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机械 ----------------------- 华文版本 Mechanics is the branch of physics concerned with the behaviour of physical bodies when subjected to forces or displacements, and the subsequent effect of the bodies on their environment. The discipline has its roots in several ancient civilizations. During the early modern period, scientists such as Galileo, Kepler, and especially Newton, laid the foundation for what is now known as Classical mechanics. Significance Mechanics is the original discipline of physics, dealing with the macroscopic world that humans perceive. It is therefore a huge body of knowledge about the natural world. Mechanics encompasses the movement of all matter in the universe under the four fundamental interactions (or forces): gravity, the strong and weak interactions, and the electromagnetic interaction. Mechanics also constitutes a central part of technology, the application of physical knowledge for humanly defined purposes. In this connection, the discipline is often known as engineering or applied mechanics. In this sense, mechanics is used to design and analyze the behavior of structures, mechanisms, and machines. Important aspects of the fields of mechanical engineering, aerospace engineering, civil engineering, structural engineering, materials engineering, biomedical engineering and biomechanics were spawned from the study of mechanics. Classical versus quantum The major division of the mechanics discipline separates classical mechanics from quantum mechanics. Historically, classical mechanics came first, while quantum mechanics is a comparatively recent invention. Classical mechanics originated with Isaac Newton's Laws of motion in Principia Mathematica, while quantum mechanics didn't appear until 1900. Both are commonly held to constitute the most certain knowledge that exists about physical nature. Classical mechanics has especially often been viewed as a model for other so-called exact sciences. Essential in this respect is the relentless use of mathematics in theories, as well as the decisive role played by experiment in generating and testing them. Quantum mechanics is of a wider scope, as it encompasses classical mechanics as a sub-discipline which applies under certain restricted circumstances. According to the correspondence principle, there is no contradiction or conflict between the two subjects, each simply pertains to specific situations. Quantum mechanics has superseded classical mechanics at foundational level and is indispensable for the explanation and prediction of processes at molecular and (sub)atomic level. However, for macroscopical processes classical mechanics is able to solve problems which are unmanageably difficult in quantum mechanics and hence remains useful and well used. Einsteinian versus Newtonian Analogous to the quantum versus classical reformation, Einstein's general and special theories of relativity have expanded the scope of mechanics beyond the mechanics of Newton and Galileo, and made small corrections to them. Relativistic corrections were also needed for quantum mechanics, although relativity is categorized as a classical theory. There are no contradictions or conflicts between the two, so long as the specific circumstances are carefully kept in mind. Just as one could, in the loosest possible sense, characterize classical mechanics as dealing with "large" bodies (such as engine parts), and quantum mechanics with "small" ones (such as particles), it could be said that relativistic mechanics deals with "fast" bodies, and non-relativistic mechanics with "slow" ones. However, "fast" and "slow" are subjective concepts, depending on the state of motion of the observer. This means that all mechanics, whether classical or quantum, potentially needs to be described relativistically. On the other hand, as an observer, one may frequently arrange the situation in such a way that this is not really required. Types of mechanical bodies Thus the often-used term body needs to stand for a wide assortment of objects, including particles, projectiles, spacecraft, stars, parts of machinery, parts of solids, parts of fluids (gases and liquids), etc. Other distinctions between the various sub-disciplines of mechanics, concern the nature of the bodies being described. Particles are bodies with little (known) internal structure, treated as mathematical points in classical mechanics. Rigid bodies have size and shape, but retain a simplicity close to that of the particle, adding just a few so-called degrees of freedom, such as orientation in space. Otherwise, bodies may be semi-rigid, i.e. elastic, or non-rigid, i.e. fluid. These subjects have both classical and quantum divisions of study. For instance: The motion of a spacecraft, regarding its orbit and attitude (rotation), is described by the relativistic theory of classical mechanics. While analogous motions of an atomic nucleus are described by quantum mechanics. Sub-disciplines in mechanics The following are two lists of various subjects that are studied in mechanics. Note that there is also the "theory of fields" which constitutes a separate discipline in physics, formally treated as distinct from mechanics, whether classical fields or quantum fields. But in actual practice, subjects belonging to mechanics and fields are closely interwoven. Thus, for instance, forces that act on particles are frequently derived from fields (electromagnetic or gravitational), and particles generate fields by acting as sources. In fact, in quantum mechanics, particles themselves are fields, as described theoretically by the wave function. Classical mechanics The following are described as forming Classical mechanics: Newtonian mechanics, the original theory of motion (kinematics) and forces (dynamics) Lagrangian mechanics, a theoretical formalism Hamiltonian mechanics, another theoretical formalism Celestial mechanics, the motion of stars, galaxies, etc. Astrodynamics, spacecraft navigation, etc. Solid mechanics, elasticity, the properties of (semi-)rigid bodies Acoustics, sound in solids, fluids, etc. Statics, semi-rigid bodies in mechanical equilibrium Fluid mechanics, the motion of fluids Soil mechanics, mechanical behavior of soils Continuum mechanics, mechanics of continua (both solid and fluid) Hydraulics, fluids in equilibrium Applied / Engineering mechanics Biomechanics, solids, fluids, etc. in biology Statistical mechanics, large assemblies of particles Relativistic or Einsteinian mechanics, universal gravitation Quantum mechanics The following are categorized as being part of Quantum mechanics: Particle physics, the motion, structure, and reactions of particles Nuclear physics, the motion, structure, and reactions of nuclei Condensed matter physics, quantum gases, solids, liquids, etc. Quantum statistical mechanics, large assemblies of particles Professional organizations Applied Mechanics Division, American Society of Mechanical Engineers Fluid Dynamics Division, American Physical Society
ADesignfor1480PlanishingMill(注：PinchPassmill,TemperMill也都是平整机，可根据专业实际任选一个)Abstract:Alongwitharapiddevelopmentofthenationaleconomy,themarketforbeltcoldrollingappearsabrightforeground.Bymeansofabsorbingadvancedtechnologyandexperience,weshouldtransformitintoourownresourcessuperiorityandoccupyanimportantpositiononbasisofitinthecourseofthereformingoflarge-scalesteelenterprise.Moreover,abeltplanishingmillsettingisoneofthemajorsectorsofthebeltcoldrollingsets,inwhichasteelrollannealedisreceivedinthedevicefromthelastcourse,andafterplanishedasteelbeltwithcertainextensibilityandsurfaceroughnessisgained.Thesteelbelt,afterhavingplanished,haseliminateditsyieldingplatform,anditcanimproveitsqualityoutstandinglytomeetwiththeincreasingdemandsinthemarket.Thispaperhasfirstlydiscussedthebackgroundandforegroundstatusforplanishingmills.Then,accordingtothecurrentlysituationnowadays,ithasbeenconceivedoftoareasonablechooseofarollingmillinviewoftherelativefactorsofeconomicalefficiencyandcoefficientofefficiencyandatlastfulfilledtherelativedesignforaplanishingmill.Theplanishingmilldesignedadoptsaframeworkwithaninitiativedrivingsystemwithdoubledynamoelectricmachine,enclosedtypeofmachineframe,fluid-pressuresystemandsoon.Asafocalpoint,thispaperhasdiscussedthedesigncalculationfortheplanishingmill,including:structureparameterofarollingmill,initiativedrivingsystem,choosefordynamoelectricmachines,adesignforfluid-pressuresystem,adeterminationforthesizeofthemachineframeanditsintensitychecking,rollerdesignanditsintensitychecking,life-spanofthebearingsandsoon.Finally,ithasanalyzedanddiscussedtherollingmilllubrication,environmentalprotectionandeconomicavailability.Keywords:planishingmill,rollingmill,coldrolling
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Modern various machine and equipment are more than on the gear reducer, generally USES bearing hole processing, and currently 1ta series boring coordinates are in single points, so in mass production to ensure its hole spacing tolerance, and low efficiency.A fine molding machine is a special machine, when using a series of molding method. Once processed clamping workpiece, hole spacing in design, and when the machine has two of the coaxial when spindle box, while processing by rail, which not only ensures the transmission distance between accuracy, but also guarantee the hole, and greatly improve the coaxial tolerance of machining efficiency. Can realize automation, production line. It meets the modern production accuracy and efficiency.This paper introduced a series of molding machine structure, working principle and control method, and automatic assembly line control principle and realization method.Keywords: a large series boring
摘要- Cobots是一类机器人的使用不断 无级变速发展高保真可编程 约束的表面。 Cobots消耗很少的电力 即使在提供高输出部队，其传输效率高众多的 传动比。 Cobotic变速箱也有能力 采取行动作为一个制动器或将成为完全免费。设计 和性能Cobotic手控制器，最近 发达国家六自由度触觉显示器，是审查。 这个装置表明，高动态范围和低功耗 消费实现的cobots 。彻底的比较 电源效率cobotic系统与传统的 机电系统提供。 三个关键要求机器人技术用于 假肢和康复是低体重，低功耗 消费和安全性。我们建议cobotic技术作为 传输架构，可以处理这些问题。 Cobots是机器人利用非完整约束 的指导车轮的相对速度有关的 机制的联系。阿cobotic传播是一个不断 无级变速器（无级变速器）之间的积极和消极 比率，可以涉及两个平移速度，两个 旋转速度，或旋转速度为平移 速度[ 1 ] 。我们最近推出了Cobotic手 控制器（图1 ） ，六自由度动力 合作机器人，并阐述其能力作为触觉界面[ 2 ， 3 ] 。通过本论文中，我们表明， 机械结构和传输中使用 Cobotic手控制器处理所有三个以上 上述要求的假肢和机器人 康复。
In view of the pivotal role of rolling bearing in rotating machinery and equipment, it is very important to diagnose the fault, and it is the best way and means to establish a set of efficient and convenient bearing fault diagnosis system. Most of the traditional diagnostic system depends on a number of professional hardware equipment, these instruments are obviously difficult to meet the requirements of information technology, and caused a lot of hardware redundancy. With the rapid development of computer technology, the virtual instrument technology has been applied to the field of bearing fault diagnosis has become a trend. This paper introduces the characteristics and structure of virtual instrument technology. On this basis, the resonance demodulation technique is introduced into the signal analysis of virtual instrument to extract and analyze the bearing fault signal. Finally, based on LABVIEW platform, a set of virtual instrument for bearing fault signal analysis is developed.
原文：20.9 MACHINABILITYThe machinability of a material usually defined in terms of four factors:1、$ l m I. `5 L* eSurface finish and integrity of the machined part;2、; u: I% F/ b$ t( O" ?' I2 MTool life obtained;3、1 F. }: a% W1 W5 R l7 @* q; jForce and power requirements;4、. p) @0 }5 c* S+ I: IChip control.Thus, good machinability good surface finish and integrity, long tool life, and low force And power requirements. As for chip control, long and thin (stringy) cured chips, if not broken up, can severely interfere with the cutting operation by becoming entangled in the cutting zone.Because of the complex nature of cutting operations, it is difficult to establish relationships that quantitatively define the machinability of a material. In manufacturing plants, tool life and surface roughness are generally considered to be the most important factors in machinability. Although not used much any more, approximate machinability ratings are available in the example below.20.9.1 Machinability Of Steels6 }" `- x) E* V* T+ DBecause steels are among the most important engineering materials (as noted in Chapter 5), their machinability has been studied extensively. The machinability of steels has been mainly improved by adding lead and sulfur to obtain so-called free-machining steels.Resulfurized and Rephosphorized steels., m# n- K R; @Sulfur in steels forms manganese sulfide inclusions (second-phase particles), which act as stress raisers in the primary shear zone. As a result, the chips produced break up easily and are small; this improves machinability. The size, shape, distribution, and concentration of these inclusions significantly influence machinability. Elements such as tellurium and selenium, which are both chemically similar to sulfur, act as inclusion modifiers in resulfurized steels.Phosphorus in steels has two major effects. It strengthens the ferrite, causing increased hardness. Harder steels result in better chip formation and surface finish. Note that soft steels can be difficult to machine, with built-up edge formation and poor surface finish. The second effect is that increased hardness causes the formation of short chips instead of continuous stringy ones, thereby improving machinability.Leaded Steels. A high percentage of lead in steels solidifies at the tip of manganese sulfide inclusions. In non-resulfurized grades of steel, lead takes the form of dispersed fine particles. Lead is insoluble in iron, copper, and aluminum and their alloys. Because of its low shear strength, therefore, lead acts as a solid lubricant (Section 32.11) and is smeared over the tool-chip interface during cutting. This behavior has been verified by the presence of high concentrations of lead on the tool-side face of chips when machining leaded steels.When the temperature is sufficiently high-for instance, at high cutting speeds and feeds (Section 20.6)—the lead melts directly in front of the tool, acting as a liquid lubricant. In addition to this effect, lead lowers the shear stress in the primary shear zone, reducing cutting forces and power consumption. Lead can be used in every grade of steel, such as 10xx, 11xx, 12xx, 41xx, etc. Leaded steels are identified by the letter L between the second and third numerals (for example, 10L45). (Note that in stainless steels, similar use of the letter L means “low carbon,” a condition that improves their corrosion resistance.)However, because lead is a well-known toxin and a pollutant, there are serious environmental concerns about its use in steels (estimated at 4500 tons of lead consumption every year in the production of steels). Consequently, there is a continuing trend toward eliminating the use of lead in steels (lead-free steels). Bismuth and tin are now being investigated as possible substitutes for lead in steels.Calcium-Deoxidized Steels. An important development is calcium-deoxidized steels, in which oxide flakes of calcium silicates (CaSo) are formed. These flakes, in turn, reduce the strength of the secondary shear zone, decreasing tool-chip interface and wear. Temperature is correspondingly reduced. Consequently, these steels produce less crater wear, especially at high cutting speeds.Stainless Steels. Austenitic (300 series) steels are generally difficult to machine. Chatter can be s problem, necessitating machine tools with high stiffness. However, ferritic stainless steels (also 300 series) have good machinability. Martensitic (400 series) steels are abrasive, tend to form a built-up edge, and require tool materials with high hot hardness and crater-wear resistance. Precipitation-hardening stainless steels are strong and abrasive, requiring hard and abrasion-resistant tool materials.The Effects of Other Elements in Steels on Machinability. The presence of aluminum and silicon in steels is always harmful because these elements combine with oxygen to form aluminum oxide and silicates, which are hard and abrasive. These compounds increase tool wear and reduce machinability. It is essential to produce and use clean steels.Carbon and manganese have various effects on the machinability of steels, depending on their composition. Plain low-carbon steels (less than 0.15% C) can produce poor surface finish by forming a built-up edge. Cast steels are more abrasive, although their machinability is similar to that of wrought steels. Tool and die steels are very difficult to machine and usually require annealing prior to machining. Machinability of most steels is improved by cold working, which hardens the material and reduces the tendency for built-up edge formation.Other alloying elements, such as nickel, chromium, molybdenum, and vanadium, which improve the properties of steels, generally reduce machinability. The effect of boron is negligible. Gaseous elements such as hydrogen and nitrogen can have particularly detrimental effects on the properties of steel. Oxygen has been shown to have a strong effect on the aspect ratio of the manganese sulfide inclusions; the higher the oxygen content, the lower the aspect ratio and the higher the machinability.In selecting various elements to improve machinability, we should consider the possible detrimental effects of these elements on the properties and strength of the machined part in service. At elevated temperatures, for example, lead causes embrittlement of steels (liquid-metal embrittlement, hot shortness; see Section 1.4.3), although at room temperature it has no effect on mechanical properties.Sulfur can severely reduce the hot workability of steels, because of the formation of iron sulfide, unless sufficient manganese is present to prevent such formation. At room temperature, the mechanical properties of resulfurized steels depend on the orientation of the deformed manganese sulfide inclusions (anisotropy). Rephosphorized steels are significantly less ductile, and are produced solely to improve machinability.20.9.2 Machinability of Various Other MetalsAluminum is generally very easy to machine, although the softer grades tend to form a built-up edge, resulting in poor surface finish. High cutting speeds, high rake angles, and high relief angles are recommended. Wrought aluminum alloys with high silicon content and cast aluminum alloys may be abrasive; they require harder tool materials. Dimensional tolerance control may be a problem in machining aluminum, since it has a high thermal coefficient of expansion and a relatively low elastic modulus.Beryllium is similar to cast irons. Because it is more abrasive and toxic, though, it requires machining in a controlled environment.Cast gray irons are generally machinable but are. Free carbides in castings reduce their machinability and cause tool chipping or fracture, necessitating tools with high toughness. Nodular and malleable irons are machinable with hard tool materials.Cobalt-based alloys are abrasive and highly work-hardening. They require sharp, abrasion-resistant tool materials and low feeds and speeds.Wrought copper can be difficult to machine because of built-up edge formation, although cast copper alloys are easy to machine. Brasses are easy to machine, especially with the addition pf lead (leaded free-machining brass). Bronzes are more difficult to machine than brass.Magnesium is very easy to machine, with good surface finish and prolonged tool life. However care should be exercised because of its high rate of oxidation and the danger of fire (the element is pyrophoric).Molybdenum is ductile and work-hardening, so it can produce poor surface finish. Sharp tools are necessary.Nickel-based alloys are work-hardening, abrasive, and strong at high temperatures. Their machinability is similar to that of stainless steels.Tantalum is very work-hardening, ductile, and soft. It produces a poor surface finish; tool wear is high.Titanium and its alloys have poor thermal conductivity (indeed, the lowest of all metals), causing significant temperature rise and built-up edge; they can be difficult to machine.Tungsten is brittle, strong, and very abrasive, so its machinability is low, although it greatly improves at elevated temperatures.Zirconium has good machinability. It requires a coolant-type cutting fluid, however, because of the explosion and fire.20.9.3 Machinability of Various Materials; n+ {0 C# N' t: K& D5 Y7 nGraphite is abrasive; it requires hard, abrasion-resistant, sharp tools.Thermoplastics generally have low thermal conductivity, low elastic modulus, and low softening temperature. Consequently, machining them requires tools with positive rake angles (to reduce cutting forces), large relief angles, small depths of cut and feed, relatively high speeds, andproper support of the workpiece. Tools should be sharp.External cooling of the cutting zone may be necessary to keep the chips from becoming “gummy” and sticking to the tools. Cooling can usually be achieved with a jet of air, vapor mist, or water-soluble oils. Residual stresses may develop during machining. To relieve these stresses, machined parts can be annealed for a period of time at temperatures ranging from % Q6 X5 q6 [ C$ F9 Ito / C+ z W( L4 N& I$ }( to ), and then cooled slowly and uniformly to room temperature.Thermosetting plastics are brittle and sensitive to thermal gradients during cutting. Their machinability is generally similar to that of thermoplastics.Because of the fibers present, reinforced plastics are very abrasive and are difficult to machine. Fiber tearing, pulling, and edge delamination are significant problems; they can lead to severe reduction in the load-carrying capacity of the component. Furthermore, machining of these materials requires careful removal of machining debris to avoid contact with and inhaling of the fibers.The machinability of ceramics has improved steadily with the development of nanoceramics (Section 8.2.5) and with the selection of appropriate processing parameters, such as ductile-regime cutting (Section 22.4.2).Metal-matrix and ceramic-matrix composites can be difficult to machine, depending on the properties of the individual components, i.e., reinforcing or whiskers, as well as the matrix material.20.9.4 Thermally Assisted MachiningMetals and alloys that are difficult to machine at room temperature can be machined more easily at elevated temperatures. In thermally assisted machining (hot machining), the source of heat—a torch, induction coil, high-energy beam (such as laser or electron beam), or plasma arc—is forces, (b) increased tool life, (c) use of inexpensive cutting-tool materials, (d) higher material-removal rates, and (e) reduced tendency for vibration and chatter.It may be difficult to heat and maintain a uniform temperature distribution within the workpiece. Also, the original microstructure of the workpiece may be adversely affected by elevated temperatures. Most applications of hot machining are in the turning of high-strength metals and alloys, although experiments are in progress to machine ceramics such as silicon nitride.SUMMARY' k4 F( E u# |: n6 i6 hMachinability is usually defined in terms of surface finish, tool life, force and power requirements, and chip control. Machinability of materials depends not only on their intrinsic properties and microstructure, but also on proper selection and control of process variables.因文章太长，译文请点链接
刨机得到了迅速的发展。由于履带行走机构具有牵引力大、接地比压低、爬坡能力强、转弯半径小等优良的特点，铣边机所有大型路面冷铣刨机 (铣刨宽度≥1.5米)均采用了履带行走机构。路面冷铣刨机外形示意图履带行走机构是大型路面冷铣刨机整机的支承件，用来支承整机的重量，承受铣刨机构在铣刨作业过程中产生的力，变位机并完成铣刨机在铣刨、装运、转场时的移动。路面冷铣刨机一般设计成四履带或三履带驱动结构(其中三履带驱动结构其后部支撑 为一条履带)，铣边机履带沿着铣刨机纵向中心对称布置。履带行走机构主要包括导向轮、张紧装置、履带架、支重轮、驱动装置、链轨及履带板等组成。如图2所示。履带行走机构结构图当液压马达带动驱动链轮转动时，与驱动链轮相啮合的链轨及履带板有相对移动的趋势，但是，由于履带板与路面之间的附着力大于驱动链轮、支重轮和导向轮的滚动阻力焊接操作机，所以履带板不会滑动，而驱动链轮、支重轮和导向轮则沿着铺设的链轨滚动，铣边机从而驱使路面冷铣刨机行走。路面冷铣刨机履带行走机构的前后履带均可单独转向，从而使机器转弯半径更小或实现蟹行。系统的调整飞锯机的调整主要是调整两个速度：一是锯车的给定速度，二是锯车的返回速度。前者可通过调整行走气缸的单向阀，使锯车的给定速度接近焊管的焊速，但稍低于焊速。后者的调整，返程时要有节流起缓冲作用滚轮架，同时缓冲气缸还要有快速排气阀，保证快速排气，使锯切小车返回后迅速复位，防止振动不定位。另外，在焊管生产速度确定的情况下，锯车的加速度大小可通过调整缓冲气缸的推力来改变，但推力不可过大，否则会造锯切时间不够，易打碎锯片。最后，在调整时还需注意,数控火焰自动切割机，当小车和焊管同步时，焊管所走过的距离与小车所走过的距离之差越小越好，这样焊管对挡板的冲击力就越小铣边机，锯车越平稳，定尺精度也越高，同时，锯切时也越省力。
中国是世界上机械发展最早的国家之一。中国的机械工程技术不但历史悠久，而且成就十分辉煌，不仅对中国的物质文化和社会经济的发展起到了重要的促进作用，而且对世界技术文明的进步做出了重大贡献.传统机械方面，我国在很长一段时期内都领先于世界。到了近代由于特别是从18世纪初到19世纪40年代，由于经济社会等诸多原因，我国的机械行业发展停滞不前，在这100多年的时间里正是西方资产阶级政治革命和产业革命时期，机械科学技术飞速发展，远远超过了中国的水平。这样，中国机械的发展水平与西方的差距急剧拉大，到十九世纪中期已经落后西方一百多年。新中国建立后特别是近三十年来，我国的机械科学技术发展速度很快。向机械产品大型化，精密化、自动化和成套化的趋势发展。在有些方面已经达到或超过了世界先进水平。总的来说，就目前而言中国机械科学技术的成就是巨大的，发展速度之快，水平之高也是前所未有的。这一时期还没有结束，我国的机械科学技术还将向更高的水平发展。只要我们能够采取正确的方针、政策、用好科技发展规律并勇于创新，我国的机械工业和机械科技一定能够振兴，重新引领世界机械工业发展潮流。就小型夯实机械而言：上世纪60年代以前，我国小型夯实机械非常缺乏，很多小型场地的夯实基本上采用人工夯实。上世纪60年代初期，长沙建设机械研究所与北京建筑工程学院等单位合作，在群众性技术革新成果的基础上总结发明了具有中国特色的蛙式夯实机，1962年获国家科技发明奖。蛙式夯实机结构简单，维修、使用方便，很快成为我国60年代夯实机械的主导产品。据不完全统计蛙式夯实机累计产量达到50000多台，在我国经济建设中发挥了重要作用。70年代以后，蛙式夯实机逐渐被性能更先进的振动冲击夯和振动平板夯所替代，目前蛙式夯实机已经很少，基本被淘汰。1964年，长沙建设机械研究所开发了HB120型内燃式夯实机，开始由上海工程机械厂生产，后来主要由津市洞庭工程机械厂生产，年产量200台左右。80年代，内燃式夯实机产品质量有较大提高，曾出口东南亚和非洲地区。90年代以后，内燃式夯实机产销售量也在逐渐减少，目前只有少数小型民营企业生产。1977年，长沙建设机械研究所和柳州市建筑机械厂开发了我国第一台HZR250型和HZR70型振动平板夯，这两种产品分别于1979 年和1982年通过了由建设部组织的鉴定。随后义乌建筑机械厂、四平建筑机械厂、安阳振动器厂、津市洞庭工程机械厂等多家企业都开始生产振动平板夯。1986年长沙建设机械研究所又开发了较大的HZR450型振动平板夯。上世纪90年代以后，振动平板夯在我国有了较快的发展，产品品种、规格和生产企业增多，国外的振动平板夯陆续进入中国市场。1983年，长沙建设机械研究所和湖北振动器厂联合开发了我国第一台HZR70型振动冲击夯，1984年通过了由建设部组织的鉴定，1985年获建设部科技进步三等奖。由于振动冲击夯具有压实效果好、生产率高、体积和重量小、轻便灵活等突出特点，深受用户欢迎，得到了迅速的推广使用，并很快发展到资江机器厂、新乡第三机床厂和津市洞庭工程机械厂等几十家企业生产。振动冲击夯虽然比振动平板夯开发晚，但发展速度、产销量和使用广泛性比振动平板夯大得多，目前已成为我国夯实机械中产销量最大的主导产品。上世纪90年代以后，国外的振动平板夯陆续进入中国市场。振动冲击夯和振动平板夯在我国的成功开发，不仅为我国建设施工部门提供了性能先进的夯实机械，取得了良好的经济效益和社会效益，而且使我国夯实机械技术向前跨进了一大步，缩短了与世界先进水平的差距，促进了我国压实机械的发展。就机械加工而言：热加工 铸造 据考古发现，在北京平谷、昌平、房山等处曾出土了公元前16世纪(商代)的青铜礼器。 明永乐年间(1403～1424年)，北京制造出享誉世界的明永乐大铜钟(46.5吨)和钟楼大铜钟(63吨)及铁钟(25吨)，采用分炉熔化、地坑造型和陶范法铸造。 20世纪50年代以前，北京在铸造上采用粘土砂手工造型。1955年，北京第一机床厂开始采用漏模造型、双面模型型板及铁型板和标准砂箱造型。1965年，开始采用塑料模型。 1980 年，北京市机电研究院与北京玛钢厂研制成功工频无芯塞杆底注式保温浇注电炉。1982年，该院与北京机床铸造二厂研究成功冲天炉风口吹氧技术。 1985～1988年，北京机床研究所试验成功浮动端面密封环的压力铸造工艺。 锻压 1959年，北京第二通用机械厂(后改名北京重型机器厂)建成2500吨水压机。1971年，该厂制造出6000吨水压机，这是当时北京最大的锻压设备。 1968～1979年，北京起重机器厂先后采用300吨油压机和2000吨油压机制造出起重机吊臂和大型覆盖件。 80年代，北京市机电研究院和北京市模具中心研制出一系列高精度多工位冲裁模具，接近或达到进口模具水平，改变了北京精密冲裁模具依赖进口的局面。 热处理 1949年前，北京已采用电炉、盐溶炉、热电偶等手段进行零件退火、回火、淬火、正火、调质、渗碳等热处理。 1956年，北京第一机床厂开始采用高频感应淬火。1961年，北京第二机床厂开始采用气体氮化淬火。1969年，北京量具刃具厂开始采用光亮淬火。 1978年，北京机床研究所研究完成机床导轨表面接触淬火工艺及设备、淬火质量检查技术条件的研究。1979年，铁道科学研究院和中国科学院力学研究所等合作完成大功率柴油机缸套表面的激光改性处理的研究。 1979年，北京市机电研究院研制成功千瓦级二氧化碳激光器，并于80年代初分别应用于汽缸套和邮票印刷设备的激光热处理。其中，清华大学、北京市机电研究院、北京邮票厂共同完成邮票厂七色机打孔器表面激光强化研究。 1984～1990年，北京市热处理研究所研究成功真空热处理、气体渗碳微机控制技术(与北京航空航天大学合作)、稀土软氮化、粉末冶金制品表面强化、煤油加甲醇小滴量法微机可控渗碳、固体渗硼、渗碳过程微机辅助工艺设计及跟踪控制系统等热处理新技术，并应用于生产。 焊接与切割 1949年，北京已有气焊、电弧焊及氧乙炔火焰切割等手工作业。 1963年，北京金属结构厂与一机部机械科学研究院合作开发出钨极氩弧焊，并实现了氮气等离子切割不锈钢。1964年，用直流钨极氩弧焊及焊丝合金化技术解决了核工业用倾斜式电解糟纯镍焊接。 1966年，北京金属结构厂开发出了使被焊球体旋转的埋弧自动焊。1968年，该厂开始以液化石油气代替乙炔切割。 80年代初，清华大学发明了新型MIG焊接电弧控制法，在控制电弧技术上取得突破。 80年代初，北京城建设计院等完成液化石油气移动式气压焊轨技术的研究和应用。 1990年，北京金属结构厂开始采用数控精密切割和具有光电跟踪及数控寻踪读入自动编程的大功率等离子切割技术。可见，我国机械发展在近代发展其迅速。China is the world's first national machinery development. Chinese mechanical engineering technology not only has a long history and splendid achievements in Chinese is not only the material culture and social economic development plays an important role in the world, and to promote the progress of civilization, technology has made great contribution to Chinese traditional machine. And in a long period ahead in the world. In modern times, especially from the early 18th century, due to the nineteen forties, due to the economic and social reasons, such as the China machinery industry, stagnation, in the 100 years is western bourgeois political revolution and industrial revolution, mechanical science and technology is developing rapidly, and far more than the level of China. So, China mechanical development level and the western gap widens, sharply to the 19th century middle behind western one hundred years.After the founding of new China, especially in the past 30 years, our country's mechanical science and technology development speed. To the mechanical product large-scale, precision, automation and discusses the trend of development. In some aspects has reached or exceeded the world advanced level. Generally speaking, currently China mechanical science and technology achievement is huge, developing fast, high level of unprecedented. In this period, China has no end of mechanical science and technology will develop to a higher level. As long as we can adopt the correct policy, with good technology development and innovation, our machinery industry and mechanical technology can revitalize, leading to the development trend of mechanical industry.Just small ramming machinery:In the 1960s, China mechanical very small tamp lack, many small venues ramming basically USES artificial ramming.Early 1960s, changsha construction machinery institute and Beijing architectural engineering institute, etc., the technical innovation achievements in mass on the basis of summing up Chinese characteristic invented the breaststroke ramming machine, 1962 exceeded national science and technology. The breaststroke ramming machine structure is simple, easy to use and maintenance in 1960s, soon became the dominant products to consolidate machinery. According to not complete count breaststroke tamp cumulative yield reached more than 50,000 machine, in the economic development of our country has played an important role. Since 1970's, the breaststroke ramming machine was gradually more advanced performance of vibration shock ram and vibrating plate ram, now replaced by laying machine has rarely breaststroke, basically be eliminated.In 1964, changsha construction machinery institute HB120 developed movable type, type of Shanghai began laying machine, engineering machine production mainly by tianjin municipal later, annual production engineering machinery dongting about 200. In the 1980s, movable type ramming machine product quality has increased greatly, have exported to southeast Asia and Africa. Since 1990s, internal-combustion type ramming machine production sales, and gradually decreased in only a few small private enterprise production.In 1977, changsha construction machinery factory buildings and developed in liuzhou HZR250 type and the HZR70 type vibrating plate ram, these two kinds of products in 1979 and 1982 passed by the ministry of construction of the organization. Then yiwu building construction machinery factory, siping, anyang vibrators factory, tianjin municipal engineering machinery dongting and other enterprises have started producing vibrating plate ram. In 1986, changsha construction machinery research and develop a larger HZR450 type of vibrating plate ram. Since 1990s, vibrating plate ram in our country has developed very quickly, varieties of products, specifications and increase production enterprises, foreign vibrating plate ram gradually to enter the Chinese market.In 1983, changsha construction machinery institute and the joint development of hubei vibration in the first HZR70 type vibration shock ramming, 1984, passed by the ministry of construction, organization construction technology progress in 1985 won prizes. Due to the vibration impact compaction result has good ramming, productivity, high volume and weight of small, lightweight flexible outstanding characteristics, deeply user etc, obtained a rapid promotion, and soon ZiJiang development to the factory, xinxiang municipal engineering machine tool plant and tianjin dozens of dongting production factory etc. Vibration shock ramming although than vibrating plate ram, but later development speed of development, production and use of extensive than vibrating plate ram, has become the largest in China in the ramming machinery products. Since 1990s, foreign vibrating plate ram gradually to enter the Chinese market.Vibration shock ramming and vibrating plate ram the successful development in our country, not only for our construction department provides advanced performance of mechanical, laying have achieved good economic benefit and social benefit, and make our ramming mechanical technology into a big step forward, shorten the gap with the advanced world level, promoting the development of compaction machine.The mechanical processing:According to the archaeological discovery, hot-working casting in Beijing pinggu, changping and so have proved that the 16th century BC shang dynasty (bronze objects. Ming yongle (1403-1424 years), Beijing produce world-renowned Ming yongle great 3-ton bell made (46.5 tons) and tower (63 tons of great 3-ton bell made of iron clock (25) and the furnace of melting, pit TaoFan model and method of casting. In the 1950s, Beijing based on clay sand castings in manual. In 1955, Beijing first machine tool plant began using leakage mould modelling, double-sided model and iron plate type plate and standard sand box modelling. In 1965, start using plastic model. In 1980, the institute and Beijing municipal electrical factory has successfully developed line frequency coreless bathroom plug stem bottom note type electric insulation casting. In 1982, hospital and Beijing the casting machine research cupola tuyere oxygen blowing technology. 1985-1988, Beijing institute of machine of floating end face seal ring by die successful test pressure casting process.In 1959, Beijing second metalforming machinery general factory changed (Beijing) built 2500 ton heavy-duty hydraulic press. In 1971, the factory produced 6,000 tons, which is then Beijing hydrtesting biggest metalforming equipment. 1968-1979, Beijing hoisting machine factory has 300 tons of using hydraulic press 2000 tons and create crane and large panel. In the 1980s, Beijing institute of electrical and developed a series of Beijing mould centre high-precision cutting die, the multistage close to or to import mould level, changed Beijing precision punching moulds dependence on imports.Before 1949, Beijing has heat treatment furnace, salt dissolved by thermocouples means furnace, quenching and tempering, parts of annealing, normalizing, quenching and tempering, carburizing and etc. In 1956, Beijing first began using high-frequency quenching machine tool plant. In 1961, the Beijing second machine tool plant began using gas nitriding quenching. In 1969, the following enterprise by Beijing gage start light quenching. In 1978, the complete machine tool research institute of Beijing guide surface contact quenching process and equipment, quenching condition of quality inspection. In 1979, scientific research institute of China academy of railway and mechanical institute of high-power diesel engine cylinder collaboration of surface modification of laser. In 1979, Beijing institute of electrical carbon dioxide laser is developed, and the kilowatt in early 1980s respectively applied in cylinder and stamp printing equipments of laser treatment. Among them, tsinghua university, Beijing, Beijing institute of electrical YouPiaoChang jointly completed YouPiaoChang seven color machine DaKongQi laser surface strengthening research. From 1984 to 1990, Beijing institute of vacuum heat treatment research, gas carburizing microcomputer control technology (Beijing university of aeronautics &astronautics and cooperation), rare earth soft nitriding, powder metallurgy products surface strengthening, kerosene and methanol small drops of microcomputer control method of carburizing, solid boriding and carburizing process computer aided process planning and tracking control system, and the application of new technology heat in production. Welding and cutting in 1949, Beijing has geo-drilling, electric welding and cutting etc oxyacetylene flame manual operation. In 1963, Beijing metal structure and YiJiBu mechanical science research cooperation to develop tungsten argon arc welding, and realize the nitrogen plasma cutting stainless steel. In 1964, the use of dc argon arc welding and tungsten wire alloying technology solved by tilting electrolysis industry worse pure nickel welding. In 1966, Beijing metal structure factory developed by rotating sphere of the submerged arc welding automatic welding. In 1968, the plant began to liquefied petroleum gas (LPG) instead of acetylene cutting. In the early 1980s, tsinghua university invented new MIG welding arc arc technology in control, control a breakthrough. In the early 1980s, the Beijing urban construction design completed liquefied petroleum gas (LPG) mobile pneumatic rail welding technology research and application. In 1990, Beijing metal structure factory to adopt CNC precision cutting and with photo-electricity tracking and CNC pursuit of high input automatic programming technology plasma cutting.Visible, China mechanical development in modern development of its rapid.
Title: fermentation tank vibration transmission mechanism design Abstract: With the social development, and resource utilization has caused considerable attention. Fermentation tank vibration mechanism is to straw as a carbon source for microbiological fermentation of solid substrate on the upper reaches of the equipment required, use mechanical movement principle, design fermentation, and to imitate cattle or other animals, the mechanism of gastric digestion of food, design fermentation tank vibration mechanical devices, through the crank, sprocket and bevel gear mechanical transmission mode of vibration, in order to realize biomimetic motility feed cattle organ that urge change in the role. With straw as a carbon source on the fermentation of raw materials, so that microbes with straw substrate mix and reduce low energy consumption, required to produce the fermentation product. Key words: fermentation tank bionic mechanical transmission vibration mechanism
Abstract— Cobots是连续地使用机器人的类 开发高保真度可编程序的variable传输 constraint表面。 Cobots消耗很少电能 ，既使当提供高产力量和他们的传输横跨各种各样是非常有效率的transmission比率。 Cobotic传输也有能力 to作为闸或变得完全地自由。 设计 Cobotic手控制器的and表现，最近a developed六程度自由触觉显示，被回顾。 This设备说明高力学范围和低功率 consumption可达成由cobots。 彻底的比较 the一个cobotic系统的出力效率对常规 提供electro-mechanical系统。机器人技术的Three关键要求使用为 prosthetics和修复是低重量，低功率 consumption和安全。 我们提出cobotic技术作为a 可能论及所有这些问题的transmission建筑学。 Cobots是运用nonholonomic限制的机器人 of 操纵 轮子 关连 相对 速度 mechanism链接。 cobotic传输连续地是a variable传输(CVT)在正面和阴性之间 ratios， 并且 能 关连 二 平移 速度， 二 rotational速度或者对平移的旋转的速度 velocity [1]。 我们最近介绍了Cobotic手 Controller (图 1)， a 供给动力的六程度自由 cobot和描述它的能力作为一个触觉接口[2， 3]。 通过本文路线，我们显示出， mechanical 建筑学 并且 传输 使用 在 Cobotic手控制器地址全部三在上面 机器人学的mentioned要求的弭补科和 rehabilitation.
中国是世界上机械发展最早的国家之一。中国的机械工程技术不但历史悠久，而且成就十分辉煌，不仅对中国的物质文化和社会经济的发展起到了重要的促进作用，而且对世界技术文明的进步做出了重大贡献.传统机械方面，我国在很长一段时期内都领先于世界。到了近代由于特别是从18世纪初到19世纪40年代，由于经济社会等诸多原因，我国的机械行业发展停滞不前，在这100多年的时间里正是西方资产阶级政治革命和产业革命时期，机械科学技术飞速发展，远远超过了中国的水平。这样，中国机械的发展水平与西方的差距急剧拉大，到十九世纪中期已经落后西方一百多年。新中国建立后特别是近三十年来，我国的机械科学技术发展速度很快。向机械产品大型化，精密化、自动化和成套化的趋势发展。在有些方面已经达到或超过了世界先进水平。总的来说，就目前而言中国机械科学技术的成就是巨大的，发展速度之快，水平之高也是前所未有的。这一时期还没有结束，我国的机械科学技术还将向更高的水平发展。只要我们能够采取正确的方针、政策、用好科技发展规律并勇于创新，我国的机械工业和机械科技一定能够振兴，重新引领世界机械工业发展潮流。就小型夯实机械而言：上世纪60年代以前，我国小型夯实机械非常缺乏，很多小型场地的夯实基本上采用人工夯实。上世纪60年代初期，长沙建设机械研究所与北京建筑工程学院等单位合作，在群众性技术革新成果的基础上总结发明了具有中国特色的蛙式夯实机，1962年获国家科技发明奖。蛙式夯实机结构简单，维修、使用方便，很快成为我国60年代夯实机械的主导产品。据不完全统计蛙式夯实机累计产量达到50000多台，在我国经济建设中发挥了重要作用。70年代以后，蛙式夯实机逐渐被性能更先进的振动冲击夯和振动平板夯所替代，目前蛙式夯实机已经很少，基本被淘汰。1964年，长沙建设机械研究所开发了HB120型内燃式夯实机，开始由上海工程机械厂生产，后来主要由津市洞庭工程机械厂生产，年产量200台左右。80年代，内燃式夯实机产品质量有较大提高，曾出口东南亚和非洲地区。90年代以后，内燃式夯实机产销售量也在逐渐减少，目前只有少数小型民营企业生产。1977年，长沙建设机械研究所和柳州市建筑机械厂开发了我国第一台HZR250型和HZR70型振动平板夯，这两种产品分别于1979 年和1982年通过了由建设部组织的鉴定。随后义乌建筑机械厂、四平建筑机械厂、安阳振动器厂、津市洞庭工程机械厂等多家企业都开始生产振动平板夯。1986年长沙建设机械研究所又开发了较大的HZR450型振动平板夯。上世纪90年代以后，振动平板夯在我国有了较快的发展，产品品种、规格和生产企业增多，国外的振动平板夯陆续进入中国市场。1983年，长沙建设机械研究所和湖北振动器厂联合开发了我国第一台HZR70型振动冲击夯，1984年通过了由建设部组织的鉴定，1985年获建设部科技进步三等奖。由于振动冲击夯具有压实效果好、生产率高、体积和重量小、轻便灵活等突出特点，深受用户欢迎，得到了迅速的推广使用，并很快发展到资江机器厂、新乡第三机床厂和津市洞庭工程机械厂等几十家企业生产。振动冲击夯虽然比振动平板夯开发晚，但发展速度、产销量和使用广泛性比振动平板夯大得多，目前已成为我国夯实机械中产销量最大的主导产品。上世纪90年代以后，国外的振动平板夯陆续进入中国市场。振动冲击夯和振动平板夯在我国的成功开发，不仅为我国建设施工部门提供了性能先进的夯实机械，取得了良好的经济效益和社会效益，而且使我国夯实机械技术向前跨进了一大步，缩短了与世界先进水平的差距，促进了我国压实机械的发展。就机械加工而言：热加工 铸造 据考古发现，在北京平谷、昌平、房山等处曾出土了公元前16世纪(商代)的青铜礼器。 明永乐年间(1403～1424年)，北京制造出享誉世界的明永乐大铜钟(46.5吨)和钟楼大铜钟(63吨)及铁钟(25吨)，采用分炉熔化、地坑造型和陶范法铸造。 20世纪50年代以前，北京在铸造上采用粘土砂手工造型。1955年，北京第一机床厂开始采用漏模造型、双面模型型板及铁型板和标准砂箱造型。1965年，开始采用塑料模型。 1980 年，北京市机电研究院与北京玛钢厂研制成功工频无芯塞杆底注式保温浇注电炉。1982年，该院与北京机床铸造二厂研究成功冲天炉风口吹氧技术。 1985～1988年，北京机床研究所试验成功浮动端面密封环的压力铸造工艺。 锻压 1959年，北京第二通用机械厂(后改名北京重型机器厂)建成2500吨水压机。1971年，该厂制造出6000吨水压机，这是当时北京最大的锻压设备。 1968～1979年，北京起重机器厂先后采用300吨油压机和2000吨油压机制造出起重机吊臂和大型覆盖件。 80年代，北京市机电研究院和北京市模具中心研制出一系列高精度多工位冲裁模具，接近或达到进口模具水平，改变了北京精密冲裁模具依赖进口的局面。 热处理 1949年前，北京已采用电炉、盐溶炉、热电偶等手段进行零件退火、回火、淬火、正火、调质、渗碳等热处理。 1956年，北京第一机床厂开始采用高频感应淬火。1961年，北京第二机床厂开始采用气体氮化淬火。1969年，北京量具刃具厂开始采用光亮淬火。 1978年，北京机床研究所研究完成机床导轨表面接触淬火工艺及设备、淬火质量检查技术条件的研究。1979年，铁道科学研究院和中国科学院力学研究所等合作完成大功率柴油机缸套表面的激光改性处理的研究。 1979年，北京市机电研究院研制成功千瓦级二氧化碳激光器，并于80年代初分别应用于汽缸套和邮票印刷设备的激光热处理。其中，清华大学、北京市机电研究院、北京邮票厂共同完成邮票厂七色机打孔器表面激光强化研究。 1984～1990年，北京市热处理研究所研究成功真空热处理、气体渗碳微机控制技术(与北京航空航天大学合作)、稀土软氮化、粉末冶金制品表面强化、煤油加甲醇小滴量法微机可控渗碳、固体渗硼、渗碳过程微机辅助工艺设计及跟踪控制系统等热处理新技术，并应用于生产。 焊接与切割 1949年，北京已有气焊、电弧焊及氧乙炔火焰切割等手工作业。 1963年，北京金属结构厂与一机部机械科学研究院合作开发出钨极氩弧焊，并实现了氮气等离子切割不锈钢。1964年，用直流钨极氩弧焊及焊丝合金化技术解决了核工业用倾斜式电解糟纯镍焊接。 1966年，北京金属结构厂开发出了使被焊球体旋转的埋弧自动焊。1968年，该厂开始以液化石油气代替乙炔切割。 80年代初，清华大学发明了新型MIG焊接电弧控制法，在控制电弧技术上取得突破。 80年代初，北京城建设计院等完成液化石油气移动式气压焊轨技术的研究和应用。 1990年，北京金属结构厂开始采用数控精密切割和具有光电跟踪及数控寻踪读入自动编程的大功率等离子切割技术。可见，我国机械发展在近代发展其迅速。China is the world's first national machinery development. Chinese mechanical engineering technology not only has a long history and splendid achievements in Chinese is not only the material culture and social economic development plays an important role in the world, and to promote the progress of civilization, technology has made great contribution to Chinese traditional machine. And in a long period ahead in the world. In modern times, especially from the early 18th century, due to the nineteen forties, due to the economic and social reasons, such as the China machinery industry, stagnation, in the 100 years is western bourgeois political revolution and industrial revolution, mechanical science and technology is developing rapidly, and far more than the level of China. So, China mechanical development level and the western gap widens, sharply to the 19th century middle behind western one hundred years.After the founding of new China, especially in the past 30 years, our country's mechanical science and technology development speed. To the mechanical product large-scale, precision, automation and discusses the trend of development. In some aspects has reached or exceeded the world advanced level. Generally speaking, currently China mechanical science and technology achievement is huge, developing fast, high level of unprecedented. In this period, China has no end of mechanical science and technology will develop to a higher level. As long as we can adopt the correct policy, with good technology development and innovation, our machinery industry and mechanical technology can revitalize, leading to the development trend of mechanical industry.Just small ramming machinery:In the 1960s, China mechanical very small tamp lack, many small venues ramming basically USES artificial ramming.Early 1960s, changsha construction machinery institute and Beijing architectural engineering institute, etc., the technical innovation achievements in mass on the basis of summing up Chinese characteristic invented the breaststroke ramming machine, 1962 exceeded national science and technology. The breaststroke ramming machine structure is simple, easy to use and maintenance in 1960s, soon became the dominant products to consolidate machinery. According to not complete count breaststroke tamp cumulative yield reached more than 50,000 machine, in the economic development of our country has played an important role. Since 1970's, the breaststroke ramming machine was gradually more advanced performance of vibration shock ram and vibrating plate ram, now replaced by laying machine has rarely breaststroke, basically be eliminated.In 1964, changsha construction machinery institute HB120 developed movable type, type of Shanghai began laying machine, engineering machine production mainly by tianjin municipal later, annual production engineering machinery dongting about 200. In the 1980s, movable type ramming machine product quality has increased greatly, have exported to southeast Asia and Africa. Since 1990s, internal-combustion type ramming machine production sales, and gradually decreased in only a few small private enterprise production.In 1977, changsha construction machinery factory buildings and developed in liuzhou HZR250 type and the HZR70 type vibrating plate ram, these two kinds of products in 1979 and 1982 passed by the ministry of construction of the organization. Then yiwu building construction machinery factory, siping, anyang vibrators factory, tianjin municipal engineering machinery dongting and other enterprises have started producing vibrating plate ram. In 1986, changsha construction machinery research and develop a larger HZR450 type of vibrating plate ram. Since 1990s, vibrating plate ram in our country has developed very quickly, varieties of products, specifications and increase production enterprises, foreign vibrating plate ram gradually to enter the Chinese market.In 1983, changsha construction machinery institute and the joint development of hubei vibration in the first HZR70 type vibration shock ramming, 1984, passed by the ministry of construction, organization construction technology progress in 1985 won prizes. Due to the vibration impact compaction result has good ramming, productivity, high volume and weight of small, lightweight flexible outstanding characteristics, deeply user etc, obtained a rapid promotion, and soon ZiJiang development to the factory, xinxiang municipal engineering machine tool plant and tianjin dozens of dongting production factory etc. Vibration shock ramming although than vibrating plate ram, but later development speed of development, production and use of extensive than vibrating plate ram, has become the largest in China in the ramming machinery products. Since 1990s, foreign vibrating plate ram gradually to enter the Chinese market.Vibration shock ramming and vibrating plate ram the successful development in our country, not only for our construction department provides advanced performance of mechanical, laying have achieved good economic benefit and social benefit, and make our ramming mechanical technology into a big step forward, shorten the gap with the advanced world level, promoting the development of compaction machine.The mechanical processing:According to the archaeological discovery, hot-working casting in Beijing pinggu, changping and so have proved that the 16th century BC shang dynasty (bronze objects. Ming yongle (1403-1424 years), Beijing produce world-renowned Ming yongle great 3-ton bell made (46.5 tons) and tower (63 tons of great 3-ton bell made of iron clock (25) and the furnace of melting, pit TaoFan model and method of casting. In the 1950s, Beijing based on clay sand castings in manual. In 1955, Beijing first machine tool plant began using leakage mould modelling, double-sided model and iron plate type plate and standard sand box modelling. In 1965, start using plastic model. In 1980, the institute and Beijing municipal electrical factory has successfully developed line frequency coreless bathroom plug stem bottom note type electric insulation casting. In 1982, hospital and Beijing the casting machine research cupola tuyere oxygen blowing technology. 1985-1988, Beijing institute of machine of floating end face seal ring by die successful test pressure casting process.In 1959, Beijing second metalforming machinery general factory changed (Beijing) built 2500 ton heavy-duty hydraulic press. In 1971, the factory produced 6,000 tons, which is then Beijing hydrtesting biggest metalforming equipment. 1968-1979, Beijing hoisting machine factory has 300 tons of using hydraulic press 2000 tons and create crane and large panel. In the 1980s, Beijing institute of electrical and developed a series of Beijing mould centre high-precision cutting die, the multistage close to or to import mould level, changed Beijing precision punching moulds dependence on imports.Before 1949, Beijing has heat treatment furnace, salt dissolved by thermocouples means furnace, quenching and tempering, parts of annealing, normalizing, quenching and tempering, carburizing and etc. In 1956, Beijing first began using high-frequency quenching machine tool plant. In 1961, the Beijing second machine tool plant began using gas nitriding quenching. In 1969, the following enterprise by Beijing gage start light quenching. In 1978, the complete machine tool research institute of Beijing guide surface contact quenching process and equipment, quenching condition of quality inspection. In 1979, scientific research institute of China academy of railway and mechanical institute of high-power diesel engine cylinder collaboration of surface modification of laser. In 1979, Beijing institute of electrical carbon dioxide laser is developed, and the kilowatt in early 1980s respectively applied in cylinder and stamp printing equipments of laser treatment. Among them, tsinghua university, Beijing, Beijing institute of electrical YouPiaoChang jointly completed YouPiaoChang seven color machine DaKongQi laser surface strengthening research. From 1984 to 1990, Beijing institute of vacuum heat treatment research, gas carburizing microcomputer control technology (Beijing university of aeronautics &astronautics and cooperation), rare earth soft nitriding, powder metallurgy products surface strengthening, kerosene and methanol small drops of microcomputer control method of carburizing, solid boriding and carburizing process computer aided process planning and tracking control system, and the application of new technology heat in production. Welding and cutting in 1949, Beijing has geo-drilling, electric welding and cutting etc oxyacetylene flame manual operation. In 1963, Beijing metal structure and YiJiBu mechanical science research cooperation to develop tungsten argon arc welding, and realize the nitrogen plasma cutting stainless steel. In 1964, the use of dc argon arc welding and tungsten wire alloying technology solved by tilting electrolysis industry worse pure nickel welding. In 1966, Beijing metal structure factory developed by rotating sphere of the submerged arc welding automatic welding. In 1968, the plant began to liquefied petroleum gas (LPG) instead of acetylene cutting. In the early 1980s, tsinghua university invented new MIG welding arc arc technology in control, control a breakthrough. In the early 1980s, the Beijing urban construction design completed liquefied petroleum gas (LPG) mobile pneumatic rail welding technology research and application. In 1990, Beijing metal structure factory to adopt CNC precision cutting and with photo-electricity tracking and CNC pursuit of high input automatic programming technology plasma cutting.Visible, China mechanical development in modern development of its rapid.
摘要- Cobots是一类机器人的使用不断 无级变速发展高保真可编程 约束的表面。 Cobots消耗很少的电力 即使在提供高输出部队，其传输效率高众多的 传动比。 Cobotic变速箱也有能力 采取行动作为一个制动器或将成为完全免费。设计 和性能Cobotic手控制器，最近 发达国家六自由度触觉显示器，是审查。 这个装置表明，高动态范围和低功耗 消费实现的cobots 。彻底的比较 电源效率cobotic系统与传统的 机电系统提供。 三个关键要求机器人技术用于 假肢和康复是低体重，低功耗 消费和安全性。我们建议cobotic技术作为 传输架构，可以处理这些问题。 Cobots是机器人利用非完整约束 的指导车轮的相对速度有关的 机制的联系。阿cobotic传播是一个不断 无级变速器（无级变速器）之间的积极和消极 比率，可以涉及两个平移速度，两个 旋转速度，或旋转速度为平移 速度[ 1 ] 。我们最近推出了Cobotic手 控制器（图1 ） ，六自由度动力 合作机器人，并阐述其能力作为触觉界面[ 2 ， 3 ] 。通过本论文中，我们表明， 机械结构和传输中使用 Cobotic手控制器处理所有三个以上 上述要求的假肢和机器人 康复。
Abstract— Cobots是连续地使用机器人的类 开发高保真度可编程序的variable传输 constraint表面。 Cobots消耗很少电能 ，既使当提供高产力量和他们的传输横跨各种各样是非常有效率的transmission比率。 Cobotic传输也有能力 to作为闸或变得完全地自由。 设计 Cobotic手控制器的and表现，最近a developed六程度自由触觉显示，被回顾。 This设备说明高力学范围和低功率 consumption可达成由cobots。 彻底的比较 the一个cobotic系统的出力效率对常规 提供electro-mechanical系统。机器人技术的Three关键要求使用为 prosthetics和修复是低重量，低功率 consumption和安全。 我们提出cobotic技术作为a 可能论及所有这些问题的transmission建筑学。 Cobots是运用nonholonomic限制的机器人 of 操纵 轮子 关连 相对 速度 mechanism链接。 cobotic传输连续地是a variable传输(CVT)在正面和阴性之间 ratios， 并且 能 关连 二 平移 速度， 二 rotational速度或者对平移的旋转的速度 velocity [1]。 我们最近介绍了Cobotic手 Controller (图 1)， a 供给动力的六程度自由 cobot和描述它的能力作为一个触觉接口[2， 3]。 通过本文路线，我们显示出， mechanical 建筑学 并且 传输 使用 在 Cobotic手控制器地址全部三在上面 机器人学的mentioned要求的弭补科和 rehabilitation.
指导教师对毕业论文的评语：
1、论文陈述清楚，讲解简单明了，存在不足在于缺少自己的新观点新方法，多为套用他人研究成果，论文格式方面应多规范。
2、答辩的准备工作充分，对老师的提问能详实回答，并对设计过程中所遇困境能反复探讨研究，找出更好的解决方法。若能结合专业改进使静态的网页成为动态的则更好，不足在于数据库中表的描述方式不太对，望改进。
3、论文陈述清晰明白，开门见山，直接入题。对老师的提问能流利作答，思路清晰，但对论文中的部分代码解释不楚，有少量语言错误，望今后的研究中多创新。
4、在五分钟的陈述中，该生介绍了论文的主要内容与结构，以及为此进行的研究，显示出对所研究的问题有一定的认识。视频设计很漂亮，但不太符合专业要求，若多从计算机专业的角度对实现过程进行设计则更好。
5、答辩过程中，该生能在规定时间内熟练扼要的陈述论文的主要内容，条理清晰，创新点明显，回答问题时反映敏捷，表达准确，系统演示熟练，专业素养很高，经答辩委员会商议，一致同意其成绩为优秀。
无论是在学习还是在工作中，大家都跟论文打过交道吧，论文是描述学术研究成果进行学术交流的一种工具。那么一般论文是怎么写的呢？下面是我帮大家整理的毕业论文指导老师评语，欢迎阅读与收藏。
1、全文以———为题。重点探讨出的问题，然后针对问题提出有效的建议。全文结构符合要求，逻辑思路清晰，论据较充分，观点表达准确，语言流畅，论证方法教合理。参考的资料与主题结合紧密。
2、全文以———为题。重点探讨分析的问题及原因，然后针对问题提出一些具有可操作性的对策。全文选题新颖，具有很强的研究性。全文结构符合要求，逻辑结构严谨，思路清晰，观点鲜明，论据具有较强的说服力。论证方法合理，了大量的数据来论证，更增加了论证的可靠性。能综合运用行政管理专业知识来分析，但不足之处主要是语言不是很精炼。
3、该文参考的文献资料充分且符合论题的需要。该文以为例，重点探讨。该文选题符合行政管理专业要求，结构完整，思路清晰，观点表达准确，格式规范，能较好的将行政管理专业知识运用来分析现实中的行政管理实践问题。但个别观点论证还不充分。总体上符合毕业论文要求。
4、该文选题具有较强的现实性针对性和实用性。结构安排科学合理，思路清晰，层次分明。各部分之间联系紧密，观点表述准确，论证内容比较具有说服力，但文章缺乏自己原创的内容。
5、选题较具时代性和现实性。全文结构安排合理。观点表达基本准确。全文内容紧扣行政管理专业要求来写，充分体现出行政管理专业特色。查阅的相关资料较多。但不足之处主要是属于自己创新的东西还不多。总体上符合毕业论文要求。
6、研究———为题，充分的体现时代特色性。能为中国行政管理问题的解决提供参考价值。全文结构合理，思路清晰，观点明显。在论证过程中能教好的将论证与案例论证结合起来。不足之处是部分论点的论据还缺乏说服力。
7、以———为题进行研究。能为解决的问题提供参考和借鉴作用。在全文结构中，首先要调整基本概念提出问题，然后在对问题进行深入的分析，最后为——提出有效的建议。全文体现专业特色要求，部分与本分之间衔接的比较紧密，真正属于自己创新的内容还不是很多。总体上达到毕业论文要求。
8、选题符合行政管理专业培养目标目标，能较好地综合运用社会理论和专业知识。论文写作态度认真负责。论文内容教充分，参考的相关资料比较充分，层次结构较合理。主要观点突出，逻辑观点清晰，语言表达流畅。但论证的深度还不够。
9、 本文选题符合行政管理专业要求，又充分反映出社会现实的需要性。全文结构安排合理，思路清晰，观点正确，能很好的将行政管理专业知识与要分析论证的问题有机地结合起来。该文在写作的过程中查阅的资料不仅充分而且与主题结合紧密。但格式欠规范，案例论证不够。
10、该论文选题正确，结构合理，内容丰富，数据资料充分，分析方法先进，写作进度安排合理，结论和建议具有区域现实意义，建议推荐为校级优秀毕业论文。
11、选题较具时代性和现实性。全文结构安排合理。观点表达基本准确。毕业论文评语。全文内容紧扣行政管理专业要求来写，充分体现出行政管理专业特色。查阅的相关资料较多。但不足之处主要是属于自己创新的东西还不多。总体上符合毕业论文要求。
12、 本文立意新颖。全文以—————为线索，结合各地的准规较全面的分析了————的问题和原因。并针对存在的问题提出解决问题的对策。毕业论文评语。内容论证也教科学合理。全文充分体现行政管理专业特色，格式规范。但创新点不够。
13、论文结构完整，各部分基本符合XXXXX论文的写作规范。论文的选题很好，有创意。为了写好这篇论文，作者作了一定研究，特别是斯坦贝克的原著。从作者对原著的引用情况不难看出，作者对原著的内容是相当熟悉的。语言也非常犀利，论文条理清晰说理充分，观点具有独创性，有一定的参考价值，不失为一篇好文章。
14、该文参考的文献资料充分且符合论题的需要。该文以——————为例，重点探讨——————。该文选题符合行政管理专业要求，结构完整，思路清晰，观点表达准确，格式规范，能较好的将行政管理专业知识运用来分析现实中的行政管理实践问题。但个别观点论证还不充分。总体上符合毕业论文要求。
15、论文选题符合专业培养目标，能够达到综合训练目标，题目有一定难度，工作量一般。选题具有实践指导意义。
1、本论文选题有很强的应用价值，文献材料收集详实，综合运用了所学知识解决问题，所得数据合理，结论正确，有创新见解。另外论文格式正确，书写规范，条理清晰，语言流畅。
2、该论文选题合理。区域经济问题是经济界研究的热点，而农业经济增长问题亦是当前讨论的焦点，近几年来国内外不少专家对此已有许多较为成熟的论述，在XX也有专家学者对XX区域经济问题做了较深入的研究，但对XX农业区域经济及其增长问题的结合研究，尚未发现有专门的论述。如何认识XX农业区域经济差距现状及未来的走势，促进农业经济健康持续增长，是经济现实中急需解决的问题，这也是该论文选题意义所在。
3、论文选题符合专业培养目标，能够达到综合训练目标，题目有一定难度，工作量一般。选题具有实践指导意义。
4、该生查阅文献资料能力一般，能收集关于论文的资料，写作过程中基本能综合运用基础知识，全面分析问题，综合运用知识能力一般。
5、文章篇幅完全符合学院规定，内容基本完整，层次结构安排一般，主要观点集中有一定的逻辑性，但缺乏个人见解。
6、文题基本相符，论点比较突出，论述能较好地服务于论点。
7、语言表达一般，格式完全符合规范要求；参考了一定的文献资料，其时效性一般；未见明显抄袭现象。
8、论文选题有意义，在吸收学术界研究成果的基础上，有自己的心得体会，提出自己的看法，言之成理。论述观点正确，材料比较充实，叙述层次分明，有较强的逻辑性。文字通顺流畅。行文符合学术规范。今后要进一步总结经验，对音乐教育模式进行比较，这样可以把音乐教学教得更好。论文能按时交稿，经过认真修改，已经达到本科论文的要求。
9、本论文选题有很强的应用价值，文献材料收集详实，综合运用了所学知识解决问题，所得数据合理，结论正确，有创新见解。另外论文格式正确，书写规范，条理清晰，语言流畅。今后要进一步总结经验，对德育教育模式进行比较，这样可以把德育教育工作得更好。论文能按时交稿，经过认真修改，已经达到本科论文的要求。
10、本论文选题有很强的应用价值，文献材料收集详实，综合运用了所学知识解决问题，所得数据合理，结论正确，有创新见解。另外论文格式正确，书写规范，条理清晰，语言流畅。
11、该论文选题合理。区域经济问题是经济界研究的热点，而农业经济增长问题亦是当前讨论的焦点，近几年来国内外不少专家对此已有许多较为成熟的论述，在XX也有专家学者对XX区域经济问题做了较深入的研究，但对XX农业区域经济及其增长问题的结合研究，尚未发现有专门的论述。如何认识XX农业区域经济差距现状及未来的走势，促进农业经济健康持续增长，是经济现实中急需解决的问题，这也是该论文选题意义所在。
12、论文选题符合专业培养目标，能够达到综合训练目标，题目有一定难度，工作量一般。选题具有实践指导意义。
13、该生查阅文献资料能力一般，能收集关于论文的资料，写作过程中基本能综合运用基础知识，全面分析问题，综合运用知识能力一般。
14、文章篇幅完全符合学院规定，内容基本完整，层次结构安排一般，主要观点集中有一定的逻辑性，但缺乏个人见解。
15、文题基本相符，论点比较突出，论述能较好地服务于论点。
1、 本文符合专业要求，反映社会热点问题。因此，该主题的研究有利于推进我国—————的进一步发展。全文首先—————的问题，然后分析&
2、在十分钟的陈述中，该生介绍了论文的主要观点内容与结构，以及论文的写作过程，条理清晰，语言无大错，对老师的提问做出了基本正确的回答，体现了一定的专业素养。但设计过程有点小问题，流程图不很完善，希望及时纠正。
3、从答辩可以看出该生总体专业基础比较扎实，准备工作充分，对论文内容非常熟悉，能简洁明了的陈述设计思想和过程，系统展示流畅，回答问题有理有据，基本概念清楚，论文有一定创新。希望继续完善论文中的部分文字和符号，争取规范使用。
4、该生在规定时间内比较流利清楚的阐述论文的主要内容，能恰当回答与论文有关的问题，态度谦虚，体现了比较扎实的计算机基础。建议把图像的打开功能用适当的文字表达出来，继续完善使论文格式规范化。
5、结合数学知识用计算机技术来处理地质问题，对方法原理掌握透彻，论文有比较好的创新。对快速傅里叶和小波变换图的'结果分析到位，处理结果良好，计算机基础素养好。答辩中主要问题回答准确深入。论文中变换的指标若有对比会更好。
6、论文陈述清楚，讲解简单明了，存在不足在于缺少自己的新观点新方法，多为套用他人研究成果，论文格式方面应多规范。
7、答辩的准备工作充分，对老师的提问能详实回答，并对设计过程中所遇困境能反复探讨研究，找出更好的解决方法，专业技术比较好。若能结合专业改进使静态的网页成为动态的则更好，不足在于数据库中表的描述方式不太对，望改进。
8、论文陈述清晰明白，开门见山，直接入题。对老师的提问能流利作答，思路清晰，但对论文中的部分代码解释不楚，有少量语言错误，望今后的研究中多创新。
9、该生能在规定时间内陈述论文的主要内容，但答辩中回答问题不是很流畅，对设计的细节技术不太熟，回答问题不够切题。
10、从五部分对论文进行阐述，重点突出，答辩流畅熟练，知识掌握基本到位，时间符合要求。不足是论文中有部分概念错误。
11、答辩过程中，该生能在规定时间内熟练扼要的陈述论文的主要内容，条理清晰，创新点明显，回答问题时反映敏捷，表达准确，系统演示熟练，专业素养很高，经答辩委员会商议，一致同意其成绩为优秀。
12、在五分钟的陈述中，该生介绍了论文的主要内容与结构，以及为此进行的研究，显示出对所研究的问题有一定的认识。视频设计很漂亮，但不太符合专业要求，若多从计算机专业的角度对实现过程进行设计则更好。
13、该生流利地陈述了写作该论文的目的理论与实践意义，古玩网站设计过程很规范，但实体和概念之间联系少，整个设计应该尽量符合计算机方面的要求。
14、该生陈述清楚，回答问题流利。虽论文立意比较好，有一定的研究价值，但构架和内容都比较庞大，需要较强的独立研究能力，论文题目和客户端登陆服务器模块也需稍作修改。
15、该生准备工作充分，环节陈述完整，论文构思清晰，体现了较好的专业基础，时间把握也很好。就是论文中有需求但缺乏需求分析，对部分答辩问题回答不太清楚，图的表示方式不规范。
16、该生用dreamweave和access数据库等技术对甘孜旅游网站进行设计，设计清新美观，主要问题回答准确，基本概念清楚，望对论文中指正的数据库存放问题进行修改。
17、该生专业素养比较好，对所提问题回答流利，正确率高，对实现过程中遇到的难题认识到位，时间把握得当，若能用比较新的运行环境进行实现相对好。
18、该生对数据库的设计细节讲解详细，研究深入，论坛设计部分独立完成，有一定的科研能力，答辩中思路清晰，回答得简明扼要，语言流利。答辩组经过认真讨论，一致同意通过该生成绩为良好，但要求该生纠正论文中尚存的某些错误。
19、论文选题有意义，在吸收学术界研究成果的基础上，有自己的心得体会，提出自己的看法，言之成理。论述观点正确，材料比较充实，叙述层次分明，有较强的逻辑性。文字通顺流畅。行文符合学术规范。今后要进一步总结经验，对音乐教育模式进行比较，这样可以把音乐教学教得更好。论文能按时交稿，经过认真修改，已经达到本科论文的要求。
20、本论文选题有很强的应用价值，文献材料收集详实，综合运用了所学知识解决问题，所得数据合理，结论正确，有创新见解。另外论文格式正确，书写规范，条理清晰，语言流畅。今后要进一步总结经验，对德育教育模式进行比较，这样可以把德育教育工作得更好。论文能按时交稿，经过认真修改，已经达到本科论文的要求。