72 results about "Constant torque" patented technology

The application provides a permanent magnet eddy current governor for constant torque load heavy load starting and a control method thereof, and belongs to the technical field of permanent magnet eddy current transmission speed regulation. The permanent magnet eddy current governor comprises a conductor cylinder, a magnet disc, a transmission shaft and a magnet disc axial traction mechanism. The conductor cylinder is connected with a motor input shaft, the inner wall of the conductor cylinder is fixed with two groups of annular conductor sleeves, the annular conductor sleeves are divided into starting zones and rated working zones in the axial direction, and the two groups of starting zones are separated by an idle zone. The transmission shaft passes through the rear end of the conductor cylinder, the front end is located in the conductor cylinder, and the rear end is connected with a load output shaft. The magnet disc is installed on the shaft rod of the transmission shaft located in the conductor cylinder, and the outer ring surface of the magnet disc is uniformly distributed with permanent magnets. The magnet disc axial traction mechanism is used for driving two magnet discs to synchronously approach or move away from the center of the idle zone. The application can be used for motor idle starting, heavy load controllable starting, load balancing, speed regulation operation and unloading overload protection of constant torque load.

The invention relates to the technical field of hydraulic control, and discloses a hydraulic motor constant torque self-adaptive PID (Proportion Integration Differentiation) control system which comprises a controller and a hydraulic driving unit, the controller performs frequency domain separation on the pressure signal by using a signal preprocessing module, and extracts an average pressure difference representing the driving force and a ripple amplitude representing the fluid rigidity; the state observation module estimates an instantaneous volume elastic modulus based on the ripple amplitude, corrects a compression item in a flow continuity model by using the elastic modulus, and calculates an instantaneous leakage coefficient of the motor in real time; the self-adaptive control module establishes dynamic mapping of PID gain and physical parameters, the proportional gain is adjusted by using a leakage coefficient to match system damping, the integral gain is adjusted by using a volume elastic modulus to adapt to inherent frequency, and a control instruction is synthesized by combining feedforward compensation. According to the method, the problem of model mismatch caused by oil characteristic change and motor abrasion is effectively solved, and the whole-life-cycle control precision of the system is improved.

The invention relates to the technical field of cable recycling, in particular to an electric wire and cable skin stripping device and a method thereof.The electric wire and cable skin stripping device comprises a sleeve base, a plurality of cutter assemblies arranged below the sleeve base, a clamping conveying mechanism below the sleeve base and a skin stripping mechanism, each cutter assembly comprises a blade and a pressure sensing module, and the cutting angle of each blade can be adjusted; the pressure sensing module detects the cut-in pressure of each blade in real time and feeds back and adjusts the cut-in angle of the blade; a speed difference control system is arranged between the clamping conveying mechanism and the skin stripping mechanism and comprises a constant torque driving unit of a front-section clamping roller and a differential driving unit of a rear-section shifting roller, and the two units monitor the rotating speed through an encoder and maintain the speed ratio of 1: 3. Through dynamic compensation and closed-loop pressure control and in combination with a differential stripping mechanism with the speed ratio of 1: 3, high-precision lossless stripping of the cable skin is achieved, the cutting-conveying-stripping integrated process is integrated, and the single-time stripping efficiency is improved.

The invention discloses a reciprocating type passenger ropeway constant deceleration control system, and relates to the technical field of brake control. According to the method, the first-stage constant deceleration braking mode and the second-stage constant torque braking mode are set, analysis is carried out through the second-stage braking conversion algorithm, the deceleration abnormal index, the speed tracking abnormal index and the response abnormal index are output, then the mode abnormal total value is obtained, the braking state is judged, self-adaptive mode switching is achieved, and the braking efficiency is improved. Constant braking deceleration is maintained, swinging of a hanging box is reduced, comfort of passengers is improved, brake rubber abrasion is reduced, meanwhile, regional debugging is not needed, and the operation difficulty of a construction site is reduced; hydraulic loop parameters are analyzed through a failure judgment logic algorithm set by the hydraulic redundancy protection module, a loop abnormal total value is output, and hydraulic loop switching is carried out based on the loop abnormal total value; and through visual display of the fault memory interaction module, the safety redundancy of the braking system is improved, fault tracing and maintenance are facilitated, and the running reliability of the cableway is guaranteed.

This application relates to the field of robot motion control and safety protection, and discloses a method for preventing hand pinching in a robot servo system. This method monitors the motor status in real time. When suspected interference is detected, a composite detection signal consisting of a base holding voltage, a DC preload component, and an AC detection component is injected into the drive motor. Through open-loop feedforward control, the feedback current is collected and the same-frequency component is extracted. The phase lag difference relative to the injected signal is calculated. Based on the magnitude of the phase lag difference, the system identifies whether the obstructing object is made of rigid or flexible material, and then executes a graded protection strategy of constant torque limiting or variable stiffness impedance control, respectively. This invention utilizes the principle of motional impedance to establish a mapping relationship between electrical phase and mechanical impedance, solving the problem of difficulty in distinguishing contact materials under low-speed conditions, achieving active compliance and safe escape, and improving the safety of human-machine interaction.

The present application relates to a kind of permanent magnet shielding motor vector control energy efficiency optimization method considering magnetic field lagging phase angle, belong to permanent magnet shielding motor control field.It is characterized by: by analyzing shield sleeve eddy current effect, the analytical expression of magnetic field lagging phase angle is derived using electromagnetic field theory;The lagging phase angle is introduced into permanent magnet flux linkage term to be corrected, and the eddy current loss of shield sleeve and stator iron loss are combined into equivalent iron loss component, and a system controllable loss model is constructed;Under the constraint of constant torque, the analytical expression of total controllable loss about direct-axis current is derived and the optimal direct-axis current given value is solved.The actual application introduces angle compensation in the coordinate transformation link of vector control system, and the optimal direct-axis current given value is sent into current regulator, the accurate decoupling of dq axis current is realized, the total loss of motor is reduced, so as to improve the overall efficiency of motor control system.

A method (100) for calibrating the offset angle (PhiO) of a field orientation regulator of a motor (210) between the angle signal (W) of a position sensor (220) and the direction of the rotor flux (RF), comprising the steps of: periodically changing (120) a current vector (Is) along a constant torque line; determining (130) a rotational speed signal (n_t) of the position sensor (220) of the motor (210); and calibrating (140) the offset angle (PhiO) based on the determined rotational speed signal (n_t).

This invention discloses a roping-driven humanoid robot with centralized drive arrangement and its compliant control method, belonging to the field of humanoid robot technology. The robot includes: an upper limb torso with joint modules centrally arranged in a Y-shape; an upper limb system comprising a series-connected three-degree-of-freedom parallel attitude-adjusting roping-driven humanoid shoulder joint, upper arm, tension-amplified constant-torque constant-stiffness roping-driven humanoid elbow joint, forearm, rotation-decoupling differential roping-driven humanoid wrist joint, and hand; a pelvic-like structure including a 6-RUHU parallel lumbar joint; and a lower limb system comprising a series-connected hip joint, thigh, tension-amplified constant-stiffness roping-driven knee joint, lower leg, differential roping-driven ankle joint, and foot. This invention also discloses a forceless sensing compliant control method based on a motor current and dynamics model. This invention achieves centralized center of gravity, lightweight design, wide-range constant torque output, and safe and flexible interaction, making it suitable for service, collaboration, and other humanoid robot application scenarios.

The invention provides an open-winding permanent magnet synchronous motor fault diagnosis and fault-tolerant control method based on predictive control, and the method comprises the steps: improving an existing fault diagnosis strategy based on a current detection method, calculating a phase current difference value before and after a single-phase open-circuit fault of a motor, and setting a corresponding threshold value, thereby building a fault discrimination index, and achieving the fault diagnosis and fault-tolerant control of the open-winding permanent magnet synchronous motor. The fault diagnosis efficiency is effectively improved; on the basis, a three-phase current reference value after a fault is redesigned to maintain the constant torque output capability of the driving system, and dead-beat current prediction control is applied under an ABC coordinate system to determine the target phase voltage at the next moment; and finally, an appropriate voltage vector is selected in the degradation modulation diamond vector space of the double inverters to complete fault-tolerant control, so that the fault-tolerant operation capability and reliability of the motor driving system are effectively improved, and meanwhile, the calculation cost is greatly reduced.

This invention belongs to the field of lunar rover weight reduction and suspension technology, specifically a constant tension suspension mechanism for a lunar rover. It includes a mounting plate, a winch wheel mounting frame A, a balanced winch motor, winch wheel A, a winch wheel mounting frame B, a fine-tuning winch motor, winch wheel B, winch wheel C, wire rope A, wire rope B, a tension sensor, a spring, and wire rope C. This invention achieves weight reduction by continuously providing a preset constant torque through the balanced winch motor, effectively balancing 5 / 6 of the lunar rover's weight. The tension sensor monitors and obtains the spring deformation in real time, allowing the fine-tuning winch motor to make immediate compensations, further maintaining the spring deformation in dynamic equilibrium and ensuring constant tension in the suspension mechanism, enabling the lunar rover to move stably. The overall structure of this invention is relatively simple and highly reliable, effectively avoiding weight reduction failures and inconsistent suspension forces during lunar rover movement.

The five-phase permanent magnet synchronous motor open-circuit fault three times harmonic current injection fault-tolerant control strategy belongs to the motor field, and aims to solve the problem of torque fluctuation rising of the five-phase permanent magnet synchronous motor under winding open-circuit fault. The strategy includes the following aspects: adjusting the residual phase current to suppress the torque fluctuation rising caused by the winding open-circuit fault, and the residual phase current is determined according to the fault-tolerant control current; the obtaining process of the residual phase winding fault-tolerant control current is as follows: the relationship between the output torque and the residual phase winding fault-tolerant control current of the motor under the fault-tolerant state of the winding open-circuit fault is established according to the no-load back electromotive force, and then the relationship between the constant torque component of the output torque, the second torque fluctuation amplitude and the fourth torque fluctuation amplitude and the residual phase winding fault-tolerant control current is established; the multi-objective particle swarm algorithm is used for solving to obtain the fault-tolerant control current under the condition of maximizing the constant torque component and minimizing the sum of the second and fourth torque fluctuation amplitudes.

A method for starting a motorcycle engine is performed through an engine starting control system including a controller, a power supply apparatus coupled to the controller, and an integrated starter and generator coupled to the controller, the power supply apparatus, and the motorcycle engine. The method includes driving the integrated starter and generator to perform reverse operation at a reverse operation constant torque value within a reverse operation time until the reverse operation time ends; controlling the power supply apparatus to output a forward operation constant current to the integrated starter and generator after the integrated starter and generator stops the reverse operation, to perform forward operation; and starting the motorcycle engine through the integrated starter and generator when a forward operation angular velocity value is greater than or equal to an expected value. The method starts the motorcycle engine effectively. Furthermore, a corresponding system is also provided.

The invention relates to a method for heating a vehicle battery (51) of a motor vehicle (50), wherein the motor vehicle (50) has a pulse inverter (2) and an electric machine (52), wherein the electric machine (52) is designed as a separately excited synchronous machine (53), wherein a magnetic flux (ψ) is assigned to a rotational speed (n) of the electric machine (52) by means of an assignment rule (4), wherein a longitudinal current (i) is assigned to the magnetic flux (ψ) and a torque (T) by means of assignment rules (5, 6). d ) and a cross-flow (i q ) is assigned, whereby a periodic additional flow (Δ Z ) is generated, which only complies with the allocation rule (6) for the cross-flow (i q ) is supplied, whereby the modulation of the periodic additional flow (ψ) Z ) in a region (S) of an i q -i d-machine characteristic map in which the lines of constant torque (T) run almost vertically, as well as an arrangement (1).

The application relates to the technical field of cable winding and unwinding, and particularly relates to a control device based on winding permanent magnet constant torque and a use method. The control device based on winding permanent magnet constant torque comprises a permanent magnet constant torque control assembly, a winding assembly and a permanent magnet rotor assembly are sequentially sleeved from outside to inside, a gap is left between the inner circumferential surface of the winding assembly and the outer circumferential surface of the permanent magnet rotor assembly, the permanent magnet rotor assembly is adapted to be sequentially connected with a speed reducer and a reel, and the reel is adapted to wind a cable; and a control assembly, the winding assembly is connected with the control assembly through a current collector, so that the generated differential power during work is sequentially controlled and led out through the winding assembly, the current collector and the control assembly. The application provides the control device based on winding permanent magnet constant torque and the use method, so as to solve the problems that the eddy current on the induction disc of the motor generates heat during the cable winding and unwinding process, a large number of heat dissipation rib plates need to be arranged on the outer surface of the magnetic hysteresis coupler, and the magnetic hysteresis coupler is large in size and high in cost.

This invention provides a method and system for optimizing feed rate in high-efficiency constant-force cutting with complex trajectories. The method includes: establishing a functional relationship model between spindle torque and feed rate; constructing a multi-objective optimization function based on the functional relationship model, with the objectives of minimizing machining time and minimizing spindle torque fluctuation; solving the multi-objective optimization function under preset constraints to obtain an optimal solution set; selecting the optimal solution from the optimal solution set to generate an optimized feed rate sequence, and updating the CNC machining code accordingly. This invention establishes a direct functional model between feed rate and spindle torque, constructs a multi-objective optimization problem with the core objectives of minimizing machining time and minimizing torque fluctuation, and introduces constant torque constraints, feed rate limits, and smoothness constraints. It employs a hybrid intelligent algorithm combining NSGA-II and Particle Swarm Optimization (PSO) for efficient solution, thereby significantly improving machining efficiency while ensuring stable machining load.

The application provides a GA-RK-based quick vertical lifting method of an electric cylinder, which divides the vertical lifting process of the electric cylinder into four stages: a constant torque control electric cylinder is used for vertical lifting in the vertical lifting starting stage; the initial vertical lifting angle and the vertical lifting angular velocity are the vertical lifting angle and the vertical lifting angular velocity corresponding to the last point of the constant torque stage, the motor rotating speed is calculated, when the motor power reaches the rated power of the motor, a constant power control electric cylinder is used for vertical lifting, when the motor rotating speed reaches the rated rotating speed of the motor, a constant rotating speed control electric cylinder is used for vertical lifting, then a uniform deceleration mode is used to control the electric cylinder for deceleration until the electric cylinder stops, and the time of the deceleration stage is obtained. In the whole planning process, the electric cylinder pushes the load according to the four stages of constant torque, constant power, constant rotating speed and uniform deceleration, and fitting transition stages are added in each stage, so that the shaking and impact of the load are reduced, and the total vertical lifting time can be reduced under the same motor condition.

The invention discloses a multi-mode self-adaptive automatic bit feeding system and method for an oil and gas drilling machine. The automatic bit feeding control system comprises a winch frequency converter, a bit feeding frequency converter, a high-performance digital controller, a touch screen and a high-precision intelligent sensing network which are arranged on the oil and gas drilling machine. The automatic bit feeding control method comprises four bit feeding modes of constant bit speed, constant bit pressure, constant pressure difference and constant torque, a working condition mode used in the method is a single mode or a master-slave mode, the single mode is one of the four bit feeding modes of constant bit speed, constant bit pressure, constant pressure difference and constant torque, and the master-slave mode is one of the four bit feeding modes of constant bit speed, constant bit pressure, constant pressure difference and constant torque. The master-slave mode is a working condition mode in which one of four bit feeding modes including constant drilling speed, constant drilling pressure, constant pressure difference and constant torque is adaptively regulated as a master mode and the other modes are adaptively regulated as slave modes. The optimal control method is selected according to different stratum conditions and well drilling stages through multi-mode cooperative self-adaptive regulation and control, so that the drilling machine is always in the optimal working state, the drilling speed and the well drilling efficiency are improved, and the well drilling period is shortened.

A method for calibrating constant torque of an ECM motor. The method is applied to replacing a legacy motor with a new motor. The method includes: a) selecting m torque reference points based on torque values of the legacy motor to form a desired torque value array LUT_X[m], where m is an integer≥3; b) based on an actual torque of the new motor, identifying m torque adjustment points, where torque values of the torque adjustment points have a one-to-one correspondence with torque values of the torque reference points, to form a new target torque value array LUT_Y[m]; and c) receiving an externally input target torque T0, invoking a linear interpolation module function associated with the desired torque value array LUT_X[m] and the new target torque value array LUT_Y[m] to obtain a corresponding new torque target value T1, and allowing the new motor to operate under T1.

The invention provides a rotating motor multi-type load simulation device and method based on sliding mode control. According to the invention, a sliding mode control algorithm is adopted, and after the state reaches a sliding mode surface, a'sliding mode 'motion which is not influenced by parameter disturbance and external interference is entered, so that rapid and overshoot-free tracking of the target torque is realized. According to the invention, high-precision dynamic simulation can be carried out on various typical load characteristics such as constant torque, constant power, fan pumps and the like, the simulation precision is high, the adaptability is high, and the load simulation requirements under complex working conditions are met. The device provided by the invention is clear in structure and clear in method flow, is suitable for load simulation of a direct current motor, can be conveniently expanded to various rotating motors such as an alternating current permanent magnet synchronous motor and an induction motor by adjusting a motor model, and has wide engineering application and teaching values.

A control accuracy improvement method for constant torque control of an ECM. The method comprises the following steps: S1, by means of a dynamometer, measuring several sets of data within a constant torque control interval of a set torque T of an ECM, performing calculation to obtain a damping coefficient B of the ECM, and storing same; S2, the ECM performing constant torque control on the basis of a vector control mode, and converting into a given q-axis current value iq a torque T set by a user; S3, measuring a real-time rotational speed ω of the electric motor, and using the real-time rotational speed ω of the electric motor and the damping coefficient B to calculate a compensation current value iq_0; and S4, calculating a target q-axis current value iq_out=iq−iq_0, using the target q-axis current value iq_out to perform q-axis current loop PI control, and returning to step S3. The method can match a variety of air-conditioning load models, such that the number of electric motor part numbers is greatly reduced, thereby bringing considerable convenience to customers.

This invention provides a constant tension wire supply device for transformer windings and transformer winding production equipment. The constant tension wire supply device includes a wire supply mechanism and a constant tension buffer mechanism. The wire from the wire supply mechanism is wound after passing through the constant tension buffer mechanism, which maintains a constant tension in the wire. The constant tension buffer mechanism maintains a constant tension in the wire. Its movable sliding roller and slide block allow the roller to move accordingly during winding to maintain tension to a certain extent, preventing the roller from being affected by other forces. Simultaneously, a first drive motor moves the roller, and the constant torque of the first drive motor ensures constant tension during roller adjustment. A control mechanism acquires the displacement parameters of the roller and controls the rotational speed of the motor components of the wire supply mechanism, further maintaining constant tension.

The application discloses a zero-backlash shaft angle transmission device and belongs to the technical field of transmission. The device comprises a box body, a limiting double-gear, a double-gear of a code disc, a code disc shaft, a limiting shaft and a code disc. The double-gear of the code disc is connected with the code disc through the code disc shaft, and the gear on the code disc shaft is engaged with the limiting double-gear. The double-gear of the code disc is composed of a basic gear, a backlash-eliminating gear and a torsion spring connecting the two gears. The torsion spring keeps the two gears with constant torque, and the gear side gap is eliminated during the engagement process, realizing zero-backlash transmission. The limiting shaft is provided with a limiting block at the top, and cooperates with a proximity switch to realize angle limiting. The limiting block adopts a clamping structure, and the limiting angle is continuously adjustable. The code disc is introduced and installed through gear transmission, the central space is released, the cable, slip ring and waveguide joint are conveniently arranged, the transmission backlash is eliminated, high-precision angle feedback is ensured, and the device is suitable for occasions, such as large-diameter high-frequency antenna seats, which require high-precision shaft angle transmission.

The invention discloses a flat digging control method for a grab crane, which relates to the technical field of grab cranes and comprises the following steps: scanning and modeling a working plane, generating real-time three-dimensional point cloud data, marking a high-hardness area and a low-density area, planning and generating a flat digging path covered in a Z shape, and controlling the grab to cut in by adopting constant torque. And a bucket opening and closing instruction is dynamically decided, meanwhile, lifting and discharging are optimized, and finally iterative optimization is carried out so as to adjust the excavation condition of the next cycle. According to the flat digging control method of the grab crane, real-time terrain detection is carried out through multi-sensor fusion of a laser radar and a pressure sensor; by adopting a self-adaptive hopper opening and closing control algorithm, the optimal hopper opening height and closing opportunity can be intelligently calculated, and material throwing is reduced; by adopting a sectional track optimization technology, the energy consumption can be reduced; by establishing a closed-loop feedback correction mechanism, the next excavation depth and the position offset are automatically corrected.

The invention provides an energy-saving motor, solid waste mixing and ball-milling equipment and a solid waste recovery process, and relates to the technical field of energy-saving grinding. A cooling fan is installed on one side of the ball milling motor, a temperature sensor is electrically installed on the ball milling motor through a wire, a PLC is installed on the temperature sensor through a wire, the PLC is electrically connected with the cooling fan through a wire, and the ball milling motor is further electrically connected with a soft start module and a constant torque type frequency conversion module through wires. According to the scheme, the constant-torque frequency converter is matched with the ball milling load characteristic, precise speed regulation and energy saving are achieved, invalid energy consumption of a motor is greatly reduced, in the ball milling process, the load of a waste battery positive electrode material and carbonate mixed material is a typical constant-torque load, and the load dynamically changes along with fluctuation of the material grinding degree and the feeding amount, so that the waste battery positive electrode material and carbonate mixed material is obtained. The constant-torque frequency converter can adjust the power supply frequency and voltage of the motor in real time according to the actual load requirement of the ball mill, so that the rotating speed of the motor is accurately matched with the load requirement.

This invention discloses a constant torque anti-jamming wellbore dressing device and its usage method. The device includes: an upper connector, a constant torque mechanism, a central tube, and a lower connector connected in sequence; a reduced diameter anti-jamming mechanism and a milling dressing mechanism installed outside the central tube; a torque transmission component of the constant torque mechanism transmits the torque from the upper connector to the central tube; a first shear pin is provided between the constant torque mechanism and the central tube, which can be sheared when the reverse torque force exceeds a set threshold; a torque setting component of the constant torque mechanism is used to set the torque under normal operating conditions; the reduced diameter anti-jamming mechanism can move up and down under the pressure difference between the inside and outside of the central tube; the first conical surface of the reduced diameter anti-jamming mechanism and the second conical surface of the milling dressing mechanism cooperate, and when the reduced diameter anti-jamming mechanism moves up and down, the protrusion of the milling dressing mechanism extends or retracts. It can set the torque, prevent drill pipe from falling off, effectively prevent stuck drill pipe, and improve the efficiency of wellbore dressing operations.

Embodiments of the present application relate to a voltage active support control method and device for a variable frequency air conditioner, comprising: establishing a variable frequency air conditioner model; simulating dynamic characteristics of the variable frequency air conditioner under multiple voltage states based on the variable frequency air conditioner model; and equivalent constant power load of the variable frequency air conditioner to constant torque load based on the dynamic characteristics, for voltage active support control. Thus, the variable frequency air conditioner is modeled, then the dynamic voltage characteristics of the air conditioner under different voltage faults are simulated, and the constant power load of the variable frequency air conditioner is further equivalent to the constant torque load for voltage drop, voltage interruption and voltage recovery and other different voltage conditions, to realize voltage active support control, fully play the role of intelligent load side control, and relieve the impact on the power grid by improving the load characteristics of the variable frequency air conditioner.

The utility model discloses a sleeve connector with constant torque, which comprises a driving mechanism, a driven mechanism and a torque limiting mechanism, the driving mechanism comprises a shell and a driving ratchet wheel, and the driving ratchet wheel is arranged at the bottom of the shell; the driven mechanism comprises a driven shaft rotationally arranged in the shell, a driven ratchet wheel is fixedly installed on the shaft wall of the driven shaft and meshed with the driving ratchet wheel, a square shaft is fixedly arranged at the lower end of the driven shaft, and an anti-disengaging clamping ring, an anti-disengaging steel ball and an anti-disengaging spring are arranged on the shaft wall of the square shaft. The sleeve connector is high in precision, stability, standardization and compliance, simple and durable in structure, convenient and efficient to operate, good in safety advantage and high in cost effectiveness, and the problems that a traditional torque wrench is poor in precision, errors are prone to occurring, efficiency is low, adjustment time is long, the traditional torque wrench is prone to being interfered by human factors, and the traditional torque wrench is prone to being damaged are solved.

The application discloses a kind of driving centralized arrangement mobile robot, belong to robot technical field;Robot includes three degrees of freedom universal movement chassis, Y-shaped upper limb trunk, three degrees of freedom parallel posture adjusting rope driven anthropomorphic shoulder joint, big arm, tension amplification constant torque constant stiffness rope driven anthropomorphic elbow joint, small arm, self-rotating decoupling differential rope driven anthropomorphic wrist joint and anthropomorphic simplified palm.Upper limb trunk central arrangement double-arm joint module, through Bowden cable-wire rope flexible drive each joint;Shoulder joint uses parallel 3-RRR configuration to realize wide range of attitude adjustment;Elbow joint adopts rolling joint and movable pulley group to realize constant torque constant stiffness output;Wrist joint passes through self-rotating decoupling mechanism and eliminates motion coupling.The application realizes that drive is centrally arranged, electromechanical separation, gravity is concentrated, with the characteristics of lightweight, large workspace, high stiffness and safe interaction, suitable for mobile operation scene.

A monorail hoist transportation robot driven by permanent magnet and variable frequency of an explosion-proof lithium battery includes a state perception system and a cockpit, a lifting device, a power carriage and a plurality of driving units all suspended on the suspension track. Each driving unit includes a motor, and each motor has the operation modes including a constant power mode and a constant torque mode. The main controller is configured to obtain the travelling state of the monorail hoist transportation robot through the state perception system, and adjust the operation mode of the motor according to the travelling state.