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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Форма поиска

Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 27. Отображено 27.
04-08-2023 дата публикации

Efficient restoration method for bare rock epiphytic vegetation in peak forest depression in stony desertification region

Номер: CN116530253A
Принадлежит:

The invention provides an efficient restoration method for bare rock epiphytic vegetation in peak forest depression in a stony desertification area, and belongs to the technical field of stony desertification treatment. The repairing method comprises the following steps: (1) terrain analysis and classification; (2) preparing a planting substrate; (3) laying and connecting planting devices; (4) vegetation selection and planting; and (5) management and maintenance. The method comprises the following steps: classifying and analyzing bare rock topography of the peak forest depression, and reasonably utilizing different planting matrixes and different epiphytic plant species to achieve the purpose of restoring vegetation in the difficult topography of the peak forest depression in the stony desertification region. According to the method, natural resources can be effectively utilized, the hydrological conditions of the peak forest depression area are improved, water and soil loss is reduced, ...

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25-01-2012 дата публикации

Preparation device of flexible graphite water flow field

Номер: CN0101630748B
Принадлежит:

The invention relates to a preparation device of a flexible graphite water flow field used for a proton exchange membrane fuel cell. The preparation device is characterized in that a stamping mode is adopted for manufacturing, a stamping cutter edge die is designed on a stamping die according to a flow field pattern, and an elastic material plate which is on the same horizontal plane with a cutter edge or slightly higher than the cutter edge is arranged on the plane of the cutter edge die; and a hard non-metal material bottom plate is arranged on a stamping stop die. The preparation device thoroughly changes the defects of low production efficiency, weak repeatability and unsmooth edge of manual sculpture in the preparation of the flexible graphite water flow field, can greatly improve the preparation efficiency of the flexible graphite water flow field, improve the production efficiency by more than 15 times compared with the original manual production at least, be easier to produce in ...

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17-06-2009 дата публикации

Dry filter for refrigerator and energy-conserving refrigeration loop

Номер: CN0101458018A
Автор: TAN YIBO, YIBO TAN
Принадлежит:

The invention relates to a drier-filter and an energy-saving refrigeration circuit of a refrigerator. The invention is characterized in that the air inlet and/or outlet end sections of the filter tube of the drier-filter are provided with a one-way valve inside, consisting of a valve nozzle, a blocking valve core and a valve core stop, and the one-way valve conducts along the flowing direction of the refrigerant. The drier-filter of the invention not only retains the original functions but also has the function of one-way valve, thus achieving double functions. By integrating the one-way valve and the drier-filter and taking the filter tube shell as the valve tube shell, the invention saves the one-way valve shell and the valve material. In addition, The drier-filter is used in the energy-saving cooling cycle circuit of refrigerator, and the one-way valve is built in the filter, omitting the welding of connecting the inlet and outlet of the one-way valve and the pipeline, thus not only ...

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15-08-2023 дата публикации

High-performance copper-nickel-tin-boron alloy and synthesis method thereof

Номер: CN116590570A
Принадлежит:

The invention provides a high-performance copper-nickel-tin-boron alloy and a synthesis method thereof, and belongs to the technical field of alloy material synthesis. The high-performance copper-nickel-tin-boron alloy comprises the following components in percentage by mass: 14 to 16 percent of Ni, 7 to 9 percent of Sn, 0.01 to 0.09 percent of B and the balance of copper. According to the copper-nickel-tin alloy, the B element is added, a Ni6.67 SnB2 phase can be separated out on a grain boundary and in grains, the phase can stably exist at the grain boundary and in the grains of the copper-nickel-tin alloy at the same time, the separation behavior of all separated phases in the aging process of the copper-nickel-tin alloy is effectively regulated and controlled, nucleation of discontinuous precipitation on the grain boundary is effectively inhibited, and the aging performance of the copper-nickel-tin alloy is improved. And the pinning grain boundary prevents the growth of discontinuous ...

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17-02-2010 дата публикации

Silver plating layer post processing method for metal bipolar plate

Номер: CN0101651213A
Принадлежит:

The invention relates to a silver plating layer post processing method for a metal bipolar plate. The silver plating layer post processing method comprises the following steps: soaking the mixed liquid comprising polytetrafluoroethylene (PTFE) emulsion and nano-grade silver powder on the surface of a silver plating layer of a metal bipolar plate in vacuum; heating the metal bipolar plate soaked with the mixed liquid comprising the PTFE emulsion and the nano-grade silver powder in a vacuum oven or an oven with inert gas shielding, fusing and recrystallizing the PTFE and the nano-grade silver powder and volatilizing water and additive in the PTFE emulsion to obtain the metal bipolar plate silver plating layer without defects. The invention has the advantages that the pinhole corrosion is greatly reduced and the service life of the metal bipolar plate is prolonged by the porosity reduction of the plating layer, particularly the reduction of through holes; the hole filling part has hydrophobicity ...

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04-04-2023 дата публикации

Forest sample plot investigation monitoring system based on unmanned aerial vehicle group carrying laser radar

Номер: CN115902926A
Принадлежит:

A forest sample plot survey monitoring system based on an unmanned aerial vehicle group carrying laser radars comprises a server, at least two unmanned aerial vehicles, an endurance monitoring module, an interaction module, a task cooperation module, a path planning module and a sampling module. The task cooperation module is used for monitoring investigation tasks of the unmanned aerial vehicles, the interaction module is used for carrying out interaction transmission of investigation data and tasks between the unmanned aerial vehicles in cooperation, the path planning module is used for screening investigation flight paths of the unmanned aerial vehicles, and the sampling module is used for collecting picture data of a forest sample plot. And the collected image data is evaluated to determine whether the inspection image data of the sampling point positions meet the requirements or not. Through the mutual cooperation of the endurance monitoring module and the task cooperation module, ...

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14-07-2023 дата публикации

Method for preparing high-purity lithium oxalate by recovering lithium from waste lithium battery disassembled product and/or waste lithium battery positive electrode material

Номер: CN116425624A
Принадлежит:

The invention discloses a method for preparing high-purity lithium oxalate by recovering lithium from a waste lithium battery disassembled product and/or a waste lithium battery positive electrode material, which comprises the following steps: (1) mixing the waste lithium battery disassembled product and/or the waste lithium battery positive electrode material with ammonium oxalate, and then carrying out primary roasting to obtain a primary roasting product; (2) carrying out grinding, primary leaching and filtering on the primary roasting product to obtain filtrate 1 and filter residues 1; (3) adding oxalic acid into the filtrate 1 to adjust acidity, filtering, and collecting filtrate 2; and (4) carrying out evaporation concentration and crystallization treatment on the filtrate 2, and collecting crystals to obtain high-purity lithium oxalate. According to the method for preparing the high-purity lithium oxalate by recovering the lithium from the waste lithium battery disassembled product ...

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18-08-2023 дата публикации

Water retention device suitable for phytoremediation of peak cluster ridge in karst area

Номер: CN116602196A
Принадлежит:

The invention discloses a water holding device suitable for phytoremediation of a peak cluster ridge in a karst area, the water holding device comprises fixing devices and a water holding layer, the fixing devices are arranged at two ends of the water holding layer, connecting holes are formed in the fixing devices, the fixing devices are fixed in an area to be repaired through hemp ropes or springs, water is supplemented, and plants are transplanted in a plant division mode. Therefore, water is provided for plant growth. The layered water-holding matrix materials with different water-holding effects are used, so that the water-holding effect is better. The method can be flexibly configured and used under the complex terrain condition of the peak cluster ridge, the efficient water retention effect is achieved, the vegetation restoration efficiency of the karst area is improved, the restoration cost is reduced, and the water and soil loss current situation of the peak cluster ridge of the ...

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13-01-2010 дата публикации

Method for preparing membrane electrode by CCM

Номер: CN0101626084A
Принадлежит:

The invention relates to an improvement of a method for preparing the membrane electrode of a proton exchange membrane fuel cell by screen printing, characterized in that a solvent is paved on a non-deformation flat heat carrier before complete volatilization during the membrane preparation, and then a catalyst layer is sprayed or screen-printed. The invention well solves the following two technical challenges: the membrane is difficult to flatten and fix, and expansion is easy to occur when spraying catalyst; therefore, not only the occurrence of difficult flattening and fixing of the membrane can be completely avoided, but also, the catalyst layer is sprayed evenly, as the membrane is flat when spraying catalyst; in addtion, the one-time pass percentage of catalyst spraying is improved to above 95%, and the uniformity of the membrane electrode is excellent.

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20-07-2011 дата публикации

Stamping die and method of thin metal flow field plate used for processing fuel cells

Номер: CN0101704054B
Принадлежит:

A stamping die of thin metal flow field plates used for processing fuel cells comprises a set of flow field stamping forming dies, a set of blanking forming dies and a set of flanging dies, wherein the location pillars are arranged on the dies, the sizes of the surrounding blanking openings of the blanking forming dies and the blanking openings of fluid entry and exit channels on the two ends of the flow field plate are more than the size of the finished flow field plate which is 0.1-0.3mm, the flanging dies and the blanking forming dies have the same shape, the periphery of the flanging diesand the opening of the fluid entry and exit channels on the two ends of the flow field plate are not blanking die cutting edges, but stamping flanging openings, the sizes of the surrounding stamping flanging openings of the flanging dies and the stamping flanging openings of the fluid entry and exit channels on the two ends of the flow field plate are the same of the size of the finished flow field ...

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01-08-2023 дата публикации

Plant-attached water-holding auxiliary material and application of plant-attached water-holding auxiliary material to plant restoration of peak clump ridge

Номер: CN116508604A
Принадлежит:

The invention discloses a plant attachment water-holding auxiliary material and application thereof in peak cluster ridge phytoremediation, the plant attachment water-holding auxiliary material comprises a plant-growing bag, a non-woven fabric bag and a filler, the non-woven fabric bag wraps the filler, the plant-growing bag is arranged outside the non-woven fabric bag, pine bark is arranged between the plant-growing bag and the non-woven fabric bag, the non-woven fabric bag is arranged outside the non-woven fabric bag, and the non-woven fabric bag is arranged between the plant-growing bag and the non-woven fabric bag. The filling materials are arranged in a layered mode, the first filling layer is filled with meso-position peat and humus soil, the other filling layers are filled with water-holding materials, and the application includes soil preparation, planting, fertilization, management and protection, matrix supplementing and picking. When the method is applied to phytoremediation ...

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30-04-2014 дата публикации

Method for asexually and rapidly propagating homalium hainanense

Номер: CN103749129A
Принадлежит:

The invention discloses a method for asexually and rapidly propagating homalium hainanense. The method includes working procedures for collecting seeds, constructing cutting orchards, managing mother plants, collecting shoots for cutting, performing cutting and managing cutting seedlings, and particularly includes selecting excellent and healthy mature trees without disease and pest injury to be used as mother trees for seed collection; collecting the seeds and conventionally accelerating germination of the seeds; transplanting sprouts of the seeds on seedling growing beds to culture seedlings and using the seedling growing beds as the cutting orchards; pruning tops of the seedlings to promote germination; cultivating totally-lignified branches to be used as the cutting scions; performing cutting on the scions in container cups filled with media; cultivating cutting seedlings to acquire the excellent and healthy cutting seedlings of the homalium hainanense. The method for asexually and ...

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04-04-2023 дата публикации

Recycling method and recycling system for preparing high-purity lithium hydroxide by recycling lithium from lithium-containing fluorinated slag

Номер: CN115893453A
Принадлежит:

The invention discloses a recovery method for preparing high-purity lithium hydroxide by recovering lithium from lithium-containing fluoride slag, which comprises the following steps: (1) adding water into the lithium-containing fluoride slag for size mixing, and then carrying out grading treatment; (2) adding oxalic acid to dissolve lithium, and then performing fluorine removal treatment to obtain a fluorine-removed lithium oxalate solution; (3) adding lithium hydroxide into the fluorine-driving lithium oxalate solution to adjust the acidity; (4) evaporating, concentrating, crystallizing, and collecting crystals to obtain lithium oxalate crystals; (5) performing calcination treatment, performing crushing, water immersion and filtration treatment on a calcined product, and collecting filtrate to obtain a lithium hydroxide solution; and (6) carrying out evaporation concentration and crystallization treatment on the lithium hydroxide solution, and collecting crystals to obtain high-purity ...

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08-08-2023 дата публикации

Plant micro-interface repairing method for high-altitude rock bare earth surface in karst area

Номер: CN116548258A
Принадлежит:

The invention relates to a plant micro-interface repairing method for a karst area high-altitude rock bare earth surface. Comprising the following steps: (1) micro-interface type division: performing micro-interface type division aiming at karst area high-altitude rock bare surface feature attributes; (2) plant configuration: rock plants are combined and matched according to different micro-interface types; (3) planting: using a degradable plant-growing bag, selecting and proportioning a matrix according to the type of the micro-interface, and constructing a vertical space; (4) management and maintenance: applying fertilizer at regular intervals until the plants grow stably, and collecting and picking the plants with medicinal value or edible value at regular intervals. According to the method, local species are used, the restoration cost and environmental risks caused by species invasion and the like are reduced, meanwhile, local tourism industry and pharmaceutical industry development ...

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20-01-2010 дата публикации

Metal bipolar plate of air-cooling type fuel cell stack

Номер: CN0101630747A
Принадлежит:

The invention relates to an improvement to a metal bipolar plate of a proton-exchange membrane fuel cell. The metal bipolar plate is characterized in that a cathode plate and an anode plate which are stamped with flow fields are overlapped backwards, the peripheral surfaces of the cathode plate and the anode plate are sealed by welding or bonding, and back surfaces of the cathode and the anode form a cooling medium channel. The metal bipolar plate enables the flow fields at two sides of a single-polar plate to be utilized, ensures that a better cooling effect can be obtained under lower wind pressure by adding the cooling medium channel, can satisfy air-cooling requirements of a low wind-pressure electric pile without additionally increasing a cooling flow field and improve the volume power density of the electric pile.

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18-06-2014 дата публикации

Sinningia speciosa tissue culture propagation and tuber storage and re-propagation method

Номер: CN103858763A
Принадлежит:

The invention relates to sinningia speciosa tissue culture propagation and a tuber storage and re-propagation method for sinningia speciosa, wherein the sinningia speciosa tissue culture propagation comprises the steps: culturing a stock plant, selecting and disinfecting an explant, carrying out induced differentiation under the conditions that the culture temperature is 26+/-2 DEG C, the illumination culture time is 11-13 hours per day, and the illumination intensity is 2500-5000lx; carrying out subculture expanding propagation in a 500ml triangular flask; transplanting tissue seedlings, setting the tissue seedlings to obtain sinningia speciosa tissue culture nursery stocks; storing and re-propagating the tissue culture seedlings: namely, culturing propagation-expanded flask seedlings in the 500ml triangular flask under the conditions that the culture temperature is 16-28 DEG C, the illumination intensity is 500-1500lx and the illumination time is 11-12 hours per day, heading in the flask ...

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03-09-2014 дата публикации

Suspended assembly three-dimensional adjusting device for hoisting and positioning prefabricated abutment

Номер: CN104018432A
Принадлежит:

The invention discloses a suspended assembly three-dimensional adjusting device for hoisting and positioning a prefabricated abutment. The device comprises a top plate and a base, wherein the top plate and the base are connected through a pull rod; a support positioning table matched with a steel protective sleeve is arranged on the periphery of the top plate; a three-dimensional jack is arranged between the top plate and the base; and an ejector rod of a Z-directional ejecting cylinder of the three-dimensional jack can penetrate through the through hole in the center of the top plate. The three-dimensional adjusting device can be used in mounting and positioning constructions of prefabricated abutments of bridges over seas and rivers, can be used for accurately adjusting plane positions and perpendicularity of abutments, is simple and convenient to mount and construct, and can be used in steel protective sleeves with various diameters by replacing top plates.

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08-06-2011 дата публикации

Silver plating layer post processing method for metal bipolar plate

Номер: CN0101651213B
Принадлежит:

The invention relates to a silver plating layer post processing method for a metal bipolar plate. The silver plating layer post processing method comprises the following steps: soaking the mixed liquid comprising polytetrafluoroethylene (PTFE) emulsion and nano-grade silver powder on the surface of a silver plating layer of a metal bipolar plate in vacuum; heating the metal bipolar plate soaked with the mixed liquid comprising the PTFE emulsion and the nano-grade silver powder in a vacuum oven or an oven with inert gas shielding, fusing and recrystallizing the PTFE and the nano-grade silver powder and volatilizing water and additive in the PTFE emulsion to obtain the metal bipolar plate silver plating layer without defects. The invention has the advantages that the pinhole corrosion is greatly reduced and the service life of the metal bipolar plate is prolonged by the porosity reduction of the plating layer, particularly the reduction of through holes; the hole filling part has hydrophobicity ...

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20-08-2014 дата публикации

Fire fighting truck and protective device and system for preventing false operation of ladder assembly

Номер: CN103990242A
Автор: TAN YIBO, ZOU FALIANG
Принадлежит:

The invention discloses a fire fighting truck and a protective device and system for preventing false operation of a ladder assembly. The fire fighting truck comprises a hydraulic valve, a main valve and a truck getting on-off conversion valve, wherein the hydraulic valve controls the motion of the ladder assembly by controlling the flow rate and the flow direction of pressure oil; the truck getting on-off conversion valve controls the main valve to convert the pressure oil conveying direction. The protective device comprises a first actuating mechanism and a second actuating mechanism, wherein the first actuating mechanism is connected with the hydraulic valve controlling the motion of the ladder assembly; the second actuating mechanism is connected with the first actuating mechanism, when the hydraulic valve malfunctions, the first actuating mechanism controls the second actuating mechanism to act so as to enable the truck getting on-off conversion valve not to be operated; the hydraulic ...

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29-09-2010 дата публикации

Heterogeneous catalytic method for preparing phenyl carbamate

Номер: CN0101845001A
Принадлежит:

The invention relates to a heterogeneous catalytic method for preparing phenyl carbamate, which comprises the following steps: using aniline as well as carbamate, a heterogeneous catalyst and a solvent the molar ratios of which are respectively 1: (1.5-20), ( 20-60): 1,1: (1-15), and adding into an autoclave; after replacing the gas in the autoclave with an inert gas, carrying out reaction under a stirring state; and filtering a reaction liquid under the condition of vacuum so as to separate the catalyst and the reaction liquid, and then carrying out vacuum distillation for the reaction liquid to remove the solvent and unreacted carbamate. The catalyst is an organic lead Pb (CmHnOx) y catalyst or an organic zinc (Zn (CmHnOx) y catalyst, wherein m = 1-8, n = 4-18, x = 1-3, and y = 0.5-4. The invention is easy to operate, and the used catalyst has the advantages of high catalytic activity, good selectivity and stability, easy separation regeneration, strong practicality and the like.

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12-05-2010 дата публикации

Stamping die and method of thin metal flow field plate used for processing fuel cells

Номер: CN0101704054A
Принадлежит:

A stamping die of thin metal flow field plates used for processing fuel cells comprises a set of flow field stamping forming dies, a set of blanking forming dies and a set of flanging dies, wherein the location pillars are arranged on the dies, the sizes of the surrounding blanking openings of the blanking forming dies and the blanking openings of fluid entry and exit channels on the two ends of the flow field plate are more than the size of the finished flow field plate which is 0.1-0.3mm, the flanging dies and the blanking forming dies have the same shape, the periphery of the flanging dies and the opening of the fluid entry and exit channels on the two ends of the flow field plate are not blanking die cutting edges, but stamping flanging openings, the sizes of the surrounding stamping flanging openings of the flanging dies and the stamping flanging openings of the fluid entry and exit channels on the two ends of the flow field plate are the same of the size of the finished flow field ...

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20-01-2010 дата публикации

Preparation device of flexible graphite water flow field

Номер: CN0101630748A
Принадлежит:

The invention relates to a preparation device of a flexible graphite water flow field used for a proton exchange membrane fuel cell. The preparation device is characterized in that a stamping mode is adopted for manufacturing, a stamping cutter edge die is designed on a stamping die according to a flow field pattern, and an elastic material plate which is on the same horizontal plane with a cutter edge or slightly higher than the cutter edge is arranged on the plane of the cutter edge die; and a hard non-metal material bottom plate is arranged on a stamping stop die. The preparation device thoroughly changes the defects of low production efficiency, weak repeatability and unsmooth edge of manual sculpture in the preparation of the flexible graphite water flow field, can greatly improve the preparation efficiency of the flexible graphite water flow field, improve the production efficiency by more than 15 times compared with the original manual production at least, be easier to produce in ...

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09-05-2023 дата публикации

Method for preparing high-purity lithium hydroxide by recovering lithium from waste lithium battery disassembled product and/or waste lithium battery positive electrode material

Номер: CN116081653A
Принадлежит:

The invention discloses a method for preparing high-purity lithium hydroxide by recovering lithium from a waste lithium battery disassembled product and/or a waste lithium battery positive electrode material, which comprises the following steps: (1) mixing the waste lithium battery disassembled product and/or the waste lithium battery positive electrode material with oxalic acid, and then carrying out primary roasting to obtain a primary roasting product; (2) carrying out grinding, primary leaching and filtering on the primary roasting product to obtain filtrate 1 and filter residues 1; (3) adding alkali into the filtrate 1 for causticization treatment, filtering, and collecting filtrate 2; and (4) carrying out evaporation concentration and crystallization treatment on the filtrate 2, and collecting crystals to obtain the high-purity lithium hydroxide. The method for preparing the high-purity lithium oxalate by recovering lithium from the waste lithium battery disassembly product and/or ...

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30-10-2020 дата публикации

Epoxy asphalt concrete mixing and dissolving device

Номер: CN0211815363U

The utility model relates to an epoxy asphalt concrete mixing and dissolving device. The device comprises a stirring, mixing and dissolving mechanism and a mixing plant, the stirring, mixing and dissolving mechanism comprises a stirring tank, a stirrer and a stirring motor; the stirrer is arranged in the stirring tank; the stirring motor is connected with and drives the stirrer to rotate; whereinthe discharging end of the stirring tank is connected with the feeding end of the mixing plant, the device further comprises a pumping mechanism and a control center, the pumping mechanism comprises at least two pumping barrels, each pumping barrel is connected with a conveying pump, and the conveying pumps are used for pumping raw materials in the pumping barrels into the stirring tank; a first weighing sensor is arranged at the bottom end of each pumping barrel, and the stirring motor, each first weighing sensor and the conveying pump are electrically connected with the control center; and the ...

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10-09-2014 дата публикации

Water sealing device for underwater connection between precast bearing platform and cast-in place pile

Номер: CN104032770A
Принадлежит:

The invention discloses a water sealing device for underwater connection between a precast bearing platform and a cast-in place pile. The device comprises the precast bearing platform and the cast-in place pile. The cast-in place pile is sleeved with an annular tray which is arranged on the lower face of the precast bearing platform, and a tensioning and tightening device is arranged on the upper face of the annular tray. An annular rubber water stop device is arranged between the annular tray and the precast bearing platform, a first annular groove is formed in the inner wall of the annular tray, an annular air bag is installed in the first annular groove, an air inflation pipeline connected with the air bag is arranged inside the annular tray, and the air inflation pipeline extends out of a reserved hole in the precast bearing platform to be connected with an air source. Height limiting devices are evenly arranged on periphery of the top face of the annular tray to prevent the phenomenon ...

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06-06-2023 дата публикации

Method for preparing lithium ion battery positive electrode material by recycling waste lithium battery disassembly black powder and positive electrode powder

Номер: CN116216797A
Принадлежит:

The invention discloses a method for preparing a lithium ion battery positive electrode material by recycling waste lithium battery disassembly black powder and positive electrode powder, and belongs to the field of lithium ion battery comprehensive recycling. Recycled raw materials are put into a container and then subjected to acid leaching and reaction, then the raw materials are filtered, then filter residues are subjected to iron and aluminum removal treatment and calcium and magnesium removal treatment, and the lithium ion battery positive electrode material is obtained. Sequentially carrying out ultrafiltration, defluorination and proportion adjustment on the treated raw materials, putting the treated raw materials into a mixed alkali solution of sodium hydroxide and ammonia hydroxide, introducing protective gas, adding a mixed sulfuric acid solution of nickel, cobalt and manganese, the mixed alkali solution of sodium hydroxide and ammonia hydroxide and EDTA (Ethylene Diamine Tetraacetic ...

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12-05-2023 дата публикации

Incomplete multi-mobile-robot fixed time consistency control method considering external disturbance

Номер: CN116107207A
Принадлежит:

The invention discloses an incomplete multi-mobile-robot fixed time consistency control method considering external disturbance, and belongs to the technical field of automatic control and multiple robots. The method comprises the steps that 1, a mobile robot model is established; 2, task description: introducing a virtual navigator, and giving a mathematical model for realizing a specified formation; 3, formation problem conversion: converting a formation tracking control problem of the NMMR into a consistency control problem of a new variable; step 4, designing a formation control protocol: firstly, defining an error tracking system of a navigator and a follower; secondly, decomposing the system into two subsystems, and designing a fixed time consistency control protocol by designing a double-power reaching law and a nonlinear function; and step five, stability proving of a formation control protocol is carried out, so that the robot formation stably converges in a fixed time, namely ...

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