shifted. Based on selecting transmission loss as the silence performance evaluation index of the new type of multistage flexible wall acoustic liner, the static and dynamic performance simulation and actual performance test of the flexible wall were carried out, respectively. According to the simulation results and the actual test results, it was determined that the flexible wall had better deformation performance and noise reduction performance. Then, through the introduction of multistage flexible wall acoustic liner structure design method, the acoustic liner sample was further processed and the test platform was set up to conduct the performance test. The experimental results showed that the transmission loss of multistage flexible wall acoustic liner was peaked at 1 386 Hz when the voltage was not applied, that was, the resonance frequency was 1 386 Hz. When the driving voltages were -100, 100 and 200 V, respectively, the resonance frequencies were 1 420, 1 370 and 1 364 Hz. By adjusting the voltage amplitude, the slience frequency band of the multistage flexible wall acoustic liner achieved 56 Hz offset. The proposed multistage flexible wall acoustic liner has a certain effect for the suppression of noise in broadband.

Centrifugal shaker is an important tool for earthquake research and experimental study on the centrifugal vibration compound environment of aircraft. Vibration along the swing arm of centrifugal shaker is an important operation condition, while the vibration isolation along the swing arm has a great effect on the stable operation of centrifugal shaker in this operation condition. Based on the analysis of operating conditions of vibration along the arm, a vibration isolation system on the rotating arm of centrifugal shaker was designed by utilizing the characteristics of small dynamic stiffness, large axial load bearing capacity of air spring, in which unbalance force could be measured. Based on the mechanical model of the vibration isolation system, the analytic equation of force transmissibility of the system was obtained by the analytic simplification, and the main factors affecting the vibration isolation capability of the system were analyzed. According to a centain centrifugal shaker, the force transmissibility of the vibration isolation system was calculated by the analytical equation, and the transmission force of the vibration isolation system was simulated by the mechanical model, and the force transmissibility obtained by theoretical calculation and simulation was basically the same and small. The results indicated that the vibration isolation along the swing arm could effectively isolate the vibratory impulse of centrifugal shaker, and the force transmissibility of the vibration isolation system calculated by the analytical equation could be used to evaluate the vibration isolation capability of the vibration isolation system.

Vibration isolation platform for vehicle medical rescue is a kind of special ambulance equipment for the sick and wounded with vehicle as the carrier. In order to avoid the secondary injury caused by vehicle vibration during transportation to the greatest extent and obtain the best damping effect, a new type of vibration isolation platform for vehicle medical rescue was designed, which has the characteristics of large ratio of length to width and multi-layer series connection. Then, to get the key isolation parameters of the platform, the physical model of the platform was established, and the state equation of the platform was established by Lagrange method based on analytical mechanics. The vibration isolation parameters of the platform were optimized by MATLAB software under typical excitation. The optimal stiffness and damping coefficients of the vibration isolation platform were obtained. Finally, to study the damping effect of vibration isolation platform in the vehicle running process, the whole system dynamics model of vibration isolation platform based on vehicle passive suspension was established, and the output response of vibration isolation platform excited by two typical road surfaces including sloping pavement and sinusoidal undulating pavement, was simulated by ADAMS software. The results showed that the vibration isolation platform could greatly attenuate the impact and vibration from the ground, especially for bad road conditions. The structure and parameter design of the platform conform to the engineering practice, and the adopted optimization method, the modeling and simulation of the whole system are correct and effective.

In order to improve the efficiency and reliability of automatic doffer, enhance the ability to automatically adapt to the mounting errors of the spindle and reduce the power consumption in the working process, a new type of self-adaptive bobbin gripper was designed by using the mechanism expansion method. Firstly, a two-degree-of-freedom main mechanism was constructed, it was extended by adding 3 components to form parallelogram mechanism so as to realize the mechanism variation. Then, the kinematic sketch of self-adaptive bobbin gripper was obtained. The mounting error of the spindle was automatically adapted by the swing of floating connection plate. By using of the working characteristics of parallel quadrilateral mechanism, the functions of pre-clamping and loosening bobbin were completed. On the basis of the structure design, the force analysis of the self-adaptive bobbin gripper was carried out. Finally, based on SolidWorks Motion, the dynamic simulation model of the self-adaptive bobbin gripper was built, and the contact force of the bobbin was simulated and calculated in different installation conditions of the spindle. The results showed that when the spindle was properly installed, the enough running torque acted on the bobbin to realize the pre-loosening function successfully while clamping the bobbin. In the stable working condition, the contact force between the polyurethane block and the bobbin could meet the requirements. The self-adaptive bobbin gripper had the ability to automatically adapt to the spindle mounting error within a range of -1-1 mm, and the pre-loosening function could be realized while clamping the bobbin. The research results lay the foundation for the design of efficient and reliable automatic doffing device. The working principle and design idea of the self-adaptive bobbin gripper can be used for reference in the design of robot adaptive gripper serving other fields.

Aiming at the problems that include the complex processing, low movement efficiency, weak bearing capacity, vibration and slippage of the Mecanum wheel, a full steering guidunce mechanism based on in-wheel motor was studied. The motion control of omnidirectional AGV based on four-wheel independent steering and four-wheel independent driving (4WID-4WIS) technology was researched. Firstly, a kinematics model of the full steering guidance mechanism was constructed, and kinematics analysis was performed to obtain the relationship between rotation speed and rotation angle of omnidirectional AGV under different steering modes. Secondly, path tracking technique based on multi-step predictive optimal control and fuzzy control was used to eliminate the path deviation of the omnidirectional AGV. The combined control improved the control accuracy and provided adequate rectification capability for path tracking. The decoupling control between the steering motor and in-wheel motor was carried out to ensure good input and output response. Finally, the real-vehicle experiment proved that the full-steering moving mechanism had a good movement effect and could meet the requirements of working conditions, which provided a certain reference for the application of AGV in the industrial field.

In the process of rock drilling, the main factors affecting the drilling speed are impact energy, impact frequency, propulsion force, rotational speed and rock properties. Aiming at the problem that the optimal match of the rock drilling parameters couldn't be achieved quickly and the drilling speed was difficult to reach the optimal theoretical value, the self optimizing control scheme of rock drilling properties based on the conjugate gradient method was proposed. The influence of rock properties on the rock drilling rate was fully taken into account, and the grouping method of dynamic optimization which included impact energy and impact frequency as well as propulsion force and rotational speed was adopted. So each rock drilling parameter could achieve the optimal matching quickly. The application effect of the self optimizing scheme on the specific rock drilling equipment was analyzed and simulated by MATLAB when using the ways of fixed steps and fuzzy steps, respectively, which verified the feasibility and rationality of the scheme. The self optimizing test for the propulsion force and the rotational speed was conducted and the correctness of the theoretical analysis and the simulation results was proved. Simulation and experimental results showed that the self optimizing control scheme based on the conjugate gradient method made the rock drilling parameters quickly converge near the optimal value, which greatly reduced the optimization time required to achieve the optimal drilling speed. The rock drilling speed could be increased by 13.2% compared with the conventional method. The research results have good guiding value for the self optimizing control of rock mining equipment and the improvement of rock mining efficiency, and provide a new idea for the realization of rock drilling automation and intelligence.

The hinge point position of auger driller luffing mechanism is one of the key factors that affect the performance of luffing mechanism, and it has a decisive influence on the main performance parameters of luffing mechanism such as the maximum oil pressure of the luffing cylinder, the maximum force of the hinge points and the rising time of the moving rig. Aiming at the shortcomings of traditional design method in obtaining the optimum hinge position, which needs repeated trial calculation, and is time consuming, inefficient and difficult to determine accurately, in order to get the best hinge point position quickly and accurately, the moving rig in luffing mechanism is adopted as the research object. The force model of luffing mechanism was established after the structure and working principle of luffing mechanism was analysed. The oil pressure of the luffing cylinder was chosen as the objective function, and the constraint conditions were confirmed by the structure limit of the luffing mechanism and the processing request of luffing cylinder. Based on the particle swarm optimization (PSO) algorithm and calculation of the objective function by MATLAB, the optimal hinge position of luffing mechanism was determined by the minimum maximum oil pressure of the luffing cylinder. After the hinge point position optimized, the maximum oil pressure of luffing cylinder decreased 9.2%, and the maximum force of the hinge points decreased 9.1%-9.2%, which showed that the performance of luffing mechanism was improved obviously. The research provides a quick and feasible method to optimize the hinge point position, and it has practical reference significance for the optimization design of luffing mechanism.

Due to the interaction of stator-rotor blade rows, the compressor internal flow field is unsteady and complex. In order to further research on the characteristics of compressor blade aerodynamic load, an aero-engine compressor is selected as the research object. Based on the stator-rotor interaction effect between blade rows, the three-dimensional flow field of the whole blade-disk was simulated by sliding mesh. Then, the internal flow law of compressor rotor in the interference period T_b was solved and the unsteady aerodynamic load on the compressor blade was analyzed, and the effect of different pressure ratios and rotational speeds on the blade aerodynamic load was discussed. The results showed that dominant pulsation frequencies of the peak value of aerodynamic load on blade pressure and suction surfaces were mainly at frequency doubling of stator-rotor interaction, especially at one time frequency (1×f₀). Within the interaction period T_b, pressure vortexes of blade surface transmitted and dissipated periodically, and the variation of aerodynamic load on pressure and suction surfaces took the opposite trend. The magnitude of aerodynamic load increased with the pressure ratio, but the pulsation amplitude and the peak value were basically unchanged. The increase of rotational speed made the frequency of stator-rotor interaction much higher, and enhanced the unsteady characteristic of aerodynamic load. The results can be applied to aerodynamic optimization design of the blade-disk structure, which can provide support and reference for the development of high performance aero-engine compressor.

The rotation frame is a key component of the amusement equipment. The natural frequency and buckling strength of the rotation frame have a direct impact on the stability of the structure. Finite element software ANSYS Workbench was used to establish a finite element model of the rotation frame. The natural frequency that had the most significant influence on the rotation frame was obtained through the modal analysis and harmonic response analysis. The buckling eigenvalue when the structure was unstable was obtained through buckling stability analysis. Then 140 test points were obtained by using the experimental design. In order to explore the sensitivity of various design variables to the natural frequency and buckling strength of the rotation frame, a BP(back propagation) neural network mathematical model was established through MATLAB software to fit test points. Combining the use of Isight and MATLAB, a descriptive Monte Carlo sampling method was used to numerically simulate the neural network model. The research results showed that the most dangerous modes that had a significant influence on the stability of rotation frame were the 10th to 12th modes. The result of parameter sensitivity analysis indicated that the parameters which had a mainly affect on the rotation frame dangerous modal frequencies were the limb wall thickness, limb section length and limb section width, in addition, the structure parameters which had the most significant influence on the structural buckling stability were six dimensional parameters of the slewing shank, the web, and the circular plate. The conclusion shows that the reasonable improvement of a part of design parameters that effect on the stability of the rotation frame will effectively improve the structural stability and design efficiency. This will provide a certain reference for the subsequent design improvement and optimization of the structure.

The thermal error of spindle system is the important influencing factor for the machining accuracy of CNC (computerized numerical control) machine tool. Inspired by wing vein structure of insects in natural word, a new type of cooling structure for spindle system was designed based on lepidoptera insect wing vein bionic channel. Based on the numerical heat transfer correlation theory, the cooling structure model of insect wing vein bionic channel was established, and then the simulation of spiral channel and insect wing vein bionic channel was analyzed comparatively through fluid-structure interaction of the finite element software Fluent. The result showed that the heat dissipation effects and flow characteristics of insect wing vein bionic channel were better than spiral channel's. Under the same boundary conditions, the maximum flow velocity of the coolant was about 1.839 m/s, the pressure drop between the inlet and outlet was 3 181 Pa, the maximum temperature of the heating surface was reduced about 17.8%, the minimum temperature of the heating surface was reduced about 4.6%, and the temperature field of the cooling structure was more even. Those results provide a reference for the thermal design of cooling structure for CNC machine tool spindle system.

In order to collect and monitor the inner temperature at the rolling tire crown in real time, a tire temperature measurement system based on the test bench was designed. In this system, thermistors were used as temperature sensors, the data collector was built based on NI cRIO-9033 controller and NI 9205 analog signal acquisition module, and MSC SR20M slip ring was used to connect the temperature sensor and data collector. The real-time collection and processing of temperature data of multiple measurement points inside the tire crown was realized by writing and running multi-channel data collection and real-time data processing program in the LabVIEW development environment. In addition, in order to cope with extreme test conditions, the sliding ring protective cover was designed and manufactured. The experimental results showed that the tire temperature measurement system was reliable and could realize multi-channel tire temperature data collection; the sliding ring protective cover could effectively protect the tire temperature measuring system from damage under extreme test conditions. The tire temperature measurement system is the efficient instrument to get rolling tire temperature data in real time, and it has broad engineering application prospect.

To improve the reliability and accuracy of the automatic enzyme immunoassay analyzer's micro-sampling system, a small autoinjection system was developed. A sophisticated injection arm was designed by the means of dislocation parallel distribution of the screw and injector piston rod. It possessed the function of pipetting, taking and removing the pipette tips. In the control system STM32 controller was used, controlling the single-axis S-type acceleration/deceleration algorithm and multithreaded coordinated motion. The acceleration/deceleration curves were analyzed and optimized by using the method of segmentation, the minimum injection rate of 1 μL was realized and the step rate was 0.05 μL. The position accuracy and the sampling precision of the injection system were verified by experiments, and the least squares linear fitting method was used to compensate the system sampling error. The results showed that the optimized S-type acceleration and deceleration algorithm could improve the motion characteristics of the stepping motor, avoiding the out-of-step and overshoot effectively, and the injection arm could reach a reliable position accuracy. The microinjection system had higher accuracy and stability after error compensation, at the test point 10, 50, 100 μL, the injection precision increased respectively from ±7.2%, ±5.3%, ±3.2% to ±1.8%, ±1.28%, ±1.15%. The system meets the miniaturization and high-precision design requirements, which has good application and popularization value.

Installing the ordinary energy dissipator can achieve better energy dissipation capacity in the structure. However, Energy dissipators help structures dissipate energy at the expense of their own deformation during earthquakes, and often need to be replaced after earthquakes, which results in higher repair costs. Also, the structures will appear to damage with varying degree, so it is difficult to resume normal use. A new type of zero initial cable tension self-resetting energy dissipation devices (ZTSEDD) which consisted of a transmission device (TD),a discspring reset device (DSRD) and a double shear friction energy dissipation device (DSFEDD) was proposed considering the above disadvantages. Firstly, the structure of DSRD, DSFEDD and the working principle of ZTSEDD were introduced, and their mechanical models were established. Secondly, the finite element model of DSRD and DSFEDD were established respectively by the finite element software ABAQUS. The simulated hysteresis curve and the theoretical hysteresis curve of the DSRD and the DSFEDD were compared, and the simulated curve and theoretical curve matched well. Restoring force curve had characteristic of Hooke law, which indicated that DSRD could provide stable restoring force due to better elasticity. Then, theoretical value, simulating value, and experimental value of sliding friction force were compared and analyzed under four working conditions. Hysteretic curve had characteristic of typical Coulomb's Friction Law, which showed that DSFEDD could provide stable sliding friction force. Finally, the hysteretic curve and skeleton curve of the ZTSEDD under displacement loading were compared and analyzed. The results indicated that the ZTSEDD had better energy dissipation performance and reset performance. The research results show that the ZTSEDD is simple in structure, clear in principle, excellent in performance, convenient in installation and adaptable in use. It can be widely used in frame structure.