156results about How to "Large driving torque" patented technology

The invention discloses a planetary type dual-mode petrol-electric parallel-serial hybrid power system, and aims to solve the current problems that the parallel-serial hybrid power car greatly depends on a motor, and the current planetary type parallel-serial hybrid power car cannot totally realize a parallel mode so as to cause the transmission efficiency not to be optimized enough. The system comprises an engine, a motor I, an inverter, a supercapacitor, a motor II, a front planetary row, a back planetary row, a clutch, a system output shaft and a system input shaft, wherein engine is connected with the system input shaft by virtue of a coupling, the front planetary row is sheathed in the right end of the system input shaft, the motor I is freely sheathed in the left end of the system input shaft, the right end of the motor I is in spline connection with the left end of the front planetary row, the clutch is in spline connection with the front planetary row, the front planetary row is in spline connection with the system output shaft, the back planetary row is sheathed in the system output shaft, the motor II is freely sheathed in the right end of the system output shaft, and the left end of the motor II is in spline connection with the right end of the back planetary row.

The invention is concerned with the ultrasound electric machine of the electrical micro-machine, especially the bending rotation ultrasound electric machine that is single-phase drive. It consists of: the six-sliced piezoelectric ceramic slice, the stator, the rotor and the pinch device. Each piezoelectric ceramic slice devices into two parts that are reversed phase polarization by the diameter as the axis of symmetry, one part expands and the other part reduce after giving the same voltage. The piezoelectric ceramic slice rotates 60 degree from top to bottom withershins. All the piezoelectric ceramic slices drive by the single-phase voltage with same phase. The body shape of the machine is pyramid shape.

The invention discloses a new-concept intelligent multifunctional spaying machine chassis. The new-concept intelligent multifunctional spaying machine chassis comprises a chassis rack, a pesticide tank fixing support, a spray lance lifting support, a spray lance conversion mechanism, a spray head and wheels, wherein the pesticide tank fixing support is arranged at the rear end of the chassis rack, the spray lance lifting support is arranged at the front end of the chassis rack in a rotatable mode, the spray lance conversion mechanism and the spray lance lifting support constitute a vertical moving pair, the spray head is arranged on the spray lance conversion mechanism, and the wheels are installed at the bottom of the chassis rack through a longitudinal adjusting device and a transverse adjusting device. The new-concept intelligent multifunctional spaying machine chassis has the advantages of applying full-hydraulic power, and being stable in driving, large in drive torque, flexible in steering, simple in transmission, concise in overall structure, reasonable in configuration, and stable in center of gravity. In addition, the new-concept intelligent multifunctional spaying machine chassis has the advantages that due to the facts that stepless adjustment of the wheel torque, the ground clearance height and the like can be achieved and the spray lance conversion mechanism can descend, ascend and rotate, the spray lance conversion mechanism can achieve line-shaped conversion, U-shaped conversion and reverse-U-shaped conversion, the effect of omni-directional spraying is achieved, the requirement for all-terrain omni-directional spraying of different plants and different growth cultivation periods of one plant can be overall achieved through the new-concept intelligent multifunctional spaying machine chassis.

The invention discloses a two-degree-of-freedom joint of a space robot. The two-degree-of-freedom joint comprises two joint driving assemblies and a joint transmission assembly. Two-degree-of-freedom movement of the joint can be achieved. Three movement modes of pitching, rotating and combining of pitching and rotating can be achieved by adjusting the rotating speeds and the rotating angles of two motors. The joint transmission assembly is a differential movement mechanism formed by two input bevel gears and an output bevel gear. The two input bevel gears are fixedly connected with corresponding hypoid gears respectively, and an output flange is fixedly connected with the output bevel gear. First-stage speed reduction is carried out on the torque of the motors through planetary reducers connected with the motors, then second-stage speed reduction is carried out through the hypoid gears, and finally the torque is transmitted to the output end through the bevel gear differential mechanism. As the reduction ratios of two stages of speed reduction are large, the output torque of the mechanism is large, and the high load capacity is achieved.

The invention relates to a low voltage low frequency transducer that is used to drive mine winder high voltage winding asynchronous motor. It comprises rectification circuit, inverter circuit, and frequency transducer control unit. The control system of the invention is in the transducer and the output voltage is especial PWM low DC voltage and low voltage low frequency PWM AC. It adopts discontinuity switching operation mode and only connects to the high voltage winding asynchronous motor to drive the motor directly by high voltage switch when the motor is in retarding braking stage and retarding crawling stage. The invention has the advantage of great DC dynamic brake moment and low frequency crawling dynamic moment, as well as low cost.

The present invention is directed to a transmission capable of minimizing the number of speed-change driven gears on a first countershaft to ensure a layout space in an engine compartment of a vehicle, and reducing a driving torque to be applied to a second countershaft to facilitate downsizing of the transmission. In the transmission, the first countershaft 2 is arranged at a position above an input shaft 1, and a first-speed driven gear 14 and a second-speed driven gear 24 are provided on the first countershaft 2.

The invention discloses a universal large-aperture rigid bearing-type quick reflecting mirror, and relates to the technical field of precise optical mechanical structure design. The problems that an existing rigid bearing-type quick reflecting mirror cannot limit the Z-direction rotation freedom degree, miniaturization is difficult to achieve, and the universality is poor are solved. By means of the structural design that a universal ball bearing is combined with a flexible ring, rigid supporting can be provided for the large-aperture reflecting mirror, the two-dimensional rotation freedom degrees around the X axis and the Y axis can be provided, and the freedom degrees in the other directions are limited; a planar reflecting mirror is bonded with a reflecting mirror base through an optical epoxy adhesive, and therefore influences of the temperature, vibration and the like on the shape and the position of the reflecting mirror can be reduced; the reflecting mirror is driven in the mode that four linear voice coil motors conduct pushing and pulling two by two, the rotation moment is increased, and angle calculation is convenient; differential measuring is conducted by adopting four electric vortex sensors, the angle adjusting precision of a control system is improved; a driving assembly and a sensor assembly are symmetrically arranged in a staggered mode, and therefore the structural size of the system is decreased; an upper cover is universally installed, and therefore the quick reflecting mirror can be conveniently installed and used in various fields.

A precision hydraulically-driven joint for a robot based on closed-loop control comprises a closed-loop control system and a rotating joint body for the robot. The closed-loop control system comprises a single-chip microcomputer, a motor driver, servo motors, bidirectional screw pumps, swinging hydraulic cylinders and an electric detection system for detecting the precision rotating angle of an output shaft of each swinging hydraulic cylinder. The electric detection system comprises a pulse type rotary encoder, a rotary potentiometer and a subdivision angle detection circuit, wherein the pulse type rotary encoder and the rotary potentiometer are mounted on a detection shaft. A rotary shaft of the rotary potentiometer and a movable loop of the pulse type rotary encoder are fixedly connected through an elastic coupler. The potentiometer voltage corresponding to the subdivision angle beyond the whole scale angle of the pulse type rotary encoder is detected through the single-chip microcomputer and the subdivision angle voltage detection circuit, the precision angle value of the subdivision angle beyond the whole scale angle of the pulse type rotary encoder is detected, and accordingly the rotating joint body of the robot is driven precisely to rotate.

The invention discloses a planetary type dual-mode petrol-electric parallel and serial hybrid power system. The problem that a parallel and serial hybrid power system requires a large motor is solved. The planetary type dual-mode petrol-electric parallel and serial hybrid power system comprises an engine, a first motor, a dual-clutch, a second motor, an output shaft, a front planet raw and a rear planet raw, wherein the front planet raw sleeves the right end of an output shaft of the engine; a right end of a gear ring of the front planet row sleeves the left end of the output shaft; the dual-clutch sleeves the right end of the output shaft; the left end of a left pressure plate of the dual-clutch is connected with the right end of the gear ring of the front planet row via a spline pair; the second motor is arranged on the output shaft on the right side of the dual-clutch; the rear planet row is arranged on the output shaft on the right side of the second motor; the right end of a shaft sleeve of the dual-clutch is connected with the left end of the second motor via a spline pair; the right end of the second motor is connected with the left end of a sun gear of the rear planet row via a spline pair; the first motor sleeves the output shaft, which is arranged on the left side of the front planet row, of the engine; and the right end of the first motor is connected with the left end of a sun gear in the front planet row via a spline pair.

The invention provides an instrument holding mechanical arm used for a minimally-invasive robot, and relates to the instrument holding mechanical arm. The instrument holding mechanical arm solves the problems that the number of passive joints is large when an existing mechanical arm is arranged in a concentrated mode and the existing mechanical arm is large in overall size and low in rigidity when a passive arm is too long. The instrument holding mechanical arm comprises vertical horizontally-moving safety brake devices, passive joints, first joints, second joints and an integrated operative instrument drive device. One ends of the passive joints are arranged on the upper portions of the vertical horizontally-moving safety brake devices in a rotatable mode. One ends of the first joints are connected to the passive joints in a rotatable mode. One ends of the second joints are connected with the other ends of the first joints in a rotatable mode. The integrated operative instrument drive devices are arranged at the other ends of the second points. The instrument holding mechanical arm is used for operative instrument drive of the micro operative instruments of the robot.

The invention relates to a built-in dimming motor device of an automobile headlamp. An adjusting mechanism comprises a ball joint rod, a threaded shaft, a connection shaft and a shaft sleeve, wherein the inner hole of the ball joint rod is connected with the threaded shaft through a thread; the threaded shaft is connected with the shaft sleeve through the connection shaft; the shaft sleeve is supported inside the support saddle of a housing; a motor drive mechanism comprises a motor, a motor worm, a transmission shaft and a gear sleeve; the motor is arranged on the motor support saddle of the housing; the motor worm is arranged on a motor output shaft; the two sides of the transmission shaft are respectively arranged on the two axle seats of the housing; an intermediate worm gear on the transmission shaft is meshed with the motor worm; an intermediate worm on the transmission shaft is meshed with a worm gear on the gear sleeve; the inner hole of the gear sleeve is connected with the shaft sleeve through a thread; a circuit board arranged inside the housing is electrically connected with the motor; a rear cover is arranged on the rear part of the housing; and a manual adjusting sleeve externally provided with a bevel gear is connected with the ball joint rod. According to the built-in dimming motor device, the light is adjusted by adopting the motor and can also be adjusted manually, thereby reducing the volume and weight and reducing the cost.

The invention relates to a rotation ultra-sonic motor, which comprises: vibrator and rotor, wherein said vibrator is formed by adhered piezoelectric ceramic and metal elastic element; said rotor is annular and sheathes the vibrator; the tension force between vibrator and rotor via adjustable tension device can be adjusted; the contact part between the metal elastic element and the rotor is round; the inner annular surface of rotor at least has one area to match the contact part of metal elastic element. In said invention, the rounds of vibrator and the rotor are contacted, to transform the traveling vibration of metal elastic element into the vibration of vibrator; and it has small axial volume, to obtain higher torque and self-lock force, with simple structure and reliable operation.

The invention discloses a three-halberd vortex elimination wind wheel for a vertical shaft wind motor, wherein, the structure of a three-bladed closed cavity is formed by enclosure of vane plates on three side faces and three-halberd cover plates on the top and at the bottom; a vane plate is an S-shaped circular arc column panel which is formed by smooth connection of two sections of circular arc column panels the arc roofs of which face to opposite directions; air flow slots are uniformly distributed on one section of the circular arc column panel along the height direction; two outer ends of various vane plates are respectively provided with butt-joint arc cylinders which are mutually butted; arcs on both sides of various halberd arms of the three-halberd cover plates on the top and the bottom of the wind wheel respectively are matched with and correspond to arcs of the two sections of circular arc column panels of the vane plates; head peripheral surfaces of various halberd arms of the halberd arm shaped cover plates form circular curved surfaces which correspond to the butt-joint circular cylinders of the vane plates. The wind wheel is characterized by low eddy loss, high power coefficient, simple structure, reliable operation, beautiful appearance and so on.

The present invention is directed to a transmission capable of minimizing the number of speed-change driven gears on a first countershaft to ensure a layout space in an engine compartment of a vehicle, and reducing a driving torque to be applied to a second countershaft to facilitate downsizing of the transmission. In the transmission, the first countershaft 2 is arranged at a position above an input shaft 1, and a first-speed driven gear 14 and a second-speed driven gear 24 are provided on the first countershaft 2.

The invention discloses a deceleration driving device based on double servo motors, a drive system and a control method. According to the deceleration driving device, the double servo motors are adopted to be combined with worm wheels and worms, the two servo motors are provided with the worms correspondingly, meanwhile, the worm wheels rotate, then the large transmission ratio can be obtained, the bearing capability is high, and the drive torque is large. A gap can be removed when the respective forward rotation and reverse rotation of the two servo motors reach certain tension, the structure is stable and reliable, the deceleration driving device is suitable for the industrial robot drive system, high control precision can be provided, the situation that due to long-time usage, the gap becomes large is avoided, and the phenomenon of vibration is reduced as well; and high output stability is achieved, cost is lower than cost of a harmonic reducer, and practicability is higher. Meanwhile, the control method applied to the drive system is further provided. It is guaranteed that the set torque value is reached during gap removing through the opposite movement, the consistency of the difference value of the torque values of the two servo motors is also guaranteed during forward or reverse movement, and accordingly it is guaranteed that in the moving process, the function of gap removal is achieved.

The invention belongs to a vehicle transmission, and provides a vehicle hybrid power system achieving multi-power-source coupling. The problems that as for an existing hybrid power system, a motor isexcessively large in torque and excessively low in rotating sped, and thus the system is large in size, large in weight and high in cost are solved. The vehicle hybrid power system comprises an engine, a first motor, a second motor, a speed reducer and an output flange disc; the speed reducer comprises a speed reducer box, an input shaft and an output shaft, and further comprises a one-way clutch,a planetary gear train, a first motor gear pair and a second motor gear pair which are arranged in the speed reducer box; the planetary gear train comprises a sun gear, a planetary frame, a gear ringand planetary gears; one end of the input shaft is arranged on the speed reducer box and connected with engine output, and the other end of the input shaft is arranged on the gear ring; one end of the output shaft is fixedly connected with the gear ring, the other end of the output shaft is fixedly connected with the output flange disc, and outer teeth of each planetary gear are engaged with inner teeth of the gear ring and outer teeth of the sun gear correspondingly; and a first motor passive gear is arranged on the outer side face of the gear ring, and a second motor passive gear is coaxially and fixedly connected with the sun gear.

The invention discloses an electrostatic power machine experimental instrument and belongs to the field of physics teaching experiment instruments of universities and middle schools. The electrostatic power machine experimental instrument is mainly composed of an electrode plate, a swing plate, a high-voltage electrostatic power supply, a rotation wheel and a motion conversion rod. The electrostatic power machine experimental instrument is substantially different from prior arts and has the following advantages: when the distances between positive and negative electrode plates and voltages are fixed, the larger the swing plate is, the more the swing plate carries charges and the larger the applied electrostatic acting forces are, power is strong and is close to constant-force output in the swing process of the swing plate, since the swing plate is symmetrically distributed at the two sides of a plastic rotation disc rotation shaft, equidirectional driving moment can be generated, besides, the apparatus can also be enabled to placed at any inclination angles without affecting work, through the swing rod, the driving moment generated on the rotation wheel can be increased, and the rotation wheel is more easily driven to rotate when the motion conversion rod is used for outputting power. The power machine provided by the invention is low in manufacturing cost and low in operation cost, is free from pollution, is quite simple to manufacture and obvious in effect and increases education functions in classroom teaching, thereby being of great significance and having great development prospect.

The invention discloses a compound steering-by-wire system driven by a passenger car motor and a steering control method. In the system, a road sense motor is connected with a road sense motor deceleration mechanism and connected with a steering drive shaft provided with a torque angle sensor, a steering wheel is successively connected with the steering drive shaft, a torque rod, an upper transmission shaft and an electromagnetic clutch, in the steering executive motor deceleration mechanism, a first worm gear is installed on a steering gear shaft connected with a lower transmission shaft, andthe two ends of a first worm are both connected with a steering executive motor; and a steering pinion in a steering gear is coaxially and fixedly connected with the first worm gear, the two ends ofa rack are connected with steering wheels correspondingly, an ECU is connected with the torque angle sensor, the road sense motor, the electromagnetic clutch and the steering executive motor through signals. The method includes a conventional steering control method, a failure backup steering control method and a mechanical steering control method. According to the compound steering-by-wire systemdriven by the passenger car motor and the steering control method, in the case of the failure of electrical elements of the system, the steering action can be successfully completed, and the safety of the steering system is greatly improved.

The invention provides a spherical robot. The spherical robot comprises a head assembly and a spherical body which can rotate relative to the head assembly. The spherical body comprises a ball shell, a connecting part arranged in the central region of the ball shell, and a walking driving mechanism connected between the ball shell and the connecting part. The walking driving mechanism comprises a driving arm which can swing around the connecting part, and a driving wheel which is in contact with the ball shell is arranged at one end of the driving arm; the ball shell is driven to walk through friction force between the driving wheel and the ball shell; the walking speed of the ball shell is changed by changing the swinging position of the driving arm relative to the connecting part; the side, away from the walking driving mechanism, of the connecting part is provided with a head driving assembly, and the head driving assembly drives the head assembly to move on the outer surface of the ball shell.

The invention discloses an electronic limited-slip differential and a control method thereof. A detection mechanism is used for collecting rotation speed information, accelerator pedal opening information, steering wheel corner information, lateral acceleration information and yaw velocity information and sending all the information to an electronic control unit; a work mode selection unit is used for selecting different work modes of the electronic limited-slip differential by a driver; and an electronic control unit is used for controlling an electromagnetic clutch, an auxiliary motor and a brake of an execution mechanism to work according to the received information and limiting the slip rates of driving wheels, thereby realizing electronic limited-slip differential velocity of the driving wheels on two sides. When the slip rate of the driving wheel on one side exceeds a set value, the auxiliary motor connected with a half-shaft of the drive axle works as a generator to apply a resistance moment to the half-shaft, so that the slip rate of the wheel is reduced, and a driving moment of the generator effectively acts on the wheel on the other side; and the brake is matched with the auxiliary motor to work in necessity, so as to apply a certain bake force to the wheels.

The invention relates to an integrated surgical instrument drive device, in particular to an integrated surgical instrument drive device with a decoupling function so as to solve the problems that due to the arrangement mode of a drive motor of an existing surgical instrument, drive torque of joints is increased, a system shakes easily, and meanwhile translational motion of the surgical instrument is generally driven in a nut lead screw mode, which is unbeneficial for adjusting the position of the surgical instrument before an operation. The drive device comprises a power source assembly (A), a decoupling transition assembly (B), a connector assembly (C) and a plurality of winding wires (D). The power source assembly (A), the decoupling transition assembly (B) and the connector assembly (C) are sequentially staggered and stacked in a sliding mode from bottom to top, and connected through the winding wires (D) in a decoupling winding mode. The drive device is used for driving a surgical instrument of a robot surgical micro-instrument.

The invention belongs to the technical field of electronics, relates to a hybrid four-phase six-line step motor controller on an industrial sewing machine, and solves the problems that a step motor loses steps, is out of control and the like when the prior step motor controller controls the step motor to run. The step motor controller comprises a controller and a driving circuit of the step motor connected with the controller; the controller comprises a CPLD; the interior of the CPLD is provided with a counter, a timer, a DAC and a dead zone controller respectively, wherein the counter is used for counting positive and negative steering input pulses, the timer is used for providing subdivided time constants, the DAC is used for realizing analog quantity output of an I / O port of the CPLD, and the dead zone controller is used for avoiding short circuit due to synchronous starting of upper and lower bridges in the driving circuit; and a signal input end of the CPLD is connected with an external singlechip, and an output end of the CPLD is connected with the driving circuit. The step motor controller has the advantages that the step motor does not lose the steps, is not out of control during operation and the like.

The invention discloses a mechanical arm with a tremble inhibiting function. The mechanical arm with the tremble inhibiting function is characterized in that a damping coefficient of a magnetorheological damper is changed to realize the adjusting of joint damping and inertia coefficients of an elbow joint, thus the biomechanical characteristic of a man-machine system is changed, and as a result, the purpose of reducing the tremble movement of the legs can be achieved; an electromyographic signal sensor is used for picking up a bio-electricity signal of arm muscle, filtering the electricity signal, recognizing non-intentional movement component in the movement information, and controlling a power source to supply power to realize active tremble inhibition. The mechanical arm comprises a bigarm, a forearm a wrist joint, the magnetorheological damper, a gear and a motor; the human elbow muscle power applying mode is simulated at the elbow joint; the elbow part is driven to move throughthe motor; the stroke of the motor can be limited to realize the bending and stretching movement of the elbow; the forearm is inwards and outwards rotated under the transmission of the gear; the wristjoint is bent and stretched through a small hydraulic rod; all supports clinging to the human arm are of arc-shaped structures which fit the sizes of arms of most of people.

The invention provides a magnetic cam driving unit, a vibration table device and a linear driving device. The magnetic cam driving unit comprises a cam, a push rod, first magnetic bodies and second magnetic bodies; the first magnetic bodies are fixedly arranged on the cam; the second magnetic bodies apply a magnetic force to the first magnetic bodies; and after rotating, the cam drives the push rod to move. According to the magnetic cam driving unit of the invention, an electromagnetic mode and a permanent magnet mode are combined, and therefore, energy utilization rate is high; and when a moving part is permanent magnets, structures such as an electric brush do not require to be electrified, and therefore, structural simplicity can be realized; a direct driving mode is adopted, and a driving torque is large; the number of the permanent magnets and electromagnetic coils and position combination relations between the permanent magnets and the electromagnetic coils can be set flexibly, so that an output torque can be improved; and geometric locking is realized structurally, so that components such as the push rod, will not be bounced in high-speed and high-frequency reciprocating motion.

The invention discloses a multi-mode motor-driven steer-by-wire system of a passenger vehicle and a steering control method of the multi-mode motor-driven steer-by-wire system. The system is composedof a steering wheel unit, an electronic control unit and a steering execution unit. A road feeling simulation assembly is arranged in the steering wheel unit to realize the road feeling simulation, the steering wheel unit is connected with the steering execution unit through a torque transmission mechanism, and a double-transmission-shaft structure is adopted in the steering execution unit to achieve the steering independent control of the wheels at the left side and the right side. All electric elements in the steering wheel unit and the steering execution unit are in signal connection with the electronic control unit so as to collect the state signals of the steering system and send the control signals to the electric control elements. According to the steering control method, under thecorresponding motor failure state, the corresponding electromagnetic clutches are controlled to be separated or combined through the ECU, and then the steering torque transmission is controlled. According to the invention, the vehicle can still smoothly complete the steering action under the condition that the electrical elements of the system fail, and the safety of the steering system is greatlyimproved.

The invention relates to a refraction wind-guiding type fan blade system in the technical field of wind power generation. The refraction wind-guiding type fan blade system comprises a fan blade frame, a fan blade body, a fixed bracket, a fan blade-shaft connector and a refraction wind deflector. The fan blade frame and an internal steel mesh of the fan blade body are welded together to form an integral fan blade. The refraction wind deflector and the fan blade frame are fixed in 60 degrees. The lower end of the refraction air deflector is fixed on the fan blade frame. A fixing hole at the middle part of the refraction wind deflector is fixed with an end hole of the fixed bracket by a screw. The fan blade is connected with a connection flange fixed at a shaft by the fan blade-shaft connector. The refraction wind deflector and the fan blade are connected by the fixed bracket. The refraction wind-guiding type fan blade system ensures that no matter what position and what degree the fan blade rotates to, the fan blade always gets the largest wind area; wind power can refract to the largest rotation moment point to produce the largest push moment; the fan blade rotates along the horizontal direction; three fan blades complement one another to produce balanced rotation moment without starting the dead angle and the reversing dead angle; and the blade fan produces best dynamic balance characteristic and rotates stably.

The invention discloses a double-ramming-head small-sized compacting machine. The double-ramming-head small-sized compacting machine comprises a rack, a power device, a walking mechanism and ramming devices, wherein the power device comprises a gasoline engine and a centrifugal clutch; a driven piece of the centrifugal clutch is provided with a belt wheel; the walking mechanism comprises a walking wheel and a high-speed shaft; the high-speed shaft is provided with a large belt wheel and the large belt wheel is connected with the belt wheel by a first belt; the two ramming devices are arranged on the front and rear ends of the rack respectively; each ramming device comprises a shell and a cover plate; a ramming head is arranged on the bottom of each shell and each shell is internally provided with a vibration shaft; the left and right ends of each shell are connected with the walking mechanism by swinging arms; the rack can be connected with the swinging arms by adjusting rods; a small belt wheel is mounted on the right end of the vibrating shaft; the small belt wheel is connected with the large belt wheel by a second belt; the vibrating shaft is provided with a first eccentric block and a second eccentric block; the first eccentric block has a first adjusting fixed hole; the second eccentric block has a plurality of second adjusting fixed holes. The double-ramming-head small-sized compacting machine disclosed by the invention is reasonable in design, high in compacting efficiency and convenient to transit.

This invention relates to a paddy field driving wheel with an expansion cam, in which, a round main driving wheel has an expansion port with expansion vanes, which constitute an expansion body with a vane connection shaft, a contacted pressure board and a compressing spring, the contacted pressure plate always contacts with the cam profile, the cam is fixed on the machine by a fixing shaft, the bearing cover and a sealing cover are movably connected with the fixed shaft by the bearing, the main driving wheel is connected with driving shaft key and the driving shaft is connected with the shift system of the host characterizing in good driving ability in mud paddy fields, small power cost and big driving force and high working efficiency.

The invention discloses a tripolar blood pump in-vitro magnetic drive system and a controlling method thereof. The system comprises an annular support, three iron cores and three sets of winding coils, wherein the three iron cores are arranged on the annular support symmetrically along the radial direction; the three sets of winding coils are respectively wound on the three iron cores, and respectively connected with three sets of drive circuits; and when the tripolar blood pump in-vitro magnetic drive system works, the three sets of winding coils generate an alternating magnetic field, and the winding coils are electromagnetically coupled with a permanent-magnetic axial flow blood pump in a body; and the annular support is a telescopic support. According to the tripolar blood pump in-vitro magnetic drive system and the controlling method thereof, the defects of the conventional blood pump in-vitro magnetic drive system, such as small torque, low efficiency and poor adaptability, are overcome.

The invention provides an automobile gear shifting mechanical hand based on a space parallel connection four-connecting-rod mechanism. The automobile gear shifting mechanical hand comprises a fixing device, a clamping device, a driving device, a gear shifting device and a control system. The invention also provides an automobile gear shifting control method adopting the gear shifting mechanical hand. The method comprises the following steps that an engine rotating speed signal and a pedal position signal are received, in addition, the pedal position is judged, a clutch pedal is driven for regulating a clutch, an accelerator pedal is driven to change the opening degree of an accelerator, the gear shifting path plan is carried out, the gear shifting mechanical hand is controlled to pull a gear shifting rod to move to a required gear shifting position, then, the clutch pedal is driven to close the clutch, and the gear shifting is completed. The space parallel connection four-connecting-rod mechanism is adopted for forming a gear shifting device of the gear shifting mechanical hand, a plurality of space freedom degrees are realized, the efficient gear shifting operation can be realized on a gearbox, the structure of the whole gear shifting mechanical hand is simple, the installation is fast, the automobile gear shifting mechanical hand is installed in a cab and can adapt to different vehicle types and vehicles in different gear shifting forms, the normal driving space of a driver cannot be occupied, and the normal driving work of the driver cannot be influenced.