1132 results about "High torque" patented technology

Systems and methods for clamping force estimation are provided. In one example, operations include generating a displacement-torque curve based on displacement data and motor torque data of an electric motor of the EMB system for a braking episode having a switchover time. The operations also include determining a high torque value and a low torque value at the switchover time from the displacement-torque curve. The operations further include calculating a friction coefficient based on the high torque value and the low torque value. The operations yet further include determining a non-linear coefficient from the displacement-torque curve. The operations include estimating a clamping force for a constant speed based on the friction coefficient and the non-linear coefficient.

The invention discloses a magnetic adjusting assembly, a motor, an electric drive system and a vehicle, and the magnetic adjusting assembly comprises a magnetic conductive part which is suitable for being movably disposed on one side of a rotor in the radial direction, so as to adjust the magnetic flux passing through the rotor. According to the magnetic adjusting assembly, the magnetic flux passing through the rotor is adjusted to change the magnetic flux of the magnetic flux short-circuit loop formed by the magnetic conductive piece and the rotor, so that the adjustment of the magnetic flux of the main magnetic field is realized, the adjustment is convenient, and the motor applying the magnetic adjusting assembly has the advantages of a constant torque area and a constant power area; and a constant-power operation region and a high-efficiency region are effectively widened while high torque density and power density are ensured.

The invention relates to a powder metallurgy high-performance copper-based alloy friction plate for a torque limiter of a wind power coupler and a preparation method of the friction plate. The friction plate is composed of, by mass, 9%-14% of carbon, 1%-3% of tin, 2%-8% of friction components, 12%-18% of iron, 0%-3% of nickel and the balance copper. The preparation method comprises the steps of burdening, mixing, forming, sintering and machining. The prepared high-performance copper-based alloy friction plate is particularly suitable for a torque limiter of a wind power generation coupler. The alloy disclosed by the invention is reasonable in component design, simple and controllable in preparation process, easy to realize batch, large-scale and automatic production, high in production efficiency, energy-saving and moderate in cost; the obtained product is excellent in performance, and can greatly improve the torque control precision, save the maintenance cost and improve the operation safety and reliability of wind power equipment when being applied to a wind power coupling torque limiter.

The invention discloses a three-dimensional magnetic flux disc type motor with axial and radial mixed magnetic flux, which belongs to the technical field of permanent magnet motors, and comprises a rotor mechanism and a stator mechanism, the stator mechanism comprises an iron core, the iron core is mounted on a mounting position, the iron core is provided with axial stator teeth, and the axial stator teeth are provided with axial windings. The iron core is provided with radial stator teeth, and the radial stator teeth are provided with radial windings. The axial rotor comprises an axial rotating disc and first permanent magnets, and the first permanent magnets are evenly arranged on the axial rotating disc at intervals in the circumferential direction. The radial rotor comprises a radial rotating disc and second permanent magnets, and the second permanent magnets are evenly arranged on the inner wall face of the radial rotating disc at intervals in the circumferential direction. According to the three-dimensional magnetic flux disc type motor with the axial and radial mixed magnetic flux, it can be ensured that the motor has high power and high torque density, the motor can meet the high-power working requirement, and the whole motor can be lightened while the structural size of the motor is reduced as much as possible.

The invention relates to the technical field of suspension conveying systems, in particular to a servo-driven intelligent suspension conveying system, and solves the problems that when a servo motor suspension conveying system accelerates or decelerates, due to inertia of goods at the bottom, the power output power of a suspension system of a servo motor and the burden of a brake system are heavy, and the service life is short. And the service life of a servo motor and a brake system is shortened after long-time work. A servo-driven intelligent suspension conveying system comprises a conveying guide rail module, a guide rail sliding block, a sliding block driving module, a conveying suspension module and a control module, and the sliding block driving module is located on the outer side of the guide rail sliding block. When the guide rail sliding block is started, magnetic repulsion of the electromagnet to the guide rail sliding block is adjusted, the output torque of the double-shaft servo motor and the rotating load of the driving shaft are reduced, the situation that the double-shaft servo motor is damaged or breaks down due to high torque and high load when the double-shaft servo motor is started is avoided, and the service life of the double-shaft servo motor is prolonged.

The invention discloses a torque monitoring method, system and device, a controller, a storage medium and a product. The torque monitoring method comprises the steps that energy conversion data of a vehicle and motion data of the vehicle are acquired; determining a first actual output torque of the motor according to the energy conversion data of the vehicle; determining a second actual output torque of the motor according to the motion data of the vehicle; performing rationality verification on the first actual output torque and the second actual output torque to obtain a rationality verification result; comparing at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result under the condition that the rationality verification result is that verification is passed; and executing a corresponding control strategy according to the torque comparison result. According to the embodiment of the invention, the accuracy and safety of torque monitoring are improved under the condition that the hardware cost is saved.

A rotating sprinkler for irrigation is disclosed. The sprinkler can include a stator spaced upstream from a turbine to form a mixing region therebetween. The stator can define a primary flow path and a bypass flow path. The primary flow path is aligned relative to the plurality of blades so that water exiting the primary flow path traverses the mixing region and impinges on the plurality of blades at a first angle of attack. The bypass flow path is aligned relative to the primary flow path so that water exiting the bypass flow path intersects the water exiting the primary flow path in the mixing region to cause the water exiting the primary flow path to impinge on the plurality of blades at a second angle of attack. The sprinkler can further include a valve configured to regulate flow between the primary flow path and the bypass flow path.

The invention discloses a torque sensor and an implementation method thereof, the torque sensor comprises a composite elastomer and a sensing strain gauge, the composite elastomer comprises an outer fixing ring, an inner fixing ring, a spoke strain beam and a Y-shaped strain beam, the outer fixing ring and the inner fixing ring are of a concentric ring structure, the spoke strain beam is radially connected with the outer fixing ring and the inner fixing ring, and the Y-shaped strain beam is connected with the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between the adjacent spoke strain beams, and the sensing strain gauges are printed on the Y-shaped strain beams and are connected to form a Wheatstone bridge. The anti-interference capability of the torque sensor can be improved, and the torque sensor can be widely applied to the technical field of sensors.

The invention discloses a finger joint driving device which is used for being directly connected with finger joints of a robot dexterous hand and driving the finger joints to act. The working voltage of the finger joint driving device is smaller than or equal to 12V, and the rotating speed is smaller than 30000 rpm. The motor comprises a housing, a stator and a rotor. The stator is fixedly arranged in the machine shell, and the stator and the machine shell are coaxially arranged. The rotor penetrates through the stator, and the rotor and the stator are coaxially arranged; the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is completely cylindrical, the winding is fixed on the inner wall of the iron core, the iron core is fixed with the casing, two axial end surfaces of the winding are respectively flush with two axial end surfaces of the iron core, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3: 1; the rotor comprises magnetic steel and a rotating shaft, the rotating shaft penetrates through the magnetic steel and is fixed with the magnetic steel, and the ratio of the number of the magnetic steel to the number of virtual slots of the stator is 2: 3. Compared with the prior art, under the limitation that the working voltage is smaller than or equal to 12 V and the target rotating speed is smaller than 30000 rpm, the torque of 5.2 mN * m is output, and fingers of the dexterous hand can be directly driven.

The invention relates to the technical field of electric vehicle driving control, and particularly discloses a driving control system and method for intelligent transfer equipment. The driving control method is used for solving the driving control problems of large current tracking error, high torque ripple and noise vibration, unstable regeneration and poor low-speed micro-climbing and ramp restarting response caused by sampling and inverter time lag, parameter drift, bus fluctuation and degradation faults of a six-phase permanent magnet synchronous motor of intelligent transfer equipment under the complex working condition of a port. The system comprises an AT-AGV, a PMSM, a six-phase inverter, a DC bus, a controller and a planning module. Through midpoint sampling, two-beat equivalent time-delay modeling and limited deadbeat voltage optimization, and in combination with xy harmonic compensation, online parameter identification, three-section regeneration trajectory and fault-tolerant SVPWM, robust stability and high-efficiency recovery under low-overshoot rapid torque establishment, low ripple and low NVH, bus fluctuation and fault are realized; accurate current tracking and smooth traction are realized during micro-crawling and ramp restarting.

The utility model discloses an electronic door lock device and a cabinet door. The electronic door lock device comprises a lock body and a lock catch. A driving component, a speed reduction component and a lock rod component are arranged in the lock body, a lock hole communicated with an inner cavity of the lock body is formed in the side wall of the lock body, the output end of the driving component is connected with the input end of the speed reduction component, the output end of the speed reduction component is connected with the lock rod component, and the driving component can drive the lock rod component to move to a first position or a second position. The lock catch is connected with a spring bolt, the spring bolt is provided with a lock groove, and the lock catch can move up and down relative to the lock body, so that the spring bolt is inserted into the lock body through the lock hole. The speed reduction component can convert high rotating speed and low torque of the driving component into low rotating speed and high torque and then output the low rotating speed and the high torque to the lock rod component, and therefore the lock rod component is driven to move. According to the electronic door lock device, the driving part with lower cost can be adopted, so that the manufacturing cost is reduced.

A gear speed change device. The gear speed change device comprises a first planetary gear train (100). The first planetary gear train (100) comprises a first ring gear (101), a first planetary carrier (102), first planetary gears (103), a solar idle gear (104), and a planetary idle gear (105). The planetary idle gear (105) and the first planetary gears (103) are all mounted on the first planetary carrier (102); each first planetary gear (103) comprises a pinion (103a) and a large gear (103b) coaxially connected to the pinion (103a); the planetary idle gear (105) and the pinion (103a) are both engaged with the inside of the first ring gear (101) and are both engaged with the outside of the solar idle gear (104); the pinion (103a) can float along the radial direction thereof relative to the first planetary carrier (102), and the maximum radial floating amount of the pinion (103a) is greater than the maximum radial floating amount of the planetary idle gear (105); and the large gears (103b) of at least two first planetary gears (103) are arranged in a staggered manner in the axial direction, and projections thereof on a plane perpendicular to the axial direction overlap with each other. The gear speed change device has a relatively high torque load density, and can give consideration to a small volume, a large transmission speed ratio and a high torque load capability.

The invention discloses a built-in cycloid speed reducer of a humanoid robot joint pin type output structure and a joint module. The problems that an existing robot joint module is large in size, complex in structure, insufficient in transmission reliability and bearing capacity and the like are solved. According to the invention, the frameless torque motor and the cycloidal-pin wheel speed reducer are designed in an integrated built-in manner, so that the structure is highly compact; an output mechanism of the cycloidal speed reducer adopts a pin type output structure, a plurality of transmission pin shafts arranged on an output flange are directly meshed with pin holes in a cycloidal gear, planetary motion of the cycloidal gear is accurately converted into pure rotation motion of the output flange, and the pin type output structure has the advantages of being simple in structure, reliable in transmission and high in bearing capacity. In addition, a parabola modification method is adopted for the tooth profile of the cycloidal gear, the meshing characteristic of the gear is optimized, the transmission stability is improved, and noise is reduced. The joint module has the advantages of being high in integration degree, high in torque density, high in rigidity, high in impact resistance and the like, and is particularly suitable for humanoid robot joints with strict requirements for space and performance.

The invention relates to the technical field of motors, in particular to a double-drive coaxial motor which comprises a main drive motor, an auxiliary drive motor and a motor shell, the main drive motor is arranged at the front end of the motor shell, and the auxiliary drive motor is arranged at the rear end of the motor shell. The main driving motor and the auxiliary driving motor are coaxially connected through a main shaft and synchronously output power; the two ends of the motor shell are connected with a front end cover and a rear end cover respectively, the front end cover is provided with a main drive motor rotary transformer device, and the rear end cover is provided with an auxiliary drive motor rotary transformer device. Through the coaxial integrated design of the main drive motor and the auxiliary drive motor, dual-power superposition output is achieved under the same size, the torque and power density are remarkably improved, the main drive motor and the auxiliary drive motor share the same shell, rotating shaft and cooling system, the overall size and weight are greatly reduced, and the problem of space occupation of a traditional split type dual-motor system is solved.

Winding grooves are formed in a stator iron core in the circumferential direction, the winding grooves comprise outer-layer stator grooves on the yoke portion side and inner-layer stator grooves on the side close to a permanent magnet rotor, harmonic windings are embedded in the outer-layer stator grooves, and the harmonic windings are double-layer short-pitch windings; a fundamental wave winding is embedded in the inner-layer stator slot, and the fundamental wave winding is a centralized winding; a plurality of modulation teeth are arranged in the stator iron core along the circumferential direction in a non-equidistant manner; the number pf of pole pairs of the fundamental wave winding is consistent with the number pf of pole pairs of the permanent magnet rotor, the number ph of pole pairs of the harmonic wave winding is different from the number pf of pole pairs of the fundamental wave winding, and the number Ns of poles of the modulation teeth meets the condition that Ns = pf + ph, Ns = (1 + 2n) ph or Ns = (1 + 3n) ph. The technical defects that a traditional permanent magnet motor cannot utilize harmonic waves and a conventional magnetic gear effect permanent magnet motor cannot efficiently utilize harmonic waves and fundamental waves to do work can be overcome, the torque density of the motor is greatly improved while the power factor is not degraded, and the complexity, the system cost and the additional loss of a magnetic field modulation structure are reduced.

The invention discloses a hydraulic humanoid robot leg structure driven by a blade swing cylinder and a direct-drive valve bank, which comprises a thigh structure, a shank structure and a foot plate structure, the thigh structure is provided with a direct-drive multi-way valve bank, the end part of the thigh structure is provided with a hip joint blade swing cylinder actuator and a hip joint yaw shaft piston cylinder actuator, and the hip joint yaw shaft piston cylinder actuator is provided with a hip joint blade swing cylinder. A knee joint pitch shaft blade swing cylinder actuator is installed at the end of the shank structure, and a piston cylinder actuator is installed on the shank structure. By adopting the hydraulic driving scheme of combining the precise blade oscillating cylinder and the piston cylinder and concentrating the servo valve group on the outer side of the thigh, the defects of the existing technical schemes of speed reducer motor driving, lead screw electric cylinders, traditional hydraulic piston cylinders and the like in high-load, high-speed movement and long-term use are successfully overcome. The lower limb structure of the humanoid robot has the characteristics of high torque output, high-speed rotation, excellent heat dissipation and durability, low electromagnetic interference and the like, and provides higher flexibility, reliability and adaptability for the lower limb structure of the humanoid robot.

The embodiment of the invention provides a torque control method and device, equipment and a medium. The method comprises the steps that firstly, when a switching signal that a vehicle enters a constant-speed cruise mode from a self-adaptive cruise mode is detected, the speed deviation of the real-time vehicle speed of the vehicle relative to the target speed of the constant-speed cruise mode is obtained; then, if the speed deviation is larger than the preset speed deviation, according to the real-time speed and the target speed, the adjusting speed of adjusting the vehicle from the real-time torque to the maximum torque corresponding to the vehicle is determined; and finally, according to the adjusting speed, the vehicle is controlled to be adjusted from the real-time torque to the maximum torque. Through the method, the pause feeling of the vehicle during mode conversion is reduced, and the driving experience feeling is improved.

The invention provides a wheel torque distribution method, device and equipment and a vehicle, and is applied to the technical field of vehicle control, and the method comprises the steps: determining the structure perception characteristics representing the torque control priority of each wheel based on the current wheel state data, and determining the torque control priority of each wheel based on the wheel state data of a first preset time period until the current moment; and predicting the state of each wheel in a second preset time period after the current moment to obtain state prediction information of each wheel, performing torque distribution on each wheel based on the structure perception characteristics and the state prediction information, and determining the target torque of each wheel. The key driving wheel, namely the wheel with the highest torque control priority, can be effectively identified, so that the wheel torque is reasonably distributed in time, the intelligent distribution of the wheel torque is realized, the vehicle escape time and energy consumption are reduced, and the control precision is improved.

A power tool includes a housing, a motor supported within the housing, a transmission operatively coupled to the motor, the transmission shiftable between a low speed high torque mode and a high speed low torque mode, a spindle configured to receive torque from the motor through the transmission, a speed selector including an actuator movable to shift the transmission between the low speed high torque mode and the high speed low torque mode, a shaft movable in response to movement of the actuator, a magnet coupled to the shaft, and a controller configured to vary an operating speed of the motor based on a detected position of the magnet.

A mounting system for mounting a device to an object includes a mount having a fixed portion, and a movable portion slidingly engaged with the fixed portion. The fixed and the movable portions defining a base, and when engaged with one another defining a circular profile. A lever is pivotally mounted to the fixed portion so as to operably engage the movable portion in a locked position and disengage from the movable portion in an unlocked position. A connector is operably engaged with the fixed portion. An indexed adjusting system has a coin-shaped body having a series of circumferentially equally spaced semi-spherical projections on both sides of the body, and first and second series of circumferentially equally spaced dimples positioned on the fixed portion and on the connector, respectively. The semi-spherical projections on both sides of coin-shaped body engages the circumferentially equally spaced dimples positioned on the fixed portion and the connector, respectively. A fastener engage the fixed portion with the connector, such that a low torque on the fastener permits a smooth friction hold between the mount and the connector, a medium torque permits an indexed friction hold and a high torque is a fully locked condition of the mount and the connector.

Systems, methods, and devices for blowout preventer independent alignment and installation of a tubing hanger within a subsea well system. A tubing hanger orientation assembly may be included with a rotary actuator that provides high torque adjustment and fine alignment of the tubing hanger with respect to other subsea equipment. At least one sensor may be included to measure and confirm an orientation of the tubing hanger for proper alignment and connection to a subsea wellhead.

The invention provides a power shaft torque determination method and device, electronic equipment and a storage medium, relates to the technical field of sensors, and is applied to a power shaft torque determination system which comprises a power shaft and two signal trigger wheels installed at the two ends of the power shaft respectively, and the two signal trigger wheels are detected by at least one pair of sensors respectively. The two sensors in each pair of sensors are symmetrically arranged about the rotating center of the power shaft; the determination method comprises the following steps: acquiring output signals corresponding to each pair of sensors; determining current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors; and determining the torque of the power shaft through the current deflection angle. By adopting the technical scheme provided by the invention, the measurement precision of the current deflection angle can be improved through the output signal obtained in real time without waiting for one circle of rotation of the power shaft through complementarity of each pair of sensors symmetrically arranged about the rotating center of the power shaft, so that the real-time performance and accuracy of torque detection are improved.

The invention relates to the technical field of new energy commercial vehicle transmission systems, in particular to a distributed planet row gear shifting structure and a gear shifting mode thereof.The distributed planet row gear shifting structure comprises a driving mechanism, an integrated gear shifting sliding sleeve, a gear ring, a planet carrier, a planet wheel, a sun wheel and a half shaft; the integrated gear shifting sliding sleeve is movably installed on the side portion of the planet carrier, and the planet carrier is connected with the half shaft and used for outputting power to the wheel end. By the adoption of the distributed planet row structure, switching of two gears can be achieved, gear switching can be conducted according to the comprehensive requirements for the dynamic property and economical efficiency of the whole vehicle, a transmission shaft and a differential mechanism in a traditional central driving structure are omitted, energy consumption is further reduced, the torque density of the planet row structure is higher than that of a parallel shaft structure, and the torque density of the planet row structure is higher than that of the parallel shaft structure. And multiple groups of meshing functions are integrated through the integrated gear shifting sliding sleeve, the number of parts is reduced, the overall size is reduced, the weight is reduced, and the layout requirements of light weight and small space of the new energy commercial vehicle are met.

The application provides an engine torque calibration method and device and a vehicle controller, and belongs to the field of vehicle control, wherein the method comprises the following steps: obtaining an engine target torque and a generator signal torque of a hybrid vehicle; calculating a torque deviation of the hybrid vehicle according to the engine target torque and the generator signal torque; calculating an engine demand torque of the hybrid vehicle based on self-learning of the torque deviation, and calibrating the engine signal torque based on the engine demand torque, so that the engine signal torque, the generator signal torque and the engine target torque of the hybrid vehicle are consistent. Through the embodiment of the application, the problems that the real engine torque is too large to cause poor fuel consumption performance and poor drivability in low-temperature extreme working conditions are solved, the problem that the real engine torque is too small to cause unbalanced electric quantity in the emission cycle test process is solved, the fuel consumption performance of the vehicle is improved by improving the torque accuracy, the low-temperature driving performance of the vehicle is improved, and the electric quantity is more easily balanced.

The utility model relates to the technical field of ships, and discloses a marine electric direct-drive cabin opening module and a ship cabin opening and closing control system, which comprise a permanent magnet motor, a shell with an opening at one end, a stator and a rotor with an output end, the speed reduction mechanism comprises a first-stage planetary speed reduction assembly, a second-stage planetary speed reduction assembly and a third-stage planetary speed reduction assembly which are sequentially in speed reduction transmission connection; the first-stage planetary speed reduction assembly comprises a first-stage annular shell and a first-stage speed reduction component arranged on the first-stage annular shell, the output end is in transmission connection with the first-stage speed reduction component, one end of the first-stage annular shell is covered with a first positioning frame, the other end of the first-stage annular shell is covered with a second positioning frame, and the first positioning frame is fixedly connected with the machine shell and seals the opening. And the first positioning frame and the second positioning frame are rotationally matched with the first-stage speed reduction component respectively. The mechanical and electrical integration fusion design is adopted, high-power and high-torque output can be achieved, the first positioning frame and the second positioning frame share the radial load of the first-stage speed reduction component, inter-tooth impact can be reduced, the service life is prolonged, and energy conservation and low-carbon emission are facilitated.

The invention relates to a speed reducer for a robot joint. The speed reducer comprises an inner gear shell, a high-speed input hollow shaft, a first cycloidal gear, a second cycloidal gear, a first roller pin set, a second roller pin set, a pin shaft, an output flange plate and a low-speed output hollow shaft. A first cam and a second cam are integrally arranged on the circumferential outer wall of the high-speed input hollow shaft; the high-speed input hollow shaft is sleeved with the first cycloidal gear and the second cycloidal gear. The first roller pin set and the second roller pin set are arranged along the driving contours of the first cam and the second cam respectively. A plurality of pin shafts which are circumferentially distributed along the rotation axis of the output flange plate are fixedly arranged on the output flange plate; the pin shaft correspondingly penetrates through the pin shaft holes in the first cycloidal gear and the second cycloidal gear in sequence; the output flange plate is rotationally arranged in the inner gear housing; and the low-speed output hollow shaft on the output flange plate penetrates through the high-speed input hollow shaft. The invention has the characteristics of small axial size, high torque and high rigidity.

A single-motor-driven planetary gear train electric drive axle comprises a drive motor, a main speed reduction unit, a planetary speed reducer and a differential mechanism which are in transmission connection in sequence. A sun gear of the planetary reducer is connected with a sun gear shaft, an inner gear ring is fixed, and a planet carrier is in transmission connection with the differential. A gear shifting mechanism is further arranged between the main speed reduction unit and the planetary speed reducer and used for connecting power connection between the main speed reduction unit and the sun wheel shaft or power connection between the main speed reduction unit and the planet carrier. According to the electric drive axle, the gear shifting mechanism is arranged at the output end of the main speed reduction unit, the sun gear and the planet carrier are arranged, the inner gear ring is fixed, the occupied space is small, and the weight is lighter. When first-gear large-torque output is carried out, a transmission system has the requirements for high strength and high rigidity, the requirement for second-gear efficient operation is met, the part machining difficulty of a planet row gear shifting mechanism is lowered, the strength and reliability of an electric drive axle assembly for planet row gear shifting are effectively improved, and the product machining and assembling difficulty is effectively lowered.

The invention relates to the technical field of drilling engineering, and particularly discloses an intelligent torque control method suitable for a high-torque drilling screw rod, and the method comprises the steps: collecting drill string vibration frequency data and bit pressure adjustment frequency data in real time in a drilling process, extracting a zero-sequence vibration frequency characteristic value in combination with sparse Fourier transform, and evaluating the vibration stability of a drill string; meanwhile, differential adjustment frequency is analyzed through empirical mode decomposition and Hilbert transform, differential adjustment frequency characteristic values are constructed to measure bit pressure adjustment stability, the two characteristic values are fused into a comprehensive characteristic vector, the comprehensive characteristic vector is input into a risk prediction model trained based on a random forest algorithm, and the bit pressure adjustment stability is improved. Intelligent identification of whether the drill column is in a high-frequency resonance critical state or not is achieved, and when it is judged that resonance risks exist, the system automatically triggers a torque compensation mechanism, and bit pressure and torque output are dynamically adjusted.

The invention discloses a rotor type gas energy engine and a working method thereof, and the rotor type gas energy engine comprises a rotor shell which is internally provided with a cylindrical rotor chamber; the rotor is arranged in the rotor chamber and comprises a rotor shaft and at least one rotor wing arranged on the rotor shaft, and the rotor chamber is divided into rotor cavities with the same number as the rotor wings by the rotor; the airflow inlet and outlet channel comprises at least one air inlet channel and at least one air outlet channel which are arranged on the rotor shell and are equal in number; the compressed air source mechanism is connected with the air inlet channel; and the electric control system is used for controlling start and stop of the air inlet valve and the exhaust valve and the air flow provided by the compressed air source mechanism so as to be matched with rotation of the rotor to complete a working cycle through the three processes of air inlet, acting and exhaust. The rotor type gas energy engine is small in vibration, low in noise, selectable in low speed, medium speed and high speed, fast in stepless speed regulation response, and capable of effectively improving work efficiency, meeting the requirements of low rotating speed, high torque and other different rotating speeds and torques, and achieving stable operation of the engine.

The invention discloses a micro-robot joint driving mechanism and a multi-joint micro-robot, and relates to the technical field of micro-robots. According to the joint driving mechanism, through the axial integrated arrangement of the shell, the brushless outer rotor motor, the multi-stage meshing transmission assembly, the power output connecting piece and the circuit board and the integrated design of a stator of the brushless outer rotor motor and the circuit board, a compact micro structure is achieved; and a closed-loop position detection system formed by a magnetic encoder and a magnetic ring is matched, so that high torque output and high transmission efficiency are realized under the condition of miniaturized volume, and meanwhile, part redundancy is reduced so as to reduce the cost. The mechanism solves the problem that miniaturization, high torque and low cost are difficult to consider in the prior art, and can be widely applied to miniature multi-joint robots.