40 results about "Electro mechanical coupling" patented technology

The invention relates to a machine learning method of a dielectric elastomer film on-line modeling under equal biaxial prestretching. The method comprises the following steps of: 1, acquiring an experimental data set for generating input data of the physical information neural network in the step 2 and the Kolmogorov-Arnold network in the step 3; 2, building a physical information neural network; the prediction module is used for predicting a mapping relation between invariants I1 and I2 and a strain energy function, and is used for optimization training of the Kolmogorov-Arnold network in the step 3; step 3, constructing a Kolmogorov-Arnold network, and carrying out the construction of the network; an explicit expression used for predicting invariants I1 and I2 and a strain energy function, and generating a constitutive model capable of reflecting the nonlinear behavior of the dielectric elastomer film; and step 4, carrying out joint training of a physical information neural network and a Kolmogorov-Arnold network on the basis of an experimental data set of voltage and stretch ratio obtained by applying voltage after equal biaxial pre-stretching of the dielectric elastomer film obtained in the step 1, and finding out optimal network parameters. According to the invention, the mechanical-electric coupling characteristic of the dielectric elastomer material can be reflected.

The present invention relates to a hydraulic device, a hydraulic control system, a vehicle and a control method. The hydraulic device comprises a cooling and lubricating oil circuit and a pressure control oil circuit, wherein the cooling and lubricating oil circuit comprises a first oil tank, a first oil pump and a first oil circuit, the first oil tank being configured to supply oil to the first oil pump, and the first oil pump being configured to provide hydraulic oil for the first oil circuit, so as to cool and lubricate an electromechanical coupling transmission by means of the first oil circuit; the pressure control oil circuit comprises a second oil tank, a second oil pump and a second oil circuit, the second oil tank being configured to supply oil to the second oil pump, and the second oil pump being configured to provide hydraulic oil for the second oil circuit, so as to control the engagement and disengagement of a clutch of the electromechanical coupling transmission by means of the second oil circuit; and a first throttle valve is provided on the second oil circuit and configured to control the amount of oil supplemented to the second oil tank from the first oil circuit. The hydraulic device of the present invention realizes the efficient utilization of hydraulic oil.

The invention discloses an active control method and system for suppressing torsional vibration of a permanent magnet synchronous wind driven generator, and the method comprises the steps: building a dual mass-rigidity-damping model through a lumped mass method based on transmission chain parameters and pneumatic torque, and obtaining a transmission chain dynamic equation; performing torsional vibration characteristic analysis on the natural wind speed, the pneumatic torque and the transmission chain dynamic equation to obtain a torsion angle, an eigenfrequency, a damping ratio equation and electromagnetic torque influence evaluation; and controller design is carried out on the torsional vibration mathematical model and the active disturbance rejection controller parameters to obtain an electromagnetic torque compensation amount, and active suppression of torsional vibration is realized. According to the invention, through cooperation of a physical model and intelligent control, a sensing-analysis-compensation closed loop is formed; a high-precision mathematical model is constructed, and a wind-machine-electricity coupling effect is captured; the ADRC regards unknown parameters and external disturbance as total disturbance, real-time estimation and compensation are carried out through a tracking differentiator, and an accurate system model is not needed; torsional vibration is restrained, and adaptability is enhanced.

The invention discloses a magnetic-mechanical-electric coupling amplitude-change pole simulation method based on finite element analysis, and relates to the technical field of magnetoelectric antenna simulation. The magnetic-mechanical-electric coupling amplitude-change pole simulation method based on finite element analysis comprises the steps that parametric modeling is carried out, and a multi-physical field environment is imported; defining material attributes; solid mechanics, an electrostatic field and a magnetic field are coupled, and piezoelectric and piezomagnetic effects are started; dividing grids and configuring a solver; executing simulation calculation; and evaluating displacement and stress results and performing iterative optimization. According to the magnetic-mechanical-electric coupling amplitude-change pole simulation method based on finite element analysis, through multi-physics field coupling simulation, electric-mechanical-magnetic energy conversion is accurately simulated, the problem of traditional simulation distortion is solved, a high-performance amplitude-change pole capable of amplifying the amplitude of a permanent magnet sheet to 9 micrometers is guided to be designed, and the radiation capacity and reliability are remarkably improved.

The application discloses a kind of digital twin driven armored vehicle double-motor transmission mechanism coupling modeling method and application, consider including nonlinear factors such as time-varying engagement stiffness of gear, transmission error and meshing impact, the motion relationship and force relationship between components are described by applying force element, the dynamic model of coupling transmission mechanism is established;According to the dynamic mathematical equation and vector control theory of permanent magnet synchronous motor, the dynamic mathematical model and vector control model of permanent magnet synchronous motor are established;According to the dynamic model of coupling transmission mechanism and the vector control model of permanent magnet synchronous motor, coupling is carried out through electromagnetic torque, load torque and feedback speed, an electromechanical coupling model is established, the sensitivity of different parameters to response signal difference is analyzed based on the residual value of simulation signal and measured signal, sensitive parameters are screened out, the sensitive parameters of model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization result, and the digital twin model is updated.

The invention relates to a multi-degree-of-freedom forming robot inertia identification compensation method and system, and the method comprises the following steps: S1, building a multi-degree-of-freedom forming robot electromechanical coupling dynamic model, and representing the inertia force and Coriolis force in the electromechanical coupling dynamic model through equivalent mass and equivalent damping, the electromechanical coupling dynamic model determines the influence of inertia force and Coriolis force on the control precision; s2, a multi-degree-of-freedom forming robot inertia identification model is established, and the inertia identification model carries out real-time self-adaptive adjustment on adjustment parameters by using the change rate of an identification result; and S3, a self-adaptive PI control model of the multi-degree-of-freedom forming robot is established, and the self-adaptive PI control model determines the mapping relation between PI parameters and equivalent mass and equivalent damping. According to the method, the change rate of the identification result is used for carrying out real-time self-adaptive adjustment on the adjusting parameters, so that real-time accurate identification of the equivalent mass and the equivalent damping is realized, and the control precision of the multi-degree-of-freedom forming robot at a high speed can be remarkably improved.

The present invention discloses a method for electromechanical coupling dynamics modeling of a propulsion shafting system, comprising: establishing a current vector control system model according to the structural parameters of a permanent magnet synchronous motor, the displacement of the motor rotor, and the mechanical rotation angle; calculating the electromagnetic torque and the unbalanced magnetic pull of the motor through the instantaneous inductance parameters and the instantaneous three-phase voltage of the motor; establishing a bearing-rotor dynamics model according to the size parameters of the propulsion shafting system; and coupling the calculation equations of the electromagnetic torque and the unbalanced magnetic pull of the motor and the bearing-rotor dynamics model to establish an electromechanical coupling dynamics model of the propulsion shafting system. By calculating the influence of the displacement of the rotor of the permanent magnet synchronous motor on the inductance and the air-gap magnetic field of the permanent magnet synchronous motor, the present invention calculates the electromagnetic torque and the unbalanced magnetic pull more accurately, and obtains more realistic dynamic response characteristics of the propulsion shafting system through the electromechanical coupling dynamics model of the propulsion shafting system.

The invention relates to the technical field of railway electric traction transmission, in particular to an irregular wheel wear detection method based on stator current analysis, which comprises the following steps of: constructing an electromechanical coupling model of a high-speed train traction transmission system based on a traction variable-current driving model and a train-track coupling power model; secondly, based on an electromechanical coupling model, the influence of irregular wear of the wheel on electrical parameters in an electric driving system is analyzed, and the frequency relation between irregular wear excitation and the electrical parameters (stator harmonic current) is established; and by constructing a comb filter based on variable mode decomposition, accurate capture of wheel wear related harmonic waves in stator current is realized, so that irregular wear of the wheel is detected, additional installation of a sensor is not needed, the cost is low, the method is not liable to be interfered by the external environment, and the method has relatively good engineering applicability.

An electromechanical coupling parameter identification and motor control parameter frequency domain setting method comprises the following steps: establishing a permanent magnet synchronous motor electrical parameter identification mathematical model, setting a robot excitation experiment, collecting joint permanent magnet synchronous motor data in the experiment process, and identifying joint permanent magnet synchronous motor electrical parameters from the joint permanent magnet synchronous motor data; and a control system model comprising a permanent magnet synchronous motor current loop, a speed loop and a position loop is established, optimized three-loop control PI parameters are obtained according to joint permanent magnet synchronous motor electrical parameters, a robot controller is arranged, and the position tracking precision of each joint motor is improved. According to the method, single off-line setting of the motor by adopting nominal electromechanical coupling parameters can be avoided, accurate setting of three-loop control parameters of the motor is realized, the position tracking error of the permanent magnet synchronous motor of each joint of the industrial robot is reduced, and the positioning precision of an end effector of the industrial robot is improved.

The invention relates to the technical field of vehicle control, in particular to a front auxiliary frame multi-axis cooperative movement control system and method. Comprising a strain sensing module which is deployed at a key mechanical node of a front auxiliary frame and is used for collecting a strain signal generated by deformation of the frame in real time; the load prediction module is connected with the strain sensing module and is used for decoupling a multi-axis load torque component in the strain signal; the power distribution module is connected with the load prediction module and is used for generating a current instruction according to the load torque component and the motor efficiency characteristic; the quick response driving module is connected with the power distribution module, adopts a wide bandgap semiconductor device to construct an inverter circuit, and outputs a pulse width modulation signal to each shaft motor; the output end of the strain sensing module is connected with the input end of the load prediction module through a high-speed serial bus. The problem of vibration control failure caused by electromechanical coupling lag can be fundamentally solved.

An apparatus is described. The apparatus includes a back plate. The apparatus includes a bolster plate that is secured to the back plate with a back bolt. The bolster plate has a window. The apparatus includes a circuit board between the back plate and the bolster plate. A semiconductor chip package is electro-mechanically coupled to the circuit board within the window. The apparatus includes a load stud that emanates from a face of the bolster plate. The back bolt emanates from an opposite face of the bolster plate. The load stud and back bolt are oriented along a same axis that is orthogonal to the face and the opposite face. The apparatus includes a heat sink. The apparatus includes a loading plate. The heat sink is mounted to the loading plate. The loading plate has a fixturing element that is secured to the load stud to secure the loading plate to the bolster plate.

The invention particularly relates to a random response analysis method for a piezoelectric-electromagnetic hybrid energy collector under pulsating wind excitation, and the method comprises the steps: building a mechanical vibration equation containing a galloping aerodynamic item and a time-delay feedback control item, and enabling the mechanical vibration equation to be combined with a piezoelectric voltage state equation and an electromagnetic current state equation to form an initial electromechanical coupling equation set; therefore, the mechanical end dynamics and the energy conversion effect of the two branches are simultaneously represented in the same model. Introducing the dimensionless fluctuating wind speed into galloping aerodynamic force and performing equivalent modeling by using multiplicative noise so as to explicitly map the fluctuating wind speed into a state-related random excitation item; voltage and current variables are equivalent to algebraic terms of displacement and speed by adopting harmonic transformation, and an equivalent decoupling system is obtained, so that model variable transformation is realized, and the analytical solution efficiency is improved; and finally, a steady-state probability density function is obtained based on energy envelope random averaging, and a random response analysis result is calculated according to the steady-state probability density function, so that a reliable basis is provided for evaluation of control parameters and energy harvesting performance.

The invention provides an electromechanical rigid-flexible coupling dynamic analysis method for a transmission system of an integrated wind turbine generator. The method comprises the following steps: acquiring a natural wind speed according to a natural wind speed model; according to the natural wind speed, performing time domain solution by using the joint simulation model to obtain the vibration response of the transmission system; the joint simulation model is constructed by adopting the following method: constructing a transmission system rigid-flexible coupling dynamic model; acquiring electromagnetic torque output by a generator, and establishing a generator vector control model according to the electromagnetic torque; constructing a converter control model; and constructing a joint simulation model according to the transmission system rigid-flexible coupling dynamic model, the generator vector control model and the converter control model. The method can solve the technical problems that electromechanical coupling analysis of a gear box and a generator is lacked in the prior art, and design of a transmission system of an integrated wind turbine generator is difficult to guide.

This application provides an electromechanical coupling simulation modeling method for an electric steering gear system, relating to the field of simulation technology. The method comprises: dividing the electric steering gear system into multiple submodules based on its functional structure; constructing a sub-simulation model corresponding to each submodule; and integrating the sub-simulation models into an electromechanical coupling simulation model of the electric steering gear system based on the input-output relationships between the submodules. This application divides the steering gear system into several submodules based on their function and establishes a simulation model for each submodule, thereby analyzing the impact of each submodule on the electric steering gear system, thereby constructing a more accurate simulation model of the electric steering gear system.

Embodiments disclosed herein provide an electro-mechanical coupling system (100) for endoscopic instruments The electro-mechanical coupling system (100) includes a first connector assembly (1) and a second connector assembly (2). The first connector assembly (1) includes a first lock member (3) and a first electrical connector (4) at a face of the first connector assembly (1). The second connector assembly (2) includes a housing (5) defining a cavity for receiving the first connector assembly (1), a second lock member (6) positioned on the housing (5), a static structure (7) connected at an end of the housing (5), and an electrical connection assembly (8) positioned between the housing (5) and the static structure (7). The electrical connection assembly (8) comprises a second electrical connector (9) affixed to a face of a movable structure (10), and alignment guides (11) mounted on the movable structure (10).

This invention discloses a method for adjusting the end effector stiffness of a hybrid robot used in the machining of thin-walled structural parts. The method first collects the proportional gain of each active branch servo drive system as the axial servo stiffness; secondly, it establishes a mapping model based on the robot configuration to solve for the equivalent axial servo stiffness of the end effector in the reference coordinate system; subsequently, it introduces stiffness weighting coefficients and combines them with the mechanical stiffness and electromechanical coupling stiffness performance evaluation index; finally, it uses a one-dimensional discrete search algorithm to traverse and filter redundant rotation angles that satisfy displacement and rotation constraints while keeping the end effector pose unchanged, aiming to maximize the electromechanical coupling stiffness index and generate an optimal sequence of redundant rotation angles. This invention establishes an electromechanical coupling model integrating mechanical and servo systems and adaptively adjusts the end effector stiffness using redundant degrees of freedom, which can effectively suppress cutting deformation and chatter during the machining of thin-walled parts while reducing computational complexity, significantly improving machining quality.

A shift actuator active disturbance rejection control system and control method, the control method comprising the steps of: S1. Obtain the structural parameters and operating parameters of the electromagnetic direct drive shift actuator, and establish an electromechanical coupling mathematical model acting on the actuator; S2. Construct a second-order nonlinear active disturbance rejection controller based on the electromechanical coupling mathematical model; S3. Introduce a BP neural network in the second-order nonlinear active disturbance rejection controller for adaptive setting, take the error and change rate of the system as input, and take the key parameters of the active disturbance rejection controller as output, adjust the network weight in real time, realize the self-learning and self-optimization of the control parameters; S4, apply the adaptive setting active disturbance rejection controller to the displacement closed-loop control of the electromagnetic direct drive shift actuator. The control system comprises: an electromagnetic direct drive shift actuator, which comprises an adaptive setting active disturbance rejection controller. The application significantly improves the position control accuracy and long-term running stability under complex working conditions.

The utility model relates to the technical field of automation equipment, in particular to a spiral lifting device which comprises a rotating mechanism and a lifting mechanism which are used for synchronously driving a transferring structure to spirally move along a spiral track. The executing end of the rotating mechanism is in driving connection with the lifting mechanism; the executing end of the lifting mechanism is in driving connection with at least one shifting arm; during working, the rotating mechanism drives the lifting mechanism and the material shifting arm to rotate, and the lifting mechanism drives the material shifting arm to do lifting motion in the rotating process so that the material shifting arm can push or pull the transferring structure to move along the spiral track. The spiral lifting device is driven by the rotating mechanism and the lifting mechanism to decompose spiral motion into independent driving of rotating and lifting, horizontal rotating motion and lifting motion are matched through electromechanical coupling, and existing complex mechanical linkage conveying and mechanical structures are replaced; the material shifting device is relatively simple in structure and easy to control, the space phase of the material shifting arm and the space phase of the spiral track are accurately matched, the failure rate during use is low, and the manufacturing, use and maintenance cost is reduced.

Hybrid group for rotationally driving fans (1) of vehicle engines, comprising an electromechanical coupling (40) for taking up the movement from the crankshaft of the vehicle and an electric motor (10) which can be powered independently of the combustion engine, respectively connected to the driven shaft (2) which drives the fan (1), the group being characterized in that the electric motor (10) is arranged upstream of the electromechanical coupling (40) in the axial direction (X-X) and is integral with a bell member (5) fastened to the base (3) of the combustion engine.

The invention relates to a joint servo transmission system electromechanical coupling vibration analysis method considering friction, and belongs to the field of gear nonlinear vibration analysis. The method comprises the following steps: in order to improve the modeling precision of an industrial robot joint servo transmission system, providing a friction-introduced electromechanical coupling dynamic model for industrial robot joint servo transmission and researching vibration response characteristics; stribeck friction is adopted to construct a friction model of a low-speed shaft of the joint servo transmission system of the industrial robot, and the joint servo transmission system is simplified into a system composed of a motor, a speed reducer and a load; secondly, establishing a joint servo transmission electromechanical coupling dynamic simulation model introducing friction based on friction nonlinearity and a coupling relation between a low-speed shaft and the friction, and verifying the correctness of the dynamic model through simulation analysis; finally, the influence of friction nonlinearity on the vibration performance of the joint servo transmission system is analyzed, and the vibration characteristic of friction on the joint servo transmission system of the industrial robot under electromechanical coupling is obtained.

The invention discloses a series elastic actuator joint system high-dynamic torque control method, which comprises the following steps of: determining a dynamic transfer relationship between a motor electromagnetic torque and a torsion spring output torque by establishing a mechanical-electric coupling model, and analyzing a voltage limited mechanism and a weak magnetic pressure release principle; designing a control framework containing a linear expansion state observer, estimating the output torque, the torque change rate and the lumped disturbance of the torsion spring in real time, and preprocessing the torque demand to avoid high-frequency oscillation; four types of operation conditions are divided, and the optimal d-axis current increment and the optimal q-axis current increment are solved in combination with linearized current and voltage constraint and torque requirements. According to the control method, the weak magnetic track can be smoothly switched, accurate disturbance compensation and high-dynamic torque response under voltage constraint are realized, and the torque tracking accuracy under complex working conditions is remarkably improved.

This invention relates to a method, apparatus, device, and medium for modeling the dynamics of electromechanical coupled gears. The method involves: determining the bearing type, motor parameters, and gear parameters in the gear system; based on the determined bearing type, motor parameters, and gear parameters, calculating the time-varying contact stiffness of each bearing, the time-varying meshing stiffness of each gear stage, the motor torque, and the unbalanced magnetic pull of the motor rotor; constructing the motor rotor dynamics equation and the electromechanical coupled gear dynamics equation; establishing a state-space equation by simultaneously solving the motor rotor dynamics equation and the electromechanical coupled gear dynamics equation; and solving the state-space equation to obtain the gear vibration displacement. The electromechanical coupled gear dynamics modeling method of this invention can more accurately calculate the output vibration displacement and vibration acceleration of the gear system in an electric drive assembly, thereby obtaining dynamic response characteristics of the gear system in an electric drive assembly that are more consistent with reality.

The present invention relates to the field of data processing technology, and in particular to a gearbox life assessment method and system. The method comprises the following steps: collecting the shaft current of the gearbox under electromechanical coupling conditions, and correlating the current characteristics of each bearing to generate a characteristic sequence of each bearing current; according to the characteristic sequence of each bearing current, the main flow path and branch of the current between the gear meshing pairs in the gearbox are identified, and an electro-erosion damage assessment is performed to generate the proportion of electro-erosion damage on the bearing-tooth surface; according to the proportion of electro-erosion damage on the bearing-tooth surface, the fatigue life reduction coefficient of the component is calculated, and dynamic linear damage accumulation processing is performed to obtain the fatigue damage contribution value of each component in the cycle; according to the fatigue damage contribution value of each component in the cycle, the gearbox life is assessed to generate the percentage of the remaining life of the gearbox. The present invention accurately predicts the remaining life of the gearbox under electromechanical coupling conditions through the coordinated assessment of electro-erosion damage and vibration amplification effect.

A method for avoiding an unintended fall of a blade (50) of a wind turbine (20) when the blade (50) or another blade (50) of the wind turbine (20) is arranged at a rotor hub (51) of the wind turbine (20) is provided. The wind turbine (20) comprises the rotor hub (51), a rotating electrical machine (22) mechanically coupled to the rotor hub (51), a machine-side converter (24, 44) electrically coupled to the rotating electrical machine (22) and comprising several semiconductor switches (70, 72, 74), a DC-link (26, 46) electrically coupled to the machine-side converter (24, 44), and a grid-side converter (28, 48) electrically coupled to the DC-link (26, 46) and to an electrical grid. The method comprises: generating a short circuit at the DC-link (26, 46) by activating all of the semiconductor switches (70, 72, 74) at the same time.

The present invention relates to a hydraulic device, a hydraulic control system, a vehicle and a control method. The hydraulic device comprises a cooling and lubricating oil circuit and a pressure control oil circuit, wherein the cooling and lubricating oil circuit comprises a first oil tank, a first oil pump and a first oil circuit, the first oil tank being configured to supply oil to the first oil pump, and the first oil pump being configured to provide hydraulic oil for the first oil circuit, so as to cool and lubricate an electromechanical coupling transmission by means of the first oil circuit; the pressure control oil circuit comprises a second oil tank, a second oil pump and a second oil circuit, the second oil tank being configured to supply oil to the second oil pump, and the second oil pump being configured to provide hydraulic oil for the second oil circuit, so as to control the engagement and disengagement of a clutch of the electromechanical coupling transmission by means of the second oil circuit; and a first throttle valve is provided on the second oil circuit and configured to control the amount of oil supplemented to the second oil tank from the first oil circuit. The hydraulic device of the present invention realizes the efficient utilization of hydraulic oil.

The invention discloses a four-arm symmetrical structure electric-magnetic-mechanical energy combined acquisition device and method suitable for a non-intrusive voltage sensor, and belongs to the technical field of multi-source energy acquisition. The device is composed of a base, a fixed restraining rod and four piezoelectric cantilever beams, the four cantilever beams are distributed in the X-axis direction and the Y-axis direction respectively, a four-arm symmetrical structure is formed, and electromagnetic disturbance signals in multiple directions can be responded at the same time. The cantilever beam comprises a magnetic-mechanical-electric coupling energy-taking cantilever beam and an electric-mechanical-electric coupling energy-taking cantilever beam which are respectively integrated with a magnetostrictive material and a dielectric elastomer, and are superposed with a piezoelectric crystal and a spring steel sheet, so that external electric field or magnetic field energy is converted into mechanical energy through a magnetostrictive or electrostrictive effect; and the piezoelectric crystal converts the electric energy into electric energy for output. The device is compact in structure and sensitive in response, can efficiently collect stray electromagnetic field and environment vibration energy in a power system, and provides stable self-powered support for a non-intrusive electric field sensor.

A method for bringing a rotor hub (51) of a wind turbine (20) in a predetermined position for arranging a blade (50) of the wind turbine (20) at the rotor hub (51) is provided. The wind turbine (20) comprises the rotor hub (51), a rotating electrical machine (22) mechanically coupled to the rotor hub (51), a machine-side converter (24, 44) electrically coupled to the rotating electrical machine (22), a DC-link (26, 46) electrically coupled to the machine-side converter (24), and a grid-side converter (28, 48) electrically coupled to the DC-link (26, 46) and to an electrical grid. The method comprises operating the rotating electrical machine (22) in a blade assembly mode in which the rotating electrical machine (22) is configured for rotating the rotor hub (51) such that the rotor hub (51) is brought in the predetermined position by the rotating electrical machine (22), wherein the predetermined position of the rotor hub (51) is given by a predetermined rotor mechanical angle reference ( θRref) of the rotor hub (51).

This application relates to a multi-motor coupled electric drive control system for vehicles, belonging to the field of mechatronics drive control system technology. It includes a gearbox, with its output end connected to a differential. Four sets of motors are installed at the input end of the gearbox, and these four sets of motors are coupled in parallel. A fixed-shaft electromechanical coupling structure for torque transmission is installed inside the gearbox. An oil-cooling circulation structure is installed on the gearbox to cool the gearbox and motors, optimizing their operating conditions. It also includes two controllers, with the motors electrically connected to the controllers. This application is mainly applied to the market segments of commercial heavy-duty trucks, mining trucks, and construction machinery, serving as a solution to the lack of high-power, high-efficiency power systems, particularly addressing the special operating conditions of low-speed, heavy-load, and high-frequency short-haul transportation. It optimizes the operating conditions of the engine or motor, reduces fuel consumption and emissions, and ensures good power performance.

The application belongs to the field of climbing robots, and discloses a climbing robot convenient to expand, which has good expansion configuration capability, so that the formation structure of the robot can be flexibly adjusted according to a scene, and is very flexible. The climbing robot comprises a main vision module, a trunk module, at least two limb chain units, a wrist module and a suction module. The end of the main vision module, the limb chain unit and the suction module is provided with an electromechanical coupling female end. The trunk module and the wrist module are provided with a plurality of electromechanical coupling male ends. The electromechanical coupling male end and the electromechanical coupling female end are correspondingly matched, so that one end of the main vision module and the limb chain unit is detachably connected with the trunk module, the other end of the limb chain unit and the suction module are detachably connected with the wrist module. The limb chain unit comprises an arm module and two joint composite pieces. The arm module is in the shape of a rod and is provided with an electromechanical coupling male end at both ends. The joint composite piece comprises at least two joint servo motors, and the joint composite piece can realize torque output in at least two dimensions.

The invention provides a method for optimizing the dynamic reliability of a dangerous resonance component of a permanent magnet electric drive gear transmission system, and the method comprises the following steps: building an electromechanical coupling dynamic model of the system, and recognizing a dangerous resonance rotating speed and a component through a Campbell diagram and a modal energy method; applying a rain flow counting method and a modified P-S-N curve to analyze the strength degradation of the component, and establishing a dynamic reliability evolution model of the component; and a two-stage nesting strategy of firstly optimizing motor PI parameters and then optimizing mechanical parameters is adopted to carry out parameter optimization on the components which do not meet the life reliability requirement. According to the method, rapid prediction and collaborative optimization of the dynamic reliability of the dangerous resonance component can be realized in the design stage, and repeated design and expensive tests caused by resonance in the later stage are avoided, so that the research and development cycle is shortened, and high reliability and long service life of the system in the whole life cycle are guaranteed.