676results about How to "Large output torque" patented technology

The present invention relates to an automatic grass-cutting robot for mowing lawn. It is characterized by that said automatic grass-cutting robot includes the following several portions: robot self-body, grass-cutting mechanism, control system and sensor unit. Said invention also provides the working principle of said automatic grass-cutting robot and its concrete operation method.

The invention discloses a walking aid exoskeleton rehabilitation robot in the technical field of rehabilitation engineering, which comprises a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, wherein the mobile auxiliary mechanism is connected with the exoskeleton prosthesis mechanism, and the control mechanism is connected with the mobile auxiliary mechanism and the exoskeleton prosthesis mechanism respectively. The exoskeleton prosthesis mechanism has compact design structure and large rotation range of each joint, and can meet the requirement on actual motion of a human body. By adopting a servo motor to drive, the control precision is high, and the output torque is large; and the mobile auxiliary mechanism rotates under the driving of the servo motor, can freely move, and has higher climbing capacity and movement speed. The height of the mobile auxiliary mechanism is adjusted to be applied to people with different heights. When the patient undergoes gait rehabilitation training, the human gravity center is actively adjusted to accord with the characteristics that the human body is fluctuated along with alternative gait. The mobile auxiliary mechanism also can support the human body, prevent people from tumbling in walking, and guarantee the whole stability.

The invention discloses a wear type lower limb assistant robot, a folding method thereof and a hand luggage for carrying. The robot is characterized by comprising a lower limb assistant mechanical device and a servocontrol system, wherein the lower limb assistant mechanical device is provided with wearable assistant mechanical legs which are symmetrically arranged on the two sides of a wearable waistband. The wearing load on human bodies can be effectively relieved, and the robot has the characteristics of high safety performance, simple man-machine coordination control, good following assist effect, high cost performance and the like; the robot can be changed into a portable body which is compact in structure through the folding method, and a user can conveniently carry and store the robot in various manners through matching with the hand luggage for carrying, so that the nursing requirements of the middle-aged and the aged people on daily activities such as walking and walking up and down stairs can be better satisfied.

The invention relates to a walk-aiding exoskeleton robot system and a control method, which belong to the technical field of rehabilitation engineering. The system comprises a hanging support, a moving platform, joints, protecting sleeves, a sensor module, a signal acquisition module, a central processing module and a motion control module, wherein the hanging support is fixed on the moving platform, the joints are connected with the hanging support to form an exoskeleton robot, the sensor module, the signal acquisition module, the central processing module and the motion control module are sequentially connected, the sensor module is used for acquiring joint angles, the interacting force of the exoskeleton robot and the human being and the myoelectric signals of the muscles of the human body, the signal acquisition module carries out signal conditioning and digital-to-analog conversion, the central processing module carries out action generation and the reverse solution of motion, and transmits an action command to the motion control module, and the motion control module is connected with the exoskeleton robot and generates a pulse signal to control the coordinated motion of the exoskeleton robot. The invention realizes the synchronous motion of the exoskeleton robot and the human body and real-time active control.

The invention relates to a brushless direct current (DC) motor controller for a four-wheel independently driven electric automobile and a control method thereof. The controller comprises a control unit, a communication unit and a power conversion unit, wherein the power conversion unit is connected with the control unit through a driving circuit and comprises an inversion circuit and a main contactor circuit; the inversion circuit has a three-phase full-bridge structure; and an input interface of the control unit is connected with a current detection circuit, a battery voltage detection circuit and a rotor position detection circuit. The controller is characterized in that: a power switching tube in the inversion circuit consists of a plurality of N-channel depletion power metal oxide semiconductor (MOS) tubes which are connected in parallel; the input interface of the control unit is also connected with a temperature detection circuit for detecting the temperature of a motor and the temperature of the power switching tube in the inversion circuit, and a short circuit detection circuit for detecting a short circuit signal of a power supply; and the driving circuit consists of an integrated drive chip and a current equalizing circuit. The motor controller has complete functions, a friendly interface and high reliability and practicability.

The invention discloses a lower-limb-boosting exoskeleton robot comprising an upper body structure, leg structures, knee joints and hip joints. Each leg structure comprises a thigh structure and a shank structure. Each hip joint is connected with the upper body structure and the corresponding thigh structure. Each knee joint is connected with the corresponding thigh structure and the corresponding shank structure. The upper body structure comprises a waist assembly, and the size of the waist assembly can be adjusted. The waist assembly comprises hip connecting blocks connected with the hip joints. Each knee joint comprises a first thigh connecting seat, a second shank connecting seat and two first motors, wherein the first thigh connecting seat is connected to the corresponding thigh structure, the second shank connecting seat is connected to the thigh connecting seat in a rotary manner, and the two first motors are connected to the first thigh connecting seat and drive the second shank connecting seat to rotate relative to the first thigh connecting seat.

The invention relates to an aerophotography gyrostabilized platform with three freedom degrees and large load, comprising a platform body, a driving system, an inertia measurement unit, a relative turn angle measuring unit of a ring rack of the platform body, a high-frequency line vibration isolating unit and a platform control system, wherein the inertia measurement unit and the relative turn angle measuring unit of the ring rack of the platform body monitor the information of the angular movement of the platform body caused by the angular movement of the body of an airplane; the platform control system works out a control instruction applied by a relatively determined coordinate system of the platform when being stabilized relative to the driving system at real time according to the monitored information of the angular movement of the platform body by a certain control algorithm; the driving system drives the platform body according to the control instruction to rotate so as to realize the isolation of the angular movement of the body of the airplane; and the high-frequency line vibration isolating unit realizes the isolation of the high-frequency line vibration of the body of the airplane. The aerophotography gyrostabilized platform with three freedom degrees and large load effectively isolates the angular movement and the high-frequency line vibration of the body of the airplane and enhances the stability of a visual axis of an aerial photography camera, and the cost is cheaper.

The invention relates to a parallel, joint-type and walk-help ectoskeleton artificial limb applicable to paralytic, which pertains to a rehabilitation engineering technical field and comprises a hip joint, a knee joint and an ankle joint which are connected in sequence to form the ectoskeleton artificial limb structure of human crura. The hip joint comprises a single-degree-of-freedom drive mechanism and a harmonic reducer with a larger drive ratio which can output high torque; the knee joint adopts a four-bar mechanism, worm wheel, a worm and gear mechanism to realize transmission; flection of the ectoskeleton artificial limb is kept by taking advantage of the self-locking property of the worm wheel and worm and simultaneously, the worm wheel and worm can deliver larger torque; the ankle joint adopts a 3-RPS parallel mechanism with three degrees of freedom, which comprises an upper platform, three active branched guide rods, a lower platform and a thenar support part so as to realize dorsiflexion, plantar flexion, inversion and eversion. The artificial limb of the invention has compact structure, large slew range for every joint and can meet the requirements of actual movements of human body.

The invention relates to a variable rigidity parallel joint snake-shaped robot mechanism and belongs to the field of robots. A robot is formed by a plurality of action units in serial connection. Each action unit comprises a two freedom degree spatial parallel joint. The joint comprises a fixed U branch chain and two SPDU drive branch chains. Each drive branch chain comprises a variable rigidity linear driver. A rotary shaft and a drive gear parallel with the fixed U branch chain form contour of each action unit. The rotary shaft is connected with the fixed U branch chain through a vibration isolating device which can balance off reverse moment. Rigidity and damp of the drive branch chain is controllable and variable, so that terrain adaptability of the snake robot can be improved by increasing joint flexibility, posture accuracy and stability of the snake robot can be improved by increasing joint rigidity, and applicability of the snake robot is improved. Vibration generated during action of the robot is absorbed by the vibration isolating device and the drive branch chain, impact moment tolerance of the snake robot joint is improved, and accordingly motion speed and efficiency of the robot are increased.

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 provides a vertical modular joint for space manipulator, relating to a modular joint for space manipulator. The invention aims to solve the problems with the prior space manipulator which is big in mass, size and power consumption but small in output torque of unit mass. A driving device of the invention is connected with a crown / Rolex gear series device, the crown / Rolex gear series device and a wave generator (2-3-3) is connected with a hollow transmission shaft (2-2-1), a rigid wheel (2-3-2) is connected with an inner ring support base (2-6-1) of a thin wall bearing two and the inner ring support base (2-6-1) of the thin wall bearing two is connected with an output flange (2-10). The invention has the advantages of high in integration and reliability, light in mass, small in size, low in power consumption, compact in structure, big in output torque of unit mass, high in position output precision and big in anti-bending rigidity, and is applicable to adapting to the environment of strong space radiation, high vacuum and big temperature difference, which has good maintainability and reliable operation performance.

A travelling wave ultrasound motor with a dual stator and rotor multi-diameter shaft structure belongs to the technical field of ultrasound motor. Two groups of stators and rotors are arranged between the external fixing structure and the internal supporting structure of the motor, wherein the external fixing structure is composed of two stator seats arranged opposite to each other, and a drum-shaped shell arranged between the stator seats, the internal supporting structure is formed by limiting the shaft position of the multi-diameter shaft by thrust bearings in the stator seats. The invention not only maintains the advantages of the existing ultrasound motor with single stator and rotor, but also is easier to operate, has more contact structure, higher torque to capacity ratio and stronger anti-interference capacity to external load, thus being especially suitable for fields of aerospace and biomedicine.

The invention relates to a rotary valve type large torque hydraulic corner self-servo valve, which has the technical scheme that: a valve body (10) is concentrically arranged in a cylinder body cylindrical cavity (18); a valve sleeve (8) is concentrically arranged in a valve body cylindrical cavity (27); a right end of a valve plug (9) penetrates through the valve sleeve (8) so as to be concentrically arranged in the valve body cylindrical cavity (27); and an output shaft of a motor (3) is in key joint with an inner hole (46) on a left end of the valve plug (9) concentrically. Fixed stops (7) are respectively arranged on an upper part and a lower part of an inner wall of a cylinder body (4), and are in movable fit with the valve body (10); two blades (17) are fixed on an outer wall of the valve body cylindrical cavity (27), are arranged at an angle of 180 degrees, and are in movable fit with the cylinder body (4); and the fixed stops (7) and the blades (17) are in staggered arrangement with the blades (17). The rotary valve type large torque hydraulic corner self-servo valve has the characteristics of simple structure, easiness in processing, balance in stressing of the valve plug, large output torque, good dynamic property, flow gain linear, quick respond speed, and high control accuracy.

The invention discloses a rotational joint module of a modularized reconfigurable robot. On the basis of planetary reduction, one level of harmonic reduction is added on motor output, a reduction ratio is improved, an output torque is added, and the transmission precision of the module is improved. An upper end cover and a lower end cover serve as installation joints, the flange-type design with locating seam allowances and pin holes is adopted, and the module is accurately and conveniently connected and located. All electric wires are arranged in a cage-type support, the upper end cover and the lower end cover and are isolated and protected by an outer cover, thereby avoiding the problem that the electric wires are coiled when a robot moves. Mechanical limit and electric limit are arranged in the module. On the basis of adopting an incremental coded disc, a rotating potentiometer is added to measure the assistant position of module movement, absolute position information is recorded under the condition of accidental power failure, and the system can continuously work after being electrified. The rotational joint module has the advantages of reasonable and simple structure, high precision and inner routing, is convenient to install and position and is safe and reliable to use.

The invention discloses an IPMSM field weakening control method with DC bus voltage sag being considered. The method comprises the following steps: to begin with, obtaining motor parameters through off-line identification; then, calculating a direct axis current through MTPA control method formulas; judging whether entering a field weakening region and calculating a compensated direct axis current; adding the direct axis current obtained under the MTPA control method and the compensated direct axis current to obtain a given direct axis current; and finally, calculating a given quadrature axiscurrent by using a current limit circle equation of an IPMSM. The method eliminates the influence of out of control of the motor caused under a general control method due to change of base speed of the motor likely to be caused by change of DC bus voltage through a field weakening control method compensated by negative direct axis current, and can still maintain constant-speed operation of the motor under the condition of sharp drop of the bus voltage.

The present invention relates to a control device for an automatic transmission and a method for implementing a failsafe function of the automatic transmission, which can properly protect the automatic transmission and ensure a certain degree of running performance even if the state of the shifting operation performed by the operator cannot be grasped. The control device has: an operating lever (1) for setting the shift range of the automatic transmission, a suppression switch (2) for outputting a range signal corresponding to the shift range as a control signal, and a vehicle speed sensor ( 3) At the same time, it also has an engine control device (10), which has a fault judging device (11) for judging the fault state of the suppression switch (2) based on the control signal, and suppresses the output of the engine according to the driving speed of the vehicle during the fault state. Torque engine torque suppression device (12).

The invention discloses a permanent magnet motor rotor with an excitation circuit variable reluctance and leakage flux path function, which belongs to the technical field of the motor and solves the problem that in the weak magnet speed regulation technology of the traditional synchronous permanent magnet motor, the permanent magnet motor is difficult in weak magnet speed regulation because excitation can not be regulated. The permanent magnet motor rotor with the excitation circuit variable reluctance and leakage flux path function comprises a rotor iron core, 2n main permanent magnets and 2n weak magnet units, wherein n is a positive integer; 2n trough slots are arranged along the axial direction of the rotor iron core and are evenly distributed along the peripheral direction of the rotor iron core; one main permanent magnet with a shape matched with the shape of each through slot is respectively embedded in each trough; a weak magnet unit is arranged between every two adjacent main permanent magnets along the peripheral direction of the rotor iron core; magnetic isolation grooves are arranged among two ends of the main permanent magnets along the peripheral direction and the adjacent weak magnet units; the main permanent magnet adopts radial magnetization; and the magnetization directions of the adjacent main permanent magnets are opposite. The invention is suitable for the permanent magnet motor.

The invention provides a high-reliability four-phase alternating current starting motor, which comprises end covers, a stator, a bearing, a magnetic yoke, an exciting winding, a position sensor and a rotor formed by a shaft and pawl poles; the rotor pawl poles are fixed on the pawl shaft; the number of the pawl poles is 4n-2 or 4n-4, wherein n in a natural number; the exciting winding inside the pawl poles is fixed on the end cover at one end of the motor by the magnetic yoke; the stator is positioned outside the rotor and has the pole number of 4n; centralized windings are arranged on stator poles; n stator coils in close phases are serially connected to form one phase; the four phases of stator windings are annularly connected end to end and are respectively connected onto middle points of four-phase bridge arms. The four-phase starting motor can be used both as a starter and a power generator; the reliability is high as the four-phase centralized stator windings are adopted; well voltage adjusting performance is realized by adopting a brushless electro-exciting structure and the high-reliability four-phase alternating current starting motor is suitable for being used on a vehicle idle speed halt system.

The invention discloses an axial magnetic field modulation type composite motor with an improved flux modulation structure and an improved magnetizing direction and belongs to the technical field of motors. The axial magnetic field modulation type composite motor with the improved flux modulation structure and the improved magnetizing direction aims to solve the problems that according to an existing axial flux modulation motor, flux modulation rings are fixed in a complicated way, and the utilization rate of permanent magnets is low. According to the axial magnetic field modulation type composite motor with the improved flux modulation structure and the improved magnetizing direction, a flux modulation ring is fixed to the side surface of each air gap of a stator in an adhering mode, and the flux modulation rings are fixedly connected with a rotary shaft; each flux modulation ring is composed of flux modulation blocks which are evenly distributed in the circumferential direction in a dispersed mode; each rotor comprises a rotor disc and a permanent magnet ring, the permanent magnet rings adhere to the side surfaces of air gaps of the rotor discs, each permanent magnet ring is composed of multiple permanent magnets which are evenly distributed in the circumferential direction, and each permanent magnet is composed of four permanent magnet segments which are evenly arranged in the circumferential direction; in the clockwise direction, the first permanent magnet segment and the third permanent magnet segment in each permanent magnet are magnetized in the circumferential direction oppositely, and the second permanent magnet segment and the fourth permanent magnet segment in each permanent magnet are magnetized in the axial direction oppositely.

The invention provides a gear-tooth block meshing switching device for linear reciprocating motion and rotational motion. Four pairs of track plates are mounted in a casing, one ends of the track plates are hinged to the inner walls of the two sides of the casing, the other ends of the track plates are provided with track grooves respectively, and a track shifting mechanism lifter is arranged among the four pairs of track plates. Tooth block lines including a plurality of tooth blocks are mounted on a driving frame mechanism, sliding pins extending from two sides of each tooth block are respective disposed in each track groove, a gear fixedly mounted with a transmission shaft is arranged between the two tooth block lines, and the lifter driving device drives the lifter to lift or descend the track plates. Besides, a frame of the driving frame mechanism is connected with one end of a connecting rod, and the other end of the connecting rod is connected with a piston. The switching device is capable of realizing equivalent switching between linear reciprocating motion and rotational motion.

The invention discloses a self-adaptive buoyancy micro-calibrating collecting and distributing system for a deep-sea underwater robot. The self-adaptive buoyancy micro-calibrating collecting and distributing system comprises a plurality of self-adaptive buoyancy micro-calibrating devices, wherein each single self-adaptive buoyancy micro-calibrating device comprises a silo, an elastic balloon, a balloon swelling-shrinking mechanism, a power driving mechanism and a control module; the silos are watertight hollow cylinders; the power driving mechanisms are arranged in inner cavities of the silos; the elastic balloons are hemispheres, which are made from elastic materials, with hollow inner cavities, and are further connected with the front ends of the silos with watertight structures; the balloon swelling-shrinking mechanisms are arranged in the inner cavities of the elastic balloons; the balloon swelling-shrinking mechanisms are connected with the power driving mechanisms through telescopic connecting rods; the control modules arranged in the inner cavities of the silos drive and control the running of the power driving mechanisms. The self-adaptive buoyancy micro-calibrating collecting and distributing system is reasonable in design and compact in structure, and can be used for realizing the micro-calibration and the micro-adjustment of buoyancy.

The invention provides a hybrid drive system of a heavy vehicle, which comprises a motor, a hydraulic torque converter, a pump wheel clutch, a pump wheel brake, a planetary row, a planetary carrier clutch, a planetary carrier brake and a drive motor, wherein the motor comprises a crank; the crank is connected with a pump wheel through the pump wheel clutch; the pump wheel brake is arranged to be used for braking the pump wheel; a sun wheel of the planetary row is connected with a worm wheel; a planetary carrier of the planetary row is connected with a gear ring of the planetary row through the planetary carrier clutch; the planetary carrier brake is arranged to be used for braking the planetary carrier; and a rotor shaft of the drive motor is connected with the gear ring. The hybrid drive system provides a larger output torque when a vehicle is started for accelerating or climbing, reduces the requirement on a drive motor system and an electrical storage device, provides a larger brake torque during braking when climbing a long slope under the situation that the hydraulic torque converter works under a reversal brake working condition so as to avoid the brake overheating and reduce the abrasion of the brake, and meets the requirement on high dynamic property of the heavy vehicle.

The invention discloses a permanent-magnet bias no-bearing switch reluctance starter / generator, and the starter / generator consists of a stator back yoke, permanent magnets, stator suspension force iron cores, stator torque iron cores, a rotor core, suspension force winding coils, torque winding coils, auxiliary excitation winding coils, and a shaft. The inner side of the stator back yoke is provided with the stator suspension force iron cores and the stator torque iron cores, and the permanent magnets are embedded into the stator back yoke between the stator suspension force iron cores and the stator torque iron cores. The stator suspension force iron cores and the stator torque iron cores are respectively provided with the suspension force winding coils and the torque winding coils in a winding manner. The auxiliary excitation winding coils are wound in auxiliary winding installation grooves at yoke parts of the stator torque iron cores. The rotor core is disposed in the stator suspension force iron cores and the stator torque iron cores, and the interior of the rotor core is provided with the shaft. The permanent magnets are used for providing a bias magnetic field, thereby reducing the motor loss and shortening the axial length. Meanwhile, the permanent magnets and the auxiliary excitation winding coils are used for providing exciting flux, thereby increasing the electromagnetic torque of the motor, and improving the efficiency of the motor.

Stator of motor is composed of two identical piezoelectric vibrators (PV) connected symmetrically. PV includes back end-cover, front end-cover, intermediate block, and piezoelectric ceramics. Two PVs are connected symmetrically on the front end-cover, where there are two drive feet. Movers of the motor are slide bars with friction layer on surface. Working states include modes: when two PVs do longitudinal vibrations (LV) inverted each other, anti symmetrical vibration (SV) mode of the stator is excitated; when two PVs of the stator do in phase LV, SV mode is excitated. Using two sinusoid signals with phase difference (PD) as pi / 2 excites two PVs of stator simultaneously so as to excite mode of vibration of stator in co-frequency with PD as pi / 2. Thus, the up drive foot of the stator drives particle of the drive foot to do elliptic motion so as to drive movers to do rectilinear motion (RM) continuously. Advantages are: outputting RM in large moment, high speed and high efficiency.

The invention relates to a scanning mechanism applied to an aerial camera, in particular to a scanning mechanism which performs automatic, fast and accurate image motion compensation on an aerial camera, and belongs to the technical field of aerial optical remote sensors. According to the scanning mechanism, through adopting a pitching limiting component and a rolling limiting component, a motor is prevented from rotating under the condition of loss of control, and further a connection wire is prevented from winding or being snapped; a spring is arranged in the rolling limiting component, so that the impact to a scanning reflection mirror from the motor under the condition of the loss of control is reduced, and further the disturbance to the camera is reduced; the pitching limiting component is coated with polytetrafluoroethylene, so that the impact is reduced.

The invention discloses a passive vibration absorption elastic component for flexible robot joints, aiming at solving the problems of poor reliability, big size and complex structures of the existing active or semi-active vibration absorption methods for restraining robot vibration. An outer ring rigid body and an inner ring rigid body of the passive vibration absorption elastic component are coaxially arranged, two flexible bodies and two sector-shaped rigid pieces are arranged between the outer ring rigid body and the inner ring rigid body, the two sector-shaped rigid pieces are symmetrically arranged at the left end and the right end of the inner ring rigid body, and the internal diameter of each sector-shaped rigid piece is fixedly connected with the inner ring rigid body; the two flexible bodies are symmetrically arranged at the upper end and the lower end of the inner ring rigid body, the edge of a protruding side of each concave-convex curve rigid piece is fixedly connected with the inner ring rigid body, and the edge of a pit side of each concave-convex curve rigid piece is fixedly connected with the outer ring rigid body. A sector-shaped metal connection board is arranged in each sector-shaped slot, a sector-shaped rubber board is arranged between each of the sector-shaped metal connection boards and each of the sector-shaped rigid pieces, and the sector-shaped metal connection boards and the outer ring rigid body are connected through a connection component. The passive vibration absorption elastic component is applied to the flexible robot joints.

The invention provides a permanent-magnet rotor deflection-type three-degree-of-freedom motion motor, which relates to the technical field of permanent-magnet rotor motors. The motion motor is characterized in that magnetism isolating sheets and permanent magnets consisted of non-magnetic-conduction materials are distributed on the outer side of the inner core of the rotor. N-poles and S-poles are distributed in a staggered way and the outlines of the permanent magnets are spherical. At least two layers of magnetic pole iron cores are provided on the rotor of the periphery. Stator magnetic pole loops are provided on the magnetic pole iron cores. An output shaft is rigidly connected with center of the stator, the center of an outer housing overlaps with center of the rotor and the rotor is supported by a circular ball bearing fixed on the stator. The stator is provided with a transducer for detecting the position and the speed of the rotor so as to realize closed-loop control of the motor. The motion motor of the invention solves the problems of the three-degree-of-freedom motion motor in the prior art, including heavy abrasion, poor torque output capacity and the like. The motion motor of the invention is relatively simple in structure, easy to control, high in mechanical integration level, small in abrasion, strong in torque output capacity, and excellent in static and dynamic performance. In addition, the motion motor can realize suspension control.

The invention discloses a carbon micron tube filling polymer oil-containing friction material for an ultrasonic motor and a preparation method thereof and particularly relates to an oil-containing friction material taking a carbon micron tube as an oil-containing carrier and applied to a traveling wave ultrasonic motor so as to solve the problems that stable operation of an ultrasonic motor is hard to guarantee by existing dry friction materials, the porous-structure friction material has bad elasticity and the oil content, elasticity modulus, hardness and contact deflection of the oil-containing friction material taking polyimide as a substrate are hard to adjust in a large range and the application of the ultrasonic motor is limited. The oil-containing friction material comprises the following components in percentage by mass: 45-80% of polymer substrate, 10-30% of friction regulator and 1-30% of carbon micron tube; and the preparation method comprises the following steps: 1) preparing a final mixture; 2) performing compression moulding to obtain a moulded object; 3) sintering the moulded object; 4) preparing a platy friction material; and 5) preparing the carbon micron tube filling polymer oil-containing friction material for the ultrasonic motor. The invention belongs to the field of oil-containing material preparation.

The invention discloses a three-axis stable electro-optical pod for an unmanned aerial vehicle. The three-axis stable electro-optical pod comprises a shell, an azimuth axis assembly, a pitch axis assembly, a horizontal roller and an image assembly, wherein the azimuth axis assembly is arranged in the shell and provides rotation of -180 degrees to +180 degrees in the azimuth direction, the pitch axis assembly is arranged in the shell and provides rotation of -180 degrees to +180 degrees in the pitching direction, the horizontal roller provides rotation of -30 degrees to +30 degrees in the horizontal rolling direction, and the image assembly is used for shooting pictures. The three-axis stable electro-optical pod for the unmanned aerial vehicle is small in volume and light in weight and has a three-axis adjustment function, the pictures taken by the image assembly are clear and free of twist rotation.