Motor with fine torsion monitoring function

Abstract

The invention discloses a motor with a fine torsion monitoring function, which comprises a motor shaft, a rotor, a transmission device and a monitoring device, and is characterized in that the rotor sleeves the motor shaft and can rotate relative to the motor shaft; the transmission device comprises a driving transmission disc and a driven transmission disc, the driving transmission disc is fixedly connected with the rotor, the driven transmission disc is fixedly connected with the motor shaft, and the driving transmission disc is in transmission connection with the driven transmission disc so as to transmit the torque of the rotor to the motor shaft; the monitoring device is arranged on the driving transmission disc and / or the driven transmission disc and used for measuring the torque between the driving transmission disc and the driven transmission disc. Compared with the prior art, the motor with the fine torsion monitoring function has the advantages that the transmission mechanism is arranged between the rotor and the motor shaft for transmission, and the monitoring device is arranged on the transmission mechanism for measuring the torsion transmitted by the transmission mechanism, so that the tiny change of the torsion can be accurately measured; and data support is provided for timely taking prevention and protection measures for the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a motor with a precise torque monitoring function. Background Art

[0002] At present, the detection of the operating status of various motors used in industry mainly relies on the detection of changes in the motor's working voltage, current, speed and other data. The sensing of the motor's output power is also calculated based on the above parameter tests. Therefore, no matter large, medium or small motors, the monitoring data is incomplete and weak features are difficult to extract, resulting in the lack of motor diagnosis and analysis technology.

[0003] In addition, in motor transmission work, the motor is the source of power, and the combination of electrical control and reducer constitutes the entire working transmission system. In this system, it often happens that the motor is within the rated working range, but the workload is abnormally overloaded, or the motor is burned out, or the transmission system is damaged.

[0004] In the transmission system of mechanical devices, although there are various types of safety protection takeovers, usually the motor voltage and current are used as the protection signal source and the safety factor is determined. However, in actual use, even if the motor is not overloaded, the overload damage of the transmission equipment often occurs, causing the entire system to stop. In the existing transmission machinery, there is no motor that can directly output the actual transmission torque signal, including the signal of small torque change. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a motor with a fine torque monitoring function to solve the technical problem that the motor in the prior art does not have the ability to accurately sense the output torque size and cannot take timely measures when the load changes, resulting in the motor being easily overloaded and damaged.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a motor with a fine torque monitoring function, comprising: a motor shaft, a rotor, the rotor being sleeved on the motor shaft and being rotatable relative to the motor shaft; a transmission device, the transmission device comprising an active transmission disk and a driven transmission disk, the active transmission disk being fixedly connected to the rotor, the driven transmission disk being fixedly connected to the motor shaft, the active transmission disk and the driven transmission disk being transmission-connected to transmit the torque of the rotor to the motor shaft; a monitoring device, the monitoring device being arranged on the active transmission disk and / or the driven transmission disk, and being used to measure the torque between the active transmission disk and the driven transmission disk.

[0007] In some embodiments, the driving transmission disk includes a driving disk body fixedly connected thereto and a plurality of driving force arms arranged at intervals. The driven transmission disk includes a driven disk body fixedly connected thereto and a plurality of driven force arms. Each driven force arm is arranged between two adjacent driving force arms, and the driving force arm is in transmission connection with the driven force arm to transmit the torque of the rotor to the motor shaft.

[0008] In some embodiments, the driving disk body is sleeved on the motor shaft and fixedly connected to the rotor, and the plurality of driving force arms are arranged symmetrically about the central axis of the motor shaft; the driven disk body is sleeved on the motor shaft and fixedly connected to the motor shaft, and the plurality of driven force arms are arranged symmetrically about the central axis of the motor shaft.

[0009] In some embodiments, the driving force arm abuts against the driven force arm. The driven force arm is elastic. The monitoring device is a resistance strain sensor and is arranged on at least one driven force arm to detect the deformation occurring on the driven force arm.

[0010] In some embodiments, the driving force arm includes a driving force arm body and a first magnet block, and the driven force arm includes a driven force arm body and a second magnet block. The driving force arm body and the driven force arm body have a first installation groove and a second installation groove with relatively open mouths. The first magnet block and the second magnet block are respectively arranged in the first installation groove and the second installation groove. There is a gap between the first magnet block and the second magnet block and a repulsive force is generated.

[0011] In some embodiments, the monitoring device is a displacement sensor. The displacement sensor includes a reference device and a detector. The reference device is arranged on the driving force arm body, and the detector is arranged on the adjacent driven force arm body to measure the distance between the first magnet block and the second magnet block.

[0012] In some embodiments, it further includes a housing and at least two bearings. The motor shaft is rotatably connected to the housing through the two bearings, and one end of the motor shaft passes through the housing and extends outside the housing.

[0013] In some embodiments, it further includes a wired power supply device. The wired power supply device includes a slip ring and a power transmission line. The slip ring is fixedly arranged in the housing. The monitoring device is slidably connected to the slip ring, and the power transmission line passes through the housing and is connected to the slip ring.

[0014] In some embodiments, it further includes a wireless power supply device. The wireless power supply device includes a moving coil arranged on the transmission device, a fixed coil fixedly arranged in the housing, and a junction box fixedly arranged outside the housing. The moving coil and the fixed coil are arranged oppositely. The moving coil is electrically connected to the monitoring device, and the fixed coil is electrically connected to the junction box through an integrated circuit board.

[0015] In some embodiments, a bearing sleeve is further included. The bearing sleeve is sleeved on the motor shaft and rotatably connected to the motor shaft. An oil storage gap for accommodating lubricating oil is formed between the bearing sleeve and the motor shaft. The rotor is fixedly connected to the bearing sleeve, and the driving transmission disk is fixedly connected to the bearing sleeve or the rotor.

[0016] Compared with the prior art, the motor with a fine torque monitoring function provided by the present invention is provided with a transmission mechanism between the rotor and the motor shaft for transmission, and a monitoring device is arranged on the transmission mechanism to measure the magnitude of the torque transmitted by the transmission mechanism, which can accurately measure the minute change of the torque, so as to take preventive and protective measures in time to avoid damage to the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a cross-sectional view of an embodiment of a motor with a fine torque monitoring function provided by an embodiment of the present invention; Figure 2 It is Figure 1 the top view of the driving transmission disk in Figure 3 It is Figure 1 the top view of the driven transmission disk in Figure 4 It is Figure 1 the cross-sectional view of the transmission device in Figure 5 It is a cross-sectional view of another embodiment of a motor with a fine torque monitoring function provided by an embodiment of the present invention; Figure 6 It is Figure 5 the cross-sectional view of the driving transmission disk in Figure 7 It is Figure 5 the cross-sectional view of the driven transmission disk in Figure 8 It is Figure 5 the cross-sectional view of the transmission device in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In order to solve the technical problem that the existing motor cannot directly measure the output torque, resulting in easy overload damage, the present invention provides a motor with a fine torque monitoring function, which can accurately monitor the output torque of the motor, so as to take preventive and protective measures in time to avoid damage to the motor.

[0020] Please refer to Figure 1 , Figure 1The cross-sectional view of an embodiment of the motor with a fine torque monitoring function provided by the embodiments of the present invention. The motor with a fine torque monitoring function includes a motor shaft 1, a rotor 2, a transmission device 3, and a monitoring device 4.

[0021] The rotor 2 is movably sleeved on the motor shaft 1 and can rotate relative to the motor shaft 1. The transmission device 3 includes a driving transmission disk 31 and a driven transmission disk 32. The driving transmission disk 31 is fixedly connected to the rotor 2, and the driven transmission disk 32 is fixedly connected to the motor shaft 1. The driving transmission disk 31 and the driven transmission disk 32 are in transmission connection to transmit the torque of the rotor 2 to the motor shaft 1. When the motor is powered on and working, the rotor 2 drives the driving transmission disk 31 to rotate together. The driving transmission disk 31 transmits the torque to the driven transmission disk 32, and the driven transmission disk 32 drives the motor shaft 1 to rotate, and the motor shaft 1 does work outward.

[0022] The monitoring device 4 is arranged on the driving transmission disk 31 and / or the driven transmission disk 32 to measure the torque magnitude between the driving transmission disk 31 and the driven transmission disk 32. When the external load connected to the motor is overloaded, the torque between the driving transmission disk 31 and the driven transmission disk 32 will also increase accordingly. By monitoring the magnitude of this torque, preventive and protective measures can be taken in a timely manner when the torque increases to avoid damage to components such as the motor shaft 1, the rotor 2, or the transmission device 3 due to excessive torque.

[0023] In this embodiment, the motor further includes a housing 5 and at least two bearings 6. The motor shaft 1 is rotatably connected to the housing 5 through the two bearings 6, and the bearings 6 play a role in fixedly supporting the motor shaft 1. One end of the motor shaft 1 passes through the housing 5 and extends outside the housing 5. It is easy to understand that this motor also has components such as a stator, a coil, and a power source necessary for the normal operation of the motor. The connection methods and working principles of these components are conventional technical means in the art and will not be elaborated here.

[0024] Please refer to Figures 2 to 4 , in some embodiments, the driving transmission disk 31 includes a driving disk body 311A fixedly connected and a plurality of driving force arms 312A. The driving force arms 312A are arranged at intervals on one side surface of the driving disk body 311A. The driven transmission disk 32 includes a driven disk body 321A fixedly connected and a plurality of driven force arms 322A. The driven force arms 322A are also arranged on one side surface of the driven disk body 321A and correspond to the arrangement positions of the driving force arms 312A. So that when the driving transmission disk 31 and the driven transmission disk 32 are assembled, each driven force arm 322A is arranged between two adjacent driving force arms 312A. The driving force arms 312A and the driven force arms 322A are in transmission connection to transmit the torque of the rotor 2 to the motor shaft 1.

[0025] In some embodiments, the center of the driving disk body 311A is provided with an opening and sleeved on the motor shaft 1. The driving disk body 311A is movably connected to the motor shaft 1 but fixedly connected to the rotor 2. A plurality of driving force arms 312A are symmetrically arranged about the central axis of the motor shaft 1. The driven disk body 321A is also provided with an opening at the center and sleeved on the motor shaft 1 and fixedly connected to the motor shaft 1. A plurality of driven force arms 322A are symmetrically arranged about the central axis of the motor shaft 1. When the driving transmission disk 31 and the driven transmission disk 32 rotate at a high speed with the rotor 2, the driving force arms 312A and the driven force arms 322A arranged symmetrically about the rotation center can offset the unequal centrifugal forces, ensuring the smoothness of rotation.

[0026] In one of the embodiments, the driving transmission disk 31 and the driven transmission disk 32 adopt a form of contact transmission. That is, the driving force arm 312A abuts against the driven force arm 322A. The driven force arm 322A is elastic and can be made of a suitable metal, and can undergo a certain elastic deformation when subjected to an external force. The monitoring device 4 is a resistance strain sensor and is arranged on at least one driven force arm 322A to detect the deformation of the driven force arm 322A. The deformation of the driven force arm 322A can cause a change in the resistance of the resistance strain sensor, thereby outputting an electrical signal outward. The external data processing device calculates the amount of deformation of the driven force arm 322A in reverse according to the electrical signal, and then calculates the torque value received by the driven force arm 322A.

[0027] In this embodiment, two driving force arms 312A are a group, and multiple groups of driving force arms 312A are arranged symmetrically around the center. The driven force arms 322A are arranged between the two driving force arms 312A and are in contact with the driving force arms 312A on both sides. Point contact or surface contact is acceptable. The distance from the contact point to the center of the motor shaft 1 is the lever arm of the rotational torque. The resistance strain sensor is attached to the position of the driven force arm 312A close to the driven transmission disk 32, where the maximum deformation can occur.

[0028] In other embodiments, the driving force arms 312A can also be made of elastic metal, and the resistance strain sensor is attached to the driving force arms 312A. Due to the mutual action of forces, the torque magnitude of the transmission between the driving force arms 312A and the driven force arms 322A can also be obtained.

[0029] In this embodiment, the motor further includes a bearing sleeve 7. The bearing sleeve 7 is sleeved on the motor shaft 1 and is rotatably connected to the motor shaft 1. An oil storage gap for accommodating lubricating oil is formed between the bearing sleeve 7 and the motor shaft 1. The rotor 2 is fixedly connected to the bearing sleeve 7, and the driving transmission disk 31, specifically the driving disk body 311A, is fixedly connected to the bearing sleeve 7.

[0030] The transmission of the electrical signal of the monitoring device 4 can be in the form of wired or wireless. The circuit unit of the monitoring device 4 can be provided by the sensor itself, or can be a combination of the sensor and an integrated circuit board and then arranged on the motor.

[0031] In this embodiment, the transmission of the electrical signal of the monitoring device 4 adopts a wired form. The motor also includes a wired power supply device 8, which includes a conductive slip ring 81 and a transmission line 82. The conductive slip ring 81 is fixed in the housing 5, and the position in contact with the housing 5 is insulated to avoid leakage. The monitoring device 4 is slidably connected to the conductive slip ring 81, such as a brush can be used to keep the power supply when the monitoring device 4 rotates with the transmission device 3. The transmission line 82 passes through the housing 5 and is electrically connected to the conductive slip ring 81. Since the monitoring device 4 adopts a resistive strain sensor, its resistance will change with the deformation of the slave power arm 322A, and the current of the transmission line 82 will also change when the external power supply voltage remains constant. The current data can be obtained through an external ammeter, so as to calculate the torque according to the distance from the center of the motor shaft to the transmission arm force point. The slave power arm 322A preferably forms a groove on the other side of the installation position of the detection device 4 to further increase the deformation of the slave power arm 322A and improve the measurement accuracy of the detection device 4.

[0032] The transmission device 3 provided in this embodiment adopts contact transmission, and the number of the active force arm 312A and the driven force arm 322A is small. The structure is simple but the torque that can be carried is also small, which is suitable for motors with smaller output power.

[0033] See also Figures 5 to 8 , Figure 5 A cross-sectional view of another embodiment of a motor with a fine torque monitoring function provided by an embodiment of the present invention.

[0034] In this embodiment, the active transmission disc 31 is directly fixedly connected to the rotor 2. The active transmission disc 31 and the driven transmission disc 32 adopt a non-contact transmission form. The active force arm 312B is evenly distributed on one side of the active disc body 311B around the central axis, and the driven force arm 322B is also evenly distributed around the central axis. When the active transmission disc 31 and the driven transmission disc 32 are installed in coordination, the active force arm 312B and the driven force arm 322B are alternately distributed.

[0035] And the driving force arm 312B includes a driving force arm body 3121B and a first magnet block 3122B, and the driven force arm 322B includes a driven force arm body 3221B and a second magnet block 3222B. The driving force arm body 3121B and the driven force arm body 3221B have a first installation groove and a second installation groove with relatively open mouths, and the first magnet block 3122B and the second magnet block 3222B are respectively arranged in the first installation groove and the second installation groove. There is a gap between the first magnet block 3122B and the second magnet block 3222B and a repulsive force is generated. When the driving transmission disk 31 rotates, due to the repulsive force generated by the magnets, even if the driving force arm 312B is not in contact with the driven force arm body 3221B, it can still drive the driven transmission disk 32 to rotate.

[0036] In this embodiment, the monitoring device 4 is a displacement sensor. The displacement sensor includes a reference device 41 and a detector 42. The reference device 41 is arranged on the driving force arm body 3121B, and the detector 42 is arranged on the adjacent driven force arm body 3221B to measure the distance between the first magnet block 3122B and the second magnet block 3222B. When the external load becomes larger, the distance between the first magnet block 3122B and the second magnet block 3222B will become smaller and the repulsive force will become larger. The torque between the driving force arm 312B and the driven force arm 322B is the product of the resultant force of the magnetic repulsive force and the force arm.

[0037] In this embodiment, the transmission of the electrical signal of the monitoring device 4 adopts a wireless form, including a wireless power supply device 9. The wireless power supply device 9 includes a moving coil 91 arranged on the transmission device 3, a fixed coil 92 fixed in the housing 5, and a junction box 93 fixed outside the housing 5. The moving coil 91 is specifically installed on the driven force arm body 3221B. The moving coil 91 and the fixed coil 92 are arranged opposite to each other and are spaced apart by a certain distance. The moving coil 91 is electrically connected to the monitoring device 4, and the fixed coil 92 is electrically connected to the junction box 93 through an integrated circuit. Through the junction box 93, it can be connected to an external power supply device and a data processing device. Through the wireless transmission of the moving coil 91 and the fixed coil 92, power is supplied to the monitoring device 4, and at the same time, the data collected by the monitoring device 4 is transmitted to an external data processing device for processing. When the torque is too large, protective measures are taken in time to avoid damage to the motor.

[0038] The transmission device 3 provided in this embodiment adopts non-contact transmission, and the number of the driving force arms 312B and the driven force arms 322B is relatively large. The structure is complex but can bear a relatively large torque, and it is suitable for motors with relatively large output power.

[0039] The existing motor converts the load through the change of the working current. Since the change of current and motor load is not a linear relationship, the calculated result has a large error with the actual situation. This motor directly collects data through the monitoring device 4, and the data shows a linear change relationship with the change of load, so that the load and torque data can be obtained more accurately. By converting the load pressure collected from the monitoring device 4 into an actual torque value: the distance from the force point to the motor axis is R (lever arm), and the force value collected by the monitoring device 4 is F, the torque formula M=F×R is used to calculate the dynamic value of the motor torque in real time.

[0040] At the same time, when there is a slight change in the existing motor load, it cannot be extracted through the working current, and it is often the case that the load has already experienced a destructive fault, but the motor still works normally. However, this motor can accurately measure the slight change in the motor torque, timely discover and early predict the abnormal state of the motor, thereby avoiding the occurrence of faults. The present invention also provides a fault identification method during motor operation, which specifically includes the following steps: The input data is identified based on a pre-established fault identification model to obtain a reconstruction error between the input data and the training reconstruction data; the abnormal features of the input data are identified based on the reconstruction error; the abnormal features are compared with a pre-established fault feature library to determine the type of fault.

[0041] In some embodiments, the fault identification model uses an autoencoder, which is a neural network-based time series data anomaly detection model that has a better ability to capture the nonlinearity and complex relationships of data features. In addition, the autoencoder does not require manual labeling of abnormal value label data relationships, and is more automated. The autoencoder usually consists of two parts: the encoder compresses the input data into a low-dimensional representation (called encoding), and the decoder reconstructs the original input data from this low-dimensional representation. Note: The encoder and decoder referred to here are software concepts, not hardware.

[0042] The fault identification model is trained using pre-training data during the training phase. The technical goal is to minimize the difference between the input data and the reconstructed data, usually using the mean square error as the loss function. The pre-training data is obtained by recording the torque time series of each motor in normal operation.

[0043] After training is completed, the fault recognition model encodes and decodes the input data using an autoencoder, and then calculates the reconstruction error of each data point, that is, the reconstruction error between the input data and the training reconstruction data.

[0044] In some embodiments, the step of identifying abnormal features of the input data based on the reconstruction error further includes data cleaning and denoising, specifically: determining whether there are abnormal features in the newly input torque sequence data based on the reconstruction error, and removing error values: if the reconstruction error of a data point is significantly higher than the errors of most other data points, then it is determined as an error value and ignored.

[0045] In some embodiments, the types of faults include the following: 1. Global anomaly: It represents an abnormal peak in the time series of the output torque of a certain motor. For example, an impact load occurs in the transmission system.

[0046] 2. Trend anomaly: An event that causes the data to permanently shift to its average value and results in a change in the time series trend. Such as the gradual increase in the motor output load as the lubrication system gradually fails.

[0047] 3. Local waveform anomaly: For example, there is an abnormal subsequence in the motor output torque, and its shape or cycle is different from the normal shape components of the sequence.

[0048] 4. Periodic anomaly: The abnormal motor torque output regularly appears within similar time periods.

[0049] The present invention also provides a fault identification device during motor operation, including a data identification module, a data analysis module, and a fault judgment module. The data identification module identifies the input data based on a pre-established fault identification model to obtain the reconstruction error between the input data and the training reconstruction data. The data analysis module identifies the abnormal features of the input data based on the reconstruction error. The fault judgment module compares the abnormal features with a pre-established fault feature library to determine the type of fault.

[0050] The present invention also correspondingly provides an electronic device. The electronic device includes a processor, a memory, and a display. The motor with the fine torque monitoring function provided by the present invention is connected to the electronic device through wireless or wired local area network. The electronic device is responsible for recording the real-time torque parameter time series of each motor operation, which is a univariate time series.

[0051] In some embodiments, the memory can be an internal storage unit of the electronic device, such as the hard disk or memory of the electronic device. In other embodiments, the memory can also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device.

[0052] Furthermore, the memory may also include both the internal storage unit of the electronic device and external storage devices. The memory is used to store the application software installed in the electronic device and various types of data.

[0053] In some embodiments, the processor may be a central processing unit (CPU), a microprocessor, or other data processing chips, and is used to run the program code stored in the memory or process data.

[0054] In some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. The display is used to display the information of the electronic device and to display a visual user interface. The components of the electronic device communicate with each other through a system bus.

[0055] The functions of the user interface include: real-time display of the output torque (load) parameters of each motor in the mechanism, and the historical change curve for a certain period of time can be viewed.

[0056] The alarm thresholds of the torque parameters of each motor can be set, such as peak value, low value, and average value.

[0057] Real-time display of alarm information: When the system detects that the motor torque parameter exceeds the alarm threshold, or the time series characteristics in a certain period match the fault feature library, the interface displays the alarm information and the speculated cause of the fault.

[0058] Fault feature library management: Select the historical time series data of one or more motors for a period, and input the fault name and description. The system automatically identifies the time series characteristics of the data during the fault and records them in the feature library.

[0059] Furthermore, the embodiments of the present invention do not specifically limit the type of the mentioned electronic device. The electronic device may be a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop, etc. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices running IOS, android, microsoft, or other operating systems. The above portable electronic devices may also be other portable electronic devices, such as a laptop with a touch-sensitive surface (such as a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (such as a touch panel).

[0060] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is configured to execute the online battery internal temperature prediction method provided by the above-mentioned various methods.

[0061] Those skilled in the art can understand that all or part of the processes of implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0062] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A motor with fine torque monitoring function, characterized in that: include: Motor shaft, A rotor, wherein the rotor is sleeved on the motor shaft and can rotate relative to the motor shaft; A transmission device, the transmission device comprising an active transmission disc and a driven transmission disc, the active transmission disc is fixedly connected to the rotor, the driven transmission disc is fixedly connected to the motor shaft, and the active transmission disc and the driven transmission disc are drivingly connected to transmit the torque of the rotor to the motor shaft; A monitoring device is arranged on the active transmission disc and / or the driven transmission disc to measure the torque between the active transmission disc and the driven transmission disc.

2. The motor with fine torque monitoring function according to claim 1, characterized in that: The active transmission disc includes a fixedly connected active disc body and a plurality of active force arms, the active force arms are arranged at intervals, the driven transmission disc includes a fixedly connected driven disc body and a plurality of passive force arms, each of the passive force arms is arranged between two adjacent active force arms, and the active force arms are transmission-connected to the passive force arms to transmit the torque of the rotor to the motor shaft.

3. The motor with fine torque monitoring function according to claim 2, characterized in that: The active disk body is sleeved on the motor shaft and fixedly connected to the rotor, and the plurality of active force arms are arranged symmetrically about the central axis of the motor shaft; the driven disk body is sleeved on the motor shaft and fixedly connected to the motor shaft, and the plurality of driven force arms are arranged symmetrically about the central axis of the motor shaft.

4. The motor with fine torque monitoring function according to claim 3, characterized in that: The active power arm is in contact with the passive power arm, the passive power arm is elastic, and the monitoring device is a resistance strain sensor and is arranged on at least one of the passive power arms to detect deformation of the passive power arm.

5. The motor with fine torque monitoring function according to claim 3, characterized in that: The active power arm includes an active power arm body and a first magnet block, and the passive power arm includes a passive power arm body and a second magnet block. The active power arm body and the passive power arm body have a first mounting groove and a second mounting groove that are relatively open. The first magnet block and the second magnet block are respectively arranged in the first mounting groove and the second mounting groove. There is a gap between the first magnet block and the second magnet block and a repulsive force is generated.

6. The motor with fine torque monitoring function according to claim 5, characterized in that: The monitoring device is a displacement sensor, which includes a reference device and a detector. The reference device is arranged on the main body of the active power arm, and the detector is arranged on the adjacent main body of the passive power arm to measure the distance between the first magnet block and the second magnet block.

7. The motor with precise torque monitoring function according to claim 1, characterized in that: It also includes a housing and at least two bearings, the motor shaft is rotatably connected to the housing through the two bearings, and one end of the motor shaft passes through the housing and extends outside the housing.

8. The motor with fine torque monitoring function according to claim 7, characterized in that: It also includes a wired power supply device, which includes a conductive slip ring and a power transmission line. The conductive slip ring is fixed in the shell, the monitoring device is slidably connected to the conductive slip ring, and the power transmission line passes through the shell and is connected to the conductive slip ring.

9. The motor with fine torque monitoring function according to claim 7, characterized in that: It also includes a wireless power supply device, which includes a moving coil arranged on the transmission device, a fixed coil fixed in the shell, and a junction box fixed outside the shell, the moving coil and the fixed coil are arranged opposite to each other, the moving coil is electrically connected to the monitoring device by signals, and the fixed coil is electrically connected to the junction box by signals via an integrated circuit board.

10. The motor with precise torque monitoring function according to claim 1, characterized in that: It also includes a bearing sleeve, which is mounted on the motor shaft and rotatably connected to the motor shaft, an oil storage gap for accommodating lubricating oil is formed between the bearing sleeve and the motor shaft, the rotor is fixedly connected to the bearing sleeve, and the active transmission disc is fixedly connected to the bearing sleeve or the rotor.

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