234 results about "Friction torque" patented technology

The invention relates to the technical field of petroleum and natural gas drilling engineering, and discloses a deep well geological exploration tunneling parameter control system and method, and the system comprises a signal collection and synchronization module which collects drilling parameters and aligns timestamps; the initialization and modeling module is used for calculating fluid transmission time lag and blade skim-over frequency; the active disturbance generation module generates a target bit pressure instruction superposed with sine disturbance to drive load application; the two-channel feature extraction and verification module aligns the historical torque and the current pressure according to time delay and calculates the confidence coefficient in combination with the frequency; the adaptive decision and closed-loop control module uses the confidence coefficient to correct the gain and update the reference bit pressure to form a closed loop. A dual-channel verification framework based on fluid-structure interaction transmission time lag and blade characteristic frequency is constructed, the covering effect of long-distance drill column friction torque on real cutting torque in deep well operation is effectively stripped, and it is ensured that a control system only responds to effective rock breaking action.

The utility model provides a double-row tapered roller bearing with low energy consumption and long service life. The bearing comprises two inner rings, two sealing rings, two outer flanges, two retainers, an outer ring and two rows of tapered rollers. Compared with an existing bearing, the bearing has the advantages of being good in assembling performance, compact in structure, large in load, low in noise, low in driving torque, ultralow in temperature rise, ultralow in friction torque, ultralow in cost, integrated, super-energy-saving, super-long in mileage, free of maintenance, super-long in service life, high in strength, rigidity, reliability and stability and the like, the efficiency of a transmission system is remarkably improved, and the service life of the transmission system is prolonged. The energy consumption is obviously reduced; the energy is saved; the environment is protected.

The invention discloses a bidirectional crescent upstream pumping groove end face mechanical seal which comprises a sealing ring. Different from the prior art, a plurality of upstream pumping groove groups and downstream pumping groove groups are arranged on the sealing surface of the sealing ring, the upstream pumping groove groups and the downstream pumping groove groups are alternately distributed on the sealing ring, and a sealing weir is formed between each upstream pumping groove group and the adjacent downstream pumping groove group. The crescent upstream groove structure can enable a fluid medium to be leaked from the upstream side of the downstream groove, on one hand, leakage of the fluid medium to the inner diameter side can be reduced, the sealing performance is improved, on the other hand, viscous shear heat of fluid on the sealing face can be dissipated in time, and small temperature rise of the sealing face is maintained. Meanwhile, a fluid medium can flow in a wave shape along the crescent flow channel in the adjacent upstream groove and downstream groove, a layer of stable fluid film is maintained between the sealing faces, the lubricating state of the sealing faces is improved, and temperature rise and friction torque of the sealing faces are reduced.

A method and system for joint torque compensation in a remote teleoperated arm is disclosed. For each joint of the teleoperated arm, a friction torque prediction model, nominal dynamic equation, and compensation residual prediction model are constructed using the arm's historical joint command torque, joint angular velocity, and joint temperature. During each real-time control cycle of the teleoperated arm, real-time compensation calculations are performed using the constructed models to obtain a reference feedforward compensation torque. The end effector force deviation of the teleoperated arm is calculated and mapped to a joint torque increment. A feedback fine-tuning compensation torque is generated based on the joint torque increment. The total compensation torque is calculated based on the reference feedforward compensation torque and the feedback fine-tuning compensation torque. The final torque command for each joint servo driver is calculated based on the total compensation torque. This invention systematically solves the problems of model accuracy, dynamic response, and disturbance suppression, thereby achieving a truly high-fidelity force perception and presence.

The invention relates to a method for measuring torque using a torque sensor integrated in a robot arm joint (17), comprising the following method steps: in a calibration step, measuring torque using the integrated torque sensor and determining the position, speed and acceleration of a rotating element of the joint during idle rotation of the joint, thereby obtaining training data; -in a training step, performing a linear regression analysis to obtain a correction function indicative of the intrinsic dynamics of the robot arm joint, where the correction function is a linear combination of at least four basis functions: i. At least one friction torque basis function comprising a first speed dependent sigmoid function and / or a speed dependent linear function; and ii. At least one torque ripple basis function comprising a first position dependent periodic function; and iii. At least one inertial basis function comprising a first acceleration dependent linear function; and iv. At least one torque offset basis function, which is a constant; -in an operational measurement step, measuring the torque using the integrated torque sensor under load conditions and obtaining a corrected torque value on the basis of the measured torque value and a correction function.

The invention relates to the technical field of wiring terminals, and discloses a combined wiring terminal which comprises a wiring box and a plurality of wiring holes formed in the front side of the wiring box, and further comprises a plurality of fixing parts which are all installed on the wiring box; the number of the anti-falling parts is multiple, and the multiple anti-falling parts are arranged on the front sides of the multiple wiring holes respectively; the number of the locking parts is multiple, and the multiple locking parts are arranged on the multiple anti-disengaging parts correspondingly; the fixing part comprises a fixing assembly, and the fixing assembly is installed on the junction box. Through the arrangement of the fixing part, the problems that in the using process of an existing wiring terminal, the friction torque of threaded connection between a fixing screw and a matched connecting piece is insufficient, self-rotation loosening is likely to happen due to external force such as vibration, the connection stability of the terminal and an electric wire is poor, the connection firmness is difficult to guarantee, and then poor contact is likely to happen are solved.

The application relates to the field of vehicle technology and discloses an all-terrain vehicle, which comprises wheels, a power source, a front axle assembly and an input shaft. The wheels comprise front wheels and rear wheels. The power source drives the wheels to rotate. The front axle assembly is connected with the front wheels. The input shaft is connected with the front axle assembly and the power source. The front axle assembly comprises a driven device, an output gear, a first connecting wheel, a second connecting wheel and a friction assembly. The driven device comprises a fixedly connected driven gear and an inner housing. The output gear drives the front wheels. The first connecting wheel is engaged with the output gear. The second connecting wheel is engaged with the inner housing. The locking mechanism can drive the friction assembly to switch between a compression state and a free state. When the friction assembly is in the free state, the friction resistance between the output gear and the driven device is smaller than that when the friction assembly is in the compression state. The friction torque of the friction assembly is increased, the assembly efficiency of the friction assembly is improved, and the size of the transmission assembly is reduced.

The present application relates to a kind of friction torque testing device, belong to universal joint testing field, solve the problem that existing technology cannot effectively test the friction torque of universal joint.The present application includes base, clamping unit, measuring unit and control box, the clamping unit, measuring unit and control box are all fixedly installed on base, the clamping unit is used to clamp the universal joint to be tested, and also be used to adjust the test angle of universal joint;The measuring unit is oppositely arranged with clamping unit, and the measuring unit is used to test the friction torque of universal joint;Controller is provided in the control box, the controller is connected with measuring unit, is used to control the friction torque test that measuring unit carries out to universal joint, and exports test result.The present application realizes the effective friction torque test to universal joint, it is easy to operate, improves the production manufacturing efficiency of universal joint.

The invention discloses a power transmission line tower foundation bolt pre-tightening torque calculation method and device and a medium, and the method comprises the steps: calculating and obtaining the common parameters of a foundation bolt based on the calculation formula of the diameter of each thread of the foundation bolt and the height of the original triangle of the thread, and then calculating the pre-tightening torque of the foundation bolt through the thread mechanics theory; deriving a torque formula when the triangular thread pair is fastened and loosened so as to obtain a specified control value of the tensile stress; a foundation bolt pre-tightening torque calculation formula is obtained through derivation according to the friction resistance torque of the thread pair and the friction torque of the nut supporting end face, and is used for calculating and obtaining the pre-tightening torque values of 4.6-level, 5.6-level and 8.8-level foundation bolts. The novel calculation method for the pretightening torque of the 4.6-level, 5.6-level and 8.8-level foundation bolts can be used as a powerful support for calculation and design of the foundation bolts of the power transmission line, and a unified and definite torque value standard can be provided for construction of the foundation bolts of the power transmission line.

The invention discloses a mineral geological exploration device, which belongs to the field of mineral drilling, and comprises a drilling machine body, a vertical plate arranged on the drilling machine body, a lifting part and a traction part arranged on the vertical plate, and a downward drilling part arranged on the vertical plate and connected with the lifting part, the supporting table and the drill rod slip are fixed to one side of the drilling rig body and located below the vertical plate, and the drill rod slip is located below the supporting table; according to the scheme, the locking treatment assembly is arranged, and the joint of the two drill rods can be heated through the electromagnetic heating part; heat is firstly generated on the surface of the female buckle, the temperature of the female buckle is rapidly increased by utilizing an alternating magnetic field, so that the female buckle generates radial thermal expansion, the diameter of the female buckle is increased, and the thread fit tightness between the male buckle and the female buckle is instantaneously reduced within an extremely short time when the heat is not conducted to the inner-layer male buckle, so that the friction torque is greatly reduced, and conditions are created for subsequently applying the shackle torque; and the success rate of detaching the drill rod after the drill rod is stuck is improved.

The application provides a kind of friction torque measuring tool of centripetal roller bearing under eccentric load state, including motor, sensor and test shaft, the test shaft is arranged on the inner ring of the bearing to be measured, the spline part is provided at one end of test shaft, the motor and sensor are sequentially connected at spline part, it further includes mounting seat and limiting seat, the mounting seat is formed by assembling, and mounting seat can be loaded in the outer ring of the bearing to be measured, the other end of test shaft is rotatably provided with extension, the end of extension is used to connect the load of loading piece, and extension is slidably connected on limiting seat, and limiting seat forms anti-rotation cooperation with limiting seat. In view of the deficiency of prior art, the application provides a kind of friction torque measuring tool of centripetal roller bearing under eccentric load state, which is simple to operate and stable in measurement.

The utility model discloses a high-speed bearing friction torque detection device, which comprises a test base, an ejection mechanism, a test upper seat and a driving motor, the test upper seat is positioned right above the test base, the top of the test upper seat is fixedly connected with the driving motor, the lower surface of the test upper seat is provided with a blocking cover, the center of the test upper seat is provided with a press-fit seat, and the press-fit seat is fixedly connected with the push-out mechanism. The upper end of the test base is fixedly connected with a concave cavity, the center of the concave cavity is provided with an ejection mechanism in telescopic connection, the ejection mechanism comprises a guide rod, an ejection spring and a buckling seat, the buckling seat is fixedly connected to the top of the guide rod, the surface of the buckling seat is provided with a buckling step, and the joint of the guide rod and the test base is provided with a guide hole; the guide rod is embedded in the guide hole and is in sliding connection with the guide hole, and the bottom of the test base is fixedly connected with a torque sensor. According to the utility model, the center of the test base is provided with the ejection mechanism which can stretch up and down, so that the bearing can be conveniently ejected out of the concave cavity, and the convenience of detection operation is improved.

The invention relates to the technical field of oil exploration, and provides an analysis method and device for safe tripping-in of a well completion pipe string, and the method comprises the steps: obtaining the actual hook load data and well section information of an open hole section based on a drifting process; constructing a tubular column friction torque calculation model of the drifting drilling tool assembly; on the basis of the tubular column friction resistance torque calculation model, the actual hook load data of the open hole section and the well section information of the well, the well hole open hole section friction resistance coefficient is calibrated; on the basis of well section information and the well hole open hole section friction resistance coefficient, a solving model of the axial force of the well completion pipe string and a critical load value calculation model of well completion pipe string buckling are built; and on the basis of the solving model of the axial force of the well completion pipe string and the calculation model of the critical load value of buckling of the well completion pipe string, whether the well completion pipe string is safely tripped is determined. According to the method, the friction resistance coefficient in the drifting stage is determined, the invisible shaft cleaning state is known, the current friction resistance coefficient is used for evaluating the to-be-tripped well completion pipe string, and therefore operation risks and operation complexity are avoided, and the operation efficiency is improved.

The invention provides a driving device for reducing friction drift of a mechanical gyroscope, and belongs to the technical field of mechanical gyroscopes, and the driving device for reducing the friction drift of the mechanical gyroscope comprises two three-ferrule radial ball bearings, a bearing speed reducer assembly, a plurality of guide wheels, a plurality of reels, a stay wire and an outer frame. According to the driving device, the middle ring of the three-ring radial ball bearing rotates, the rotating directions of the two bearings are opposite, periodic reversing is achieved, the friction torque is reduced through rotation of the middle ring of the bearing and frequent reversing, and friction drift of the mechanical gyroscope is reduced.

A transmission characteristic parameter identification method for a ball screw feeding system comprises the following steps: in the normal operation process of the ball screw feeding system, acquiring voltage, current, rotating speed and other signals through a servo motor and a driving system thereof, and realizing online identification of key electromagnetic parameters and mechanical parameters in stages; under the static working condition of the motor, controlled voltage excitation is applied, stator current is measured, and identification of stator winding resistance and stator inductance is completed; under the steady-state operation condition, the flux linkage amplitude of the permanent magnet is calculated based on a q-axis voltage equation; under a dynamic operation condition, a friction torque model is established through segmented constant-speed operation, a rotor motion equation is combined, a recursive least square algorithm with a forgetting factor is introduced, and online identification of the equivalent rotational inertia of the system is realized; according to the method, complete and accurate transmission characteristic parameters can be obtained in the ball screw feeding system, the identification process is stable, the calculation complexity is low, and the method is suitable for being embedded into a servo control system.

The invention belongs to the technical field of lubricating materials, and particularly relates to a low-starting friction torque self-lubricating fabric composite material and a preparation method thereof. The preparation method comprises the following steps: by taking a polytetrafluoroethylene dispersion liquid as a spraying solution, depositing polytetrafluoroethylene nano-particles on the surface of a fiber fabric by adopting an electrostatic spraying method, so as to obtain an electrostatic spraying polytetrafluoroethylene compound fabric; the electrostatic spraying polytetrafluoroethylene composite fabric is subjected to plasma etching treatment and then impregnated-dried through a resin solution, and self-lubricating fabric prepreg is obtained; and curing and forming the self-lubricating fabric prepreg to obtain the low-starting friction torque self-lubricating fabric composite material. The starting friction torque of the self-lubricating fabric composite material can be effectively reduced, abrasion aggravation or failure of the lubricating material caused by too large starting friction torque is avoided, and then the use reliability and the service life of the self-lubricating fabric composite material and related moving parts are improved.

The embodiment of the utility model provides an unwinding and stripping mechanism suitable for various tire blank rubber materials, and relates to the field of tire manufacturing. Comprising a supporting frame, a sizing material wheel, a motor, a differential mechanism and a cloth liner wheel, the sizing material wheel and the cloth liner wheel are rotationally installed in the supporting frame, the motor is installed on the supporting frame, and a transmission shaft of the differential mechanism is connected with the output end of the motor; and two output shafts of the differential mechanism are respectively connected with the sizing material wheel and the cloth liner wheel. The sizing material wheel and the cloth liner wheel can rotate independently, the sizing material wheel is responsible for stably conveying sizing materials, the cloth liner wheel is used for orderly rolling the cloth liner, and the sizing material wheel and the cloth liner wheel cooperate to achieve separation of the sizing materials and the cloth liner; and on the other hand, when the rubber material or the cloth liner gets loose, friction torque can be generated to reduce the rotating speed, the rotating speed is distributed and adjusted through the differential mechanism, it is guaranteed that the rubber material and the cloth liner rapidly recover the tensioning state, and production continuity and stability are guaranteed.

In the prior art, an adjusting device is usually arranged in the middle of a pressing device, namely the central axis position of a single-push type disc brake, and due to the structure, a thrust arm, a threaded pipe and other components of the pressing device cannot bear large braking friction torque. The braking effect of the single-push disc brake and / or the clearance adjusting effect of the adjusting device are / is influenced. According to the single-push type disc brake, the adjusting device is arranged on one side of the pressing device and inserted into the adjusting shaft, and the multiple sets of components with the transmission function are arranged between the adjusting device and the pressing device and between the adjusting shaft and the pressing device. According to the single-push type disc brake, the thrust arm, the threaded pipe and other components of the pressing device can bear large braking friction torque, large torque can be transmitted to the friction lining, and the braking effect of the single-push type disc brake and / or the gap adjusting effect of the adjusting device are / is improved.

An external force estimation device, method, and non-transitory computer-readable recording medium estimate an external force acting on a motor. The external force estimation device includes a processor. The processor is configured to calculate an output torque of the motor using a current value supplied to the motor, estimate an inertial torque of the motor using rotational position information of the motor, estimate a first friction torque of the motor using the rotational position information of the motor, temperature-correct the first friction torque using temperature information of the motor, and estimate the external force by subtracting the inertial torque and the temperature-corrected first friction torque from the output torque.

The utility model relates to the technical field of electric cylinders, and particularly discloses an electric cylinder with non-return and hand-cranking functions, which comprises a fixed seat, a motor arranged on the fixed seat, and a cylinder body assembly, a movable rotating shaft is arranged on the fixed seat, one end of the rotating shaft is rotationally connected with an output shaft of the motor through a bevel gear pair, and the motor drives a telescopic rod of the cylinder body assembly to execute telescopic action through the bevel gear pair; the fixing base is provided with a friction pair acting on the rotating shaft and an adjusting mechanism used for adjusting the friction torque between the friction pair and the rotating shaft, and the friction torque acts on the motor through the bevel gear to enable the cylinder assembly to execute the non-return action. The electric cylinder realizes non-return through a friction pair and an adjusting mechanism, so that the motor can be effectively prevented from rotating reversely, and safety is guaranteed; the device is simple in structure and convenient to maintain, friction torque can be flexibly adjusted, the device is suitable for different working conditions, and universality is improved.

The invention relates to the technical field of water conservancy projects, and particularly discloses a method for calculating the void scale caused by soil loss under a pump station bottom plate and electronic equipment, and the method comprises the steps: determining the maximum water head difference of two sides of a pump station, the soil particle density and the total length of the pump station bottom plate, and estimating the diameter of a gap channel; and carrying out stress analysis on the microcosmic soil particle units on the side wall of the gap channel, wherein the stress comprises effective gravity, drag force, seepage force, lifting force, cohesive force, supporting force, sliding friction force and rolling friction moment. According to the method for calculating the void scale caused by soil loss under the pump station bottom plate, a particle kinetic method is introduced, gap channel water flow under the bottom plate is regarded as pressure pipe flow, particle stress analysis, a sliding / rolling instability mode and a Kolbolok-White formula of a turbulent flow hydraulic transition area are comprehensively considered, and the void scale caused by soil loss under the pump station bottom plate is calculated. The length of the void development channel can be quickly calculated based on engineering parameters, and the void position and the risk range can be determined.

The invention discloses a real-time torque determination method and device, a storage medium and a vehicle, and relates to the field of internal logic calculation of a diesel engine control unit.The real-time torque determination method comprises the steps that a basic torque value is determined according to real-time operation data of an engine, and current environment data, friction data and air inlet dynamic delay process data of the engine are obtained; determining an environment correction coefficient based on the environment data, and calculating a product of the environment correction coefficient and the basic torque value to obtain a first correction torque value; determining a friction torque loss value according to the friction data, and calculating a difference value between the first correction torque value and the friction torque loss value to obtain a second correction torque value; and a dynamic correction coefficient is determined according to the air inlet dynamic delay process data, the product of the dynamic correction coefficient and the second correction torque value is calculated, and a real-time output torque calculated value of the engine is determined. The driving performance, the economical efficiency and the emission level of the vehicle can be improved.

The utility model belongs to the field of torque measurement, and particularly relates to a ball screw friction torque measuring device which comprises a base assembly, a fixing plate and a measuring assembly. A sliding groove is formed in the top of a base of the base assembly, and four mounting blocks distributed in a rectangular shape are arranged on the outer surface. A motor and an electric push rod are installed on the fixing plate. The motor transmits power through a coupler. The measuring assembly comprises a connecting block, a first clamping plate, a second clamping plate and a long bolt, the first clamping plate and the second clamping plate are embedded into the first torque sensor and the second torque sensor respectively, the bottom of the connecting block is in sliding fit with the sliding groove, and the output end of the electric push rod is fixedly connected with the connecting block. The electric push rod drives the measuring assembly to move on the sliding groove, clamping and position adjusting of the ball screws of different specifications are achieved, the double torque sensors are used for synchronously collecting friction torque data, and the measuring efficiency and reliability of the friction torque of the ball screws can be effectively improved.

The utility model discloses a high-temperature and high-pressure hard sealing three-eccentric center butterfly valve, and relates to the field of butterfly valves. In petrochemical engineering, electric power and other high-temperature and high-pressure industrial scenes, a traditional butterfly valve has the problems of sealing failure, large friction torque, influence of thermal expansion on pre-tightening force and the like. The three-eccentric butterfly valve comprises a valve body, a valve rod, a valve plate, a valve seat and a bottom end cover, the axis of the valve plate, the axis of the valve rod and the sealing face of the valve seat form a three-eccentric structure, the valve plate comprises a plate body, a metal winding gasket, an elastic sealing ring and a pressing ring, and the outer circumferential face of the elastic sealing ring and the inner circumferential face of the valve seat serve as sealing faces for closing the butterfly valve. Zero-friction contact type sealing is achieved in the closing process of the valve through the three-eccentric structure, the sealing life is greatly prolonged, the opening and closing torque is reduced, the leakage problem caused by uneven sealing and machining errors of a traditional butterfly valve is solved through the double-sealing combination of the metal winding gasket and the elastic sealing ring, and the sealing performance of the butterfly valve is improved. The sealing stability and reliability are effectively improved, and the service life is prolonged.

The application discloses a hinge structure with variable friction torque and a commercial vehicle side tool box, and relates to the technical field of commercial vehicle side tool boxes.The hinge structure further comprises two elastic bushings, the end face of the elastic bushing away from the second pipe hinge part is provided with a friction boss, the inner side end face of the first pipe hinge part is provided with an arc-shaped segment rotating groove, when the second pipe hinge part rotates relative to the first pipe hinge part within a set range, the friction boss slides along the rotating groove, the hinge structure has a first friction torque, when the second pipe hinge part rotates relative to the first pipe hinge part beyond the set range, the friction boss is pressed against the inner side end face of the first pipe hinge part, the hinge structure has a second friction torque, and the second friction torque is doubled relative to the first friction torque. The hinge structure and the commercial vehicle side tool box have the advantages that the friction torque of the hinge structure during work is variable, and the hinge structure can assist the tool box door to realize the functions of stationary stopping and flinging open.

The utility model provides a rockshaft and bushing high-temperature repeated rotation wear testing machine, which comprises a rack, a test assembly is arranged on the rack, the test assembly comprises rockshaft clamping devices for clamping rockshafts, a resistance type square high-temperature furnace heating device is arranged between the rockshaft clamping devices, and the resistance type square high-temperature furnace heating device is connected with the rockshaft clamping devices. The rocker arm shaft right clamp is provided with a flange plate cooling water circulation system and is matched with a coupler to be connected with a torque sensor, the torque sensor and a support are connected and installed on a middle-layer plate, friction torque between a rocker arm shaft and a lining is recorded in real time, and a power motor is arranged on a bottom plate. The power motor is connected with the variable-eccentric-distance cam device through the coupler, the variable-eccentric-distance cam device drives the loading assembly to complete up-and-down reciprocating motion and drives the rocker arm shaft to achieve reciprocating motion within a fixed angle, and the force application device is loaded on the lining and connected with the rack to adjust spring force so as to achieve preset torque.

The application discloses a bearing group friction torque measurement test system, which comprises a bearing platform, a first static pressure support oil cylinder and a second static pressure support oil cylinder are arranged on the upper portion of the bearing platform, support flanges are respectively arranged on the inner sides of the first static pressure support oil cylinder and the second static pressure support oil cylinder, flow guide covers are arranged on the inner sides of the two support flanges, a rotating shaft is arranged on the inner sides of the two support flanges, a measured bearing is fixed between the outer side of the rotating shaft and the support flange, a rotating oil distributor is arranged on the inner side of the rotating shaft, the support shaft of the first static pressure support oil cylinder is connected with the rotating oil distributor, oil holes are arranged on the inner side of the support shaft of the first static pressure support oil cylinder, lubricating oil passes through the oil holes, enters the inner side of the rotating shaft through the rotating oil distributor, and then lubricates the measured bearing through the flow guide covers on the two sides of the rotating shaft. In the application, two measured bearings can be fixed, and the torque condition of a single bearing can be measured.

The application provides a grinding equipment, which comprises a box, a material table and a feeding and discharging manipulator, an operation opening is formed in the side of the box, a box door is arranged at the operation opening, a support is fixed in the box through supporting legs, a disc is installed on the support through a positioning rod, a gear ring is rotatably connected to the disc, a power motor one is installed on the support, an output shaft of the power motor one is connected with one end of a speed reducer one, a driving gear is connected to the other end of the speed reducer one, the driving gear is engaged with the gear ring, a plurality of driving shafts are vertically rotatably installed on the disc, the lower end of each driving shaft is connected with a driven gear, the driven gear is engaged with the gear ring, the upper end of each driving shaft is connected with a placing disc, the placing disc is provided with elastic positioning heads for positioning workpieces, and a plurality of spray guns are arranged on the disc.

The application provides a method and device for determining a comprehensive friction coefficient of a friction torque, and a method for early warning, wherein the method for determining comprises the following steps: acquiring a basic data set corresponding to each position in the well depth direction of a current well; segmenting the current well along the well depth direction based on the basic data set corresponding to each position, and determining a basic data set corresponding to each segment in the current well; determining a hyperparameter corresponding to each segment according to the basic data set corresponding to each segment in the current well; setting a multi-parameter nonlinear inversion algorithm corresponding to each segment according to the hyperparameter corresponding to each segment; and calculating a predicted value of the comprehensive friction coefficient corresponding to each segment by using the multi-parameter nonlinear inversion algorithm corresponding to each segment according to the basic data set corresponding to each segment in the current well. The application can improve the calculation accuracy of the comprehensive friction coefficient of the friction torque, and the friction torque can be further calculated by using the predicted value of the comprehensive friction coefficient, thereby improving the calculation accuracy of the friction torque.

The invention relates to a force-feedback steering unit for a motor vehicle, comprising a steering actuator, a control unit, an electric drive unit, and a brake unit, wherein the steering actuator can be operated by an operator to input a steering command, a steering resistance torque can be generated by means of the electric drive unit and / or the brake unit to provide the operator with a driving feel, and an actual base friction torque of the brake unit effective when operating the steering actuator is subject to random change. The invention further relates to a motor vehicle.