372 results about "Resultant force" patented technology

The invention relates to the technical field of ship control, in particular to a fishing boat control system based on data analysis, which comprises a traction load analysis module, a fluctuation condition division module, an attitude disturbance estimation module, a propulsion power regulation module and a rudder angle correction output module. According to the method, by analyzing the traction force load sequence value and the moment arm length of the fishing net traction point, calculating the left and right side offset torque and marking the action direction, the attitude adjustment precision of the ship is optimized, the operation sea condition level is adjusted according to data, and the ship can be subjected to more reasonable attitude estimation and adjustment under the dynamic working condition; the wind pressure change rate and the pitch angle rate are combined to judge the direction resultant force trend, and the navigation attitude is adjusted according to the sea condition grade, so that the ship can more accurately resist the influence of sea surface storm waves and maintain the course stability, and the rudder angle is corrected by adjusting the propulsion power in real time, limiting the adjustment amplitude of the propulsion power and correcting the rudder angle according to the real-time data of the navigation attitude. And the propulsive efficiency and the navigation precision are optimized.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The invention relates to a mechanical arm motion planner path optimization method, which comprises the following steps of: performing mechanical arm kinematics modeling to obtain an inverse kinematics equation; an RRT * mechanical arm path planning algorithm is improved, and the method comprises the steps that a target bias sampling strategy is adopted; introducing an artificial potential field method, constructing a target gravitational field and an obstacle repulsive force to form a potential field resultant force, adaptively adjusting the weight of the random extension performance and the weight of the target deviation performance according to an obstacle near a target point, and enhancing the target deviation weight in a range far away from the obstacle; the higher the density of the obstacles near the target point is, the more the target deviation weight is reduced, and the more the random expansibility weight is increased, so that rapid avoidance of the obstacles is realized; adjusting an extension step length according to a sampling point distance repulsive force field range; iteratively solving the collision-free path to obtain a joint group solution set corresponding to path points, and further obtaining the position and posture of an end effector of the mechanical arm; and designing a trajectory interpolation function.

The invention relates to a damping spring device suitable for industry or life, in particular to a magnetic damping spring. The magnetic damping spring comprises a supporting cylinder, a force guiding piston, a force guiding piston blocking piece, a supporting rod and two or more magnets. The force guiding piston blocking piece is arranged on the upper portion of the supporting cylinder. The supporting cylinder is of a cylindrical structure, one end of the supporting cylinder is sealed and is a bottom surface, and the other end is of an opening structure for the supporting rod to penetrate; the lower end of the supporting rod penetrates through the force guiding piston blocking piece to be connected with the force guiding piston, and the upper end extends out of an opening in the upper end of the supporting cylinder. A groove is formed in the inner bottom surface of the supporting cylinder, and a magnet A is placed in the groove; a groove for placing the magnet B is formed in the lower bottom surface of the force guiding piston; the supporting rod can conduct resultant force of vertical vibration generated by axial vibration, horizontal vibration and vertical vibration to the force guiding piston, the force guiding piston drives the magnet B to extrude downwards to generate repulsive force which is gradually increased with the distance space of the magnet A, the repulsive force is used for buffering vertical vibration force conducted by the force guiding piston, and therefore the damping effect is achieved.

The invention provides a dead weight type multi-component force sensor calibration device. The dead weight type multi-component force sensor calibration device comprises a workbench, a force reversing mechanism, a rotating platform, a loading disc and a loading assembly, the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism. A turntable is fixed on the rotating platform, a calibrated multi-component force sensor is fixed on the turntable, a loading disc is fixed at the top of the calibrated multi-component force sensor, the loading disc is provided with a loading connecting piece, and a pulley assembly is arranged at the top of the workbench; when the force of the calibrated multi-component force sensor is calibrated, the connecting line of the pulley assembly and the loading connecting piece is located on the central axis of the workbench. When the torque of the calibrated multi-component force sensor is calibrated, the connecting line of the pulley assembly and the loading connecting piece is parallel to the central axis of the workbench. According to the invention, a force loading mode is optimized, loading of each component is converted into loading of a resultant force through one rope, mechanical interference during multi-dimensional loading is avoided, high repeatability of force value loading can be realized, and accuracy and reliability of a calibration result are improved.

The invention relates to the technical field of vehicle driving control, in particular to a longitudinal vehicle speed estimation method, device and equipment and a medium. Inputting the yaw velocity and the vehicle acceleration collected in the current period, the estimated longitudinal resultant force and the estimated lateral resultant force into a vehicle speed observation model to obtain the real-time longitudinal estimated vehicle speed of the current period, and inputting the historical wheel speed and the real-time wheel speed collected in the previous period into a vehicle speed measurement model to obtain the real-time longitudinal estimated vehicle speed of the current period. And carrying out weighted fusion on the real-time longitudinal estimation vehicle speed and the real-time longitudinal measurement vehicle speed to obtain the actual longitudinal vehicle speed of the current period. According to the method, the real-time longitudinal estimated vehicle speed and the vehicle speed measurement value based on the wheel speed are fused, the accuracy of longitudinal vehicle speed estimation and the applicability to different working conditions are improved, accurate longitudinal vehicle speed input is provided for a vehicle control system, and the control effect is improved.

According to the vehicle transverse movement control method, the electronic device, the storage medium, the program product and the vehicle, according to the transverse movement requirement, the front wheel close to one side of the target transverse movement direction and the opposite angle wheel of the front wheel are controlled to deflect towards the target transverse movement direction and output the forward driving force; and a rear wheel close to one side of the transverse moving direction and opposite-angle wheels of the rear wheel are controlled to reversely deflect towards the target transverse moving direction and output reverse driving force, so that longitudinal advancing force of the vehicle is at least partially counteracted, transverse moving resultant force is formed, and track deviation caused by longitudinal force residues is improved or eliminated. Meanwhile, deflection of the wheels forms a front-outer-eight and rear-inner-eight form, torsional pendulum interference of the whole vehicle can be reduced, the stability of vehicle transverse movement is improved, and the control difficulty of vehicle transverse movement is reduced.

The invention belongs to the technical field of wind tunnel tests, and discloses an external store separation trajectory correction method suitable for engineering. The correction method comprises the following steps: setting a full-size external store separation initial condition according to a test working condition; establishing an aerodynamic database of the external store model in a no-aerial-carrier interference flow field; performing a wind tunnel external store model separation trajectory test, and measuring aerodynamic force and torque of the external store model at the current position and posture through a test balance; carrying out aerodynamic force and torque correction on the external store model; the resultant force and the resultant moment of the external store model at the current position and posture are obtained by combining the external force, including gravity, ejection force and thrust, borne by the external store model at the current position and posture; the six-degree-of-freedom rigid body motion equation is solved, and the position and the posture of the external store model at the next moment are obtained; and outputting an external store model separation track. The correction method can correct the influence of the difference between the actual speed and the wind tunnel airflow speed on the outer hanging object separation trajectory, and has engineering practical value.

The invention relates to a fast-response closed-loop micro-thrust measurement method and device based on dynamic thrust inversion. The method comprises the following steps of obtaining kinetic equation parameters of a measurement system; in each control period, calculating a control quantity, and taking the control quantity as a standard force; in the current control period, based on displacement data obtained through measurement of the measurement system and the kinetic equation parameters, the resultant force of the previous control period is calculated through a kinetic inversion algorithm; on the basis of the difference between the standard force of the previous control period and the resultant force, the thrust to be measured of the previous control period is obtained through calculation; and performing low-pass filtering processing on the thrust to be measured to obtain a final result. Compared with the prior art, the method can improve the measurement response speed on the premise of not increasing the noise level.

The invention discloses a large shield hob layout modeling method and system based on an improved CSM model, and belongs to the technical field of shield tunneling. Selecting corresponding basic parameters based on the project condition and the target cutter; analyzing the generation mechanism of the stress of the target cutter and the mutual relation to obtain the stress characteristics of the target cutter; an improved CSM model is established, and the actual stress of the target tool is obtained through calculation; taking the minimum total radial resultant force of the cutter head and the minimum overturning moment as objective functions, proposing a resultant force constraint condition, an overturning force constraint condition, a stress constraint condition, a mass center position constraint condition and a cutter spacing constraint condition, and constructing a hobbing cutter layout optimization mathematical model; and obtaining a hob layout scheme by using the hob layout optimization mathematical model. According to the method, the improved CSM model is introduced, the vertical force and the rolling force of the hob are considered, and the lateral force is innovatively brought into an analysis framework, so that the comprehensive stress characteristics of the hob in actual tunneling are reflected more accurately.

The embodiment of the utility model provides an eccentric swing type polishing grinding head and polishing equipment, and relates to the field of polishing and grinding. The eccentric swing type polishing grinding head comprises a driving piece, an eccentric piece, a driving swing piece, a driven swing piece and a grinding block. The eccentric part is in transmission connection with the driving part and drives the driving swing parts to swing, each driving swing part is connected with a driven swing part, the total number of the driving swing parts and the driven swing parts is an even number, the driving swing parts and the driven swing parts are arranged in a surrounding mode, and the driving swing parts and the driven swing parts are matched in a meshed mode through driving swing teeth and driven swing teeth. And each driving swing piece and each driven swing piece are connected with grinding blocks. According to the eccentric swing type polishing grinding head, the swing directions of any two adjacent grinding blocks in the grinding blocks arranged in the surrounding mode are opposite, the swing angles are consistent, the resultant force of friction force formed by swing motion is zero, impact on all joints is reduced, and the service life of the eccentric swing type polishing grinding head is prolonged.

The invention provides a line spectrum damping device and method based on dynamic anti-resonance, the line spectrum damping device comprises a main mass block, a positive stiffness spring, a base, an inertial element and a self-adjusting element, the upper end and the lower end of the positive stiffness spring are fixed between the main mass block and the base respectively, and the inertial element comprises a lever and an inertial mass block; the lever is movably clamped and positioned through a flexible hinge mechanism fixed on the main mass block and the base, the inertia mass block is fixed at one end of the lever and is connected with the base through a negative stiffness mechanism, the self-adjusting element is fixed on the base, and two fulcrums are arranged at the top end of the self-adjusting element and are respectively contacted with the lever; the lever ratio of the damping device can be adjusted in real time according to the excitation frequency, automatic adjustment of the vibration isolation frequency is achieved, the vibration isolation effect is enhanced, and meanwhile the weight is reduced.

The invention discloses a composite bearing load calculation method considering ferrule deformation. The composite bearing load calculation method comprises the following steps: step 1, enabling m rolling body rows to be equivalent to springs capable of bearing axial load, radial load and torque; constructing a non-rigid shaft system stress schematic diagram of the composite bearing; step 2, calculating the acting load on each inner ring according to the deformation of the mandrel; 3, calculating the Hertz contact deformation of the rigid ferrule under the loading condition; 4, calculating the contact deformation generated by the deformation of the ferrule; 5, solving the total radial deformation of the raceway contact considering the deformation of the ferrule; 6, calculating the load of the rolling body at the position by using the total deformation of the rolling body and the inner and outer ferrules; and 7, verifying the resultant force of each row of rolling bodies and the reliability of the external load borne by the bearing. According to the method, the acting load of each row of rolling bodies of the composite bearing is calculated, and load analysis is performed on the composite bearing under the condition of considering the deformation of the ferrule, so that a more accurate calculation result is obtained and applied to bearing design.

The invention discloses a precession difference engine, and relates to the technical field of precession mechanics of aerospace propellers and gyroscopes. The precession difference engine effectively solves the problems that an existing rocket engine is not suitable for continuous sailing in the universe and fuel is exhausted. According to the thought, the precession performance of the gyroscope is utilized, the precession direction of the flywheels is different from the rotation direction of the outer frame, when the base and the connecting rod drive the left flywheel and the right flywheel to rotate along with the outer frame, force needed by the left side and force needed by the right side are different, and therefore the counter-acting force borne by the base is also different; after the two counter-acting forces in the opposite directions counteract each other, a new resultant force is generated, and the direction of the resultant force is the direction of thrust, so that the thruster body pushes the spacecraft to continuously fly in a vacuum cosmic environment.

The utility model relates to the technical field of robot tools, and discloses a robot tool with a balance structure. The robot tool with the balance structure comprises a hoisting plate, a limiting block is fixedly installed below the hoisting plate, an adapter block is movably installed below the limiting block, a fixing shaft is installed in the center of the adapter block in a penetrating and inserting mode, an adjusting piston is fixedly installed below the adapter block, and the adjusting piston is movably installed below the limiting block. If the gravity center of the article is not located below the gravity center of the hoisting plate, the sizes of forces borne by the adjusting pistons on the front side and the rear side of the hoisting plate are inconsistent, and the controller controls the elongation of the adjusting piston on one side according to monitoring data of the tension sensor, so that the included angle between the adjusting pistons changes; and meanwhile, the connecting plate can drive the limiting plate to enable the article to rotate, so that the gravity center of the article is located below the resultant force of the pulling force applied to the article by the adjusting piston, and the adjusting piston reaches the stress balance state.

The invention relates to the technical field of vibratory hammers, in particular to a pile driver with a self-righting function, which comprises a fixing frame, a shell, a first rotating shaft, a second rotating shaft, an adjusting assembly, a pendulum bob and a driving assembly, the shell is slidably arranged on the fixing frame, the first rotating shaft and the second rotating shaft are rotatably arranged on the shell, and the second rotating shaft rotates around the first rotating shaft on the shell; the first rotating shaft and the second rotating shaft generate resultant force perpendicular to the connecting line direction of the two rotating shafts during autorotation and drive the shell to slide on the fixing frame. The adjusting assembly is used for driving the second rotating shaft to rotate around the first rotating shaft; the pendulum bob is rotationally arranged on the fixing frame, and the gravity center of the pendulum bob is located below the rotating axis of the pendulum bob; the driving assembly is used for driving the shell to rotate when the gravity center of the pendulum bob is located on the axis of the foundation pile. The adjusting assembly is arranged to change the position of the second rotating shaft relative to the first rotating shaft, so that the direction of resultant force generated by rotation of the first rotating shaft and the second rotating shaft is changed, and the inclined foundation pile can be straightened.

In a marine propulsion system, a controller determines a point of action of a resultant force of first propulsion devices at a stern of a hull during a parallel motion based on a target direction and a required propulsion force, controls the first propulsion devices to apply the resultant force in the target direction to the point of action, and controls a second propulsion device in front of the stern to apply a propulsion force to cancel undesired components of the resultant propulsion force. The controller moves the point of action backward as the required propulsion force increases during the parallel motion, and increases the propulsion force of one first propulsion device in a forward direction when the point of action reaches a rear limit position and the propulsion force of another first propulsion device in a backward direction reaches an upper limit propulsion force.

The invention relates to a wheel hub motor angle module vehicle skew stability control method and device, and relates to the technical field of vehicle control, and the method comprises the steps: determining a target longitudinal resultant force, a target rotation angle of each wheel and an expected additional yaw moment based on the speed and pose parameters of a vehicle and corresponding expected values; based on the target longitudinal resultant force, the target turning angle of each wheel and the expected additional yawing moment, obtaining a target four-wheel output moment; and controlling wheels according to the target four-wheel output torque. By controlling the target four-wheel output torque, the target longitudinal resultant force, the target rotating angle of each wheel and the expected additional yawing torque of the vehicle in the oblique running state are accurately controlled, and unnecessary yawing caused by external lateral force interference is effectively restrained. The problems that in the prior art, when external lateral force interference is generated and external yawing moment is formed, unnecessary yawing possibly occurs when a four-wheel independently-driven vehicle runs obliquely at a high speed, then the situation that the vehicle is unstable possibly occurs, and use safety is affected are solved.

The invention relates to the technical field of vehicle safety, in particular to a leveling anti-tilting device and method for a vehicle, a tilt angle sensor is installed on a vehicle chassis, and the tilt angle of the vehicle chassis is detected; adjusting different driving modes of the vehicle according to the detected inclination angle of the vehicle chassis; calculating a target reverse inclination angle of the bearing bracket by taking the resultant force of the gravity and the inertia force as a reference; the angle of the bearing support is dynamically adjusted through the control assembly according to the calculation result, the bearing device is dynamically leveled, so that the anti-tilting capacity is obtained, and the safety in the vehicle transportation process is achieved. By dynamically adjusting the level of the bearing device and the reverse inclination angle of the bearing support, the anti-rollover capacity of the vehicle can be effectively improved under various complex terrain conditions, and stable driving and operation safety of the vehicle are guaranteed.

The utility model relates to the technical field of bridge supports, and particularly discloses a bridge curve anti-pulling type support which comprises an upper support plate, a stainless steel sliding plate, a plane wear-resisting plate, a spherical surface middle steel plate, a spherical surface wear-resisting plate, a lower support plate and a rubber sealing ring. The spherical middle steel plate is embedded at the upper end of the spherical wear-resisting plate, the plane wear-resisting plate is embedded at the upper end of the spherical middle steel plate, the stainless steel sliding plate is arranged at the upper ends of the spherical middle steel plate and the plane wear-resisting plate, the upper support plate covers the lower support plate and is located at the upper end of the lower support plate, and the rubber sealing ring is embedded between the upper support plate and the lower support plate. The universal rotation and universal bearing can be carried out, the requirements for transmission, rotation and movement of counter-force generated by various loads of an upper structure can be well met, it is guaranteed that the resultant force of the counter-force is concentrated and clear, safety and reliability are achieved, the applicable temperature range is large, durability is good, a tensile structure is arranged, and bridge end saddle weights can be reduced.

The invention relates to the technical field of underwater power equipment, in particular to an obliquely and symmetrically distributed underwater propeller which adopts a group of driving assemblies which are obliquely and symmetrically arranged based on the center line of a shell, and the horizontal deflection angles of the two driving assemblies are 8.5 degrees. Comprising a driving motor, a bearing, a bearing oil seal, a bearing seat, a rotating shaft, a rotating shaft oil seal, a gasket and propeller blades, when the water flow is disordered and a leftward or rightward water flow impact resultant force exists in a horizontal plane determined by a connecting line of the driving motors and the propeller blades, a resultant force which is equal to the current water flow impact resultant force in magnitude and opposite to the current water flow impact resultant force in direction is generated in the plane by changing the differential speed of the two driving motors; and the interference of the water flow impact resultant force on the underwater propeller is counteracted. According to the underwater propeller, the static and dynamic underwater stability of the underwater vehicle can be greatly improved, the good anti-interference capability is achieved, meanwhile, the structural arrangement is compact, and the size of the underwater vehicle can be greatly reduced.

The invention discloses a Z-shaped propeller underwater turnover installation method based on dynamic mechanical analysis, and relates to the technical field of ship propulsion system installation. Comprising the steps that S1, a comprehensive stress safety coefficient is obtained through sensor data and a mechanical model, and the water flow resultant force is corrected; s2, a hoisting mode is determined according to the allowable turning-over angle of the propeller, and meanwhile real-time hoisting is conducted according to the actual turning-over angle of the propeller; and S3, the propeller and the propeller base are attached through the guide rail and the hydraulic buffer system. According to the invention, the tension of the sling is automatically adjusted through the preset threshold value and the comprehensive stress safety coefficient, so that the stress of the sling in the hoisting process can be ensured to be always within a safety range, and the risk of sling breakage or propeller overturning is avoided; and the influence of water flow change on the propeller is dynamically corrected, so that the hoisting stability under complex sea conditions is improved.

This invention provides a static weight-based multi-dimensional force sensor calibration device, comprising: a worktable, a force reversing mechanism, a rotating platform, a loading disk, and a loading assembly; the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism; a turntable is fixed to the rotating platform, and a multi-component force sensor to be calibrated is fixed to the turntable; the loading disk is fixed to the top of the multi-component force sensor to be calibrated, and a loading connector is provided on the loading disk; a pulley assembly is provided on the top of the worktable; when calibrating the force of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is on the central axis of the worktable; when calibrating the torque of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable. This device optimizes the force loading method, changing from loading each component separately to loading the resultant force through a single rope, avoiding mechanical interference during multi-dimensional loading, achieving high repeatability of force loading, and improving the accuracy and reliability of calibration results.

The embodiment of the invention relates to a method for detecting external force borne by a gate, a method for locking the gate, the gate and a computer readable storage medium. The method for detecting the external force borne by the gate comprises the steps that the torque current of a motor is detected, the output torque of the motor is determined according to the torque current, and the output force of the motor is further determined according to the output torque; detecting position data of the motor and determining the speed and the acceleration of the gate according to the position data; determining wind resistance applied to the gate according to the speed of the gate; the resultant force borne by the gate is determined according to the accelerated speed of the gate; and the external force borne by the gate is determined according to the output force of the motor, the wind resistance and the resultant force borne by the gate. When the method is used for detecting the external force or other similar external force applied to the gate by a person, the response is sensitive, and whether the external force is applied by the person or certain force is generated during the operation of the electric gate can be distinguished. Moreover, the method is realized mainly based on calculation of some basic physical quantities related to the motor instead of setting related high-cost sensors, so that the cost can be remarkably reduced, and large-scale application can be realized.

The invention provides a buoyancy auxiliary transmission module and a buoyancy auxiliary transmission system, which are implemented in water, and buoyancy difference is formed on two sides of a belt transmission mechanism of the buoyancy auxiliary transmission module by utilizing buoyancy to drive the belt transmission mechanism to work. In one or more rotation cycles of the belt transmission mechanism, the buoyancy can be effectively utilized to realize kinetic energy output, indirect output driving can be formed, and energy consumption of a direct driving source is further saved. According to the buoyancy device, the volume of the air cavity can be changed by changing the shape, the vertical direction of the buoyancy device is changed based on the dead weight of overall movable mechanisms such as the air storage cylinder, the piston rod and the auxiliary heavy body and resultant force formed by buoyancy generated by water on the buoyancy device, and the shape of the air storage cylinder can be automatically changed; and on the premise that the total mass is not changed, the volume of the discharged fluid is changed through form change, corresponding different resultant forces are obtained, and different motion states are generated in water.

The invention belongs to the field of bearing manufacturing, particularly relates to a comprehensive stress analysis and calculation method for a main bearing of a shield tunneling machine, and mainly provides a comprehensive stress analysis and rapid calculation method for the design and checking process of the main bearing of the shield tunneling machine. According to the method, the force generated by the bolt, the contact force between the roller and the raceway surface, the contact force between the flange surface and the ferrule and the calculation method of the external force borne by the system are determined, the stress forms a resultant force matrix, a nonlinear equation set is solved to obtain a displacement matrix, and finally the bearing condition of each stress unit is obtained. According to the method, factors such as clearance, roller shaping and ferrule compression are considered, and the influence of interaction among the units on the bearing conditions of the units is considered, the stress conditions of the rollers, the bolts and the contact surfaces can be simply and quickly calculated, and a basis is provided for design and check of the main bearing of the shield tunneling machine.

The invention discloses a friction-free spring type safety valve, belongs to the field of pressure vessel protection, and aims to solve the problem of large friction force of a large-diameter valve rod of a steam extraction pipeline of a steam turbine. Comprising an upper guide assembly and a lower guide assembly, the upper guide assembly comprises a second permanent magnet ring, the lower guide assembly comprises a first permanent magnet ring, the upper portion of a valve rod assembly is sleeved with an upper magnetic ring, the lower portion of the valve rod assembly is sleeved with a lower magnetic ring, and the first permanent magnet ring, the second permanent magnet ring, the lower magnetic ring and the upper magnetic ring are all axially magnetized magnetic rings. The upper magnet ring and the lower magnet ring are arranged in a homopolar opposite mode, the polarity directions of the upper magnet ring and the second permanent magnet ring are the same, the upper magnet ring and the second permanent magnet ring form a magnetic action gap, the polarity directions of the lower magnet ring and the first permanent magnet ring are the same, and the lower magnet ring and the first permanent magnet ring form a magnetic action gap. The radial magnetic effect resultant force of the second permanent magnet ring on the upper magnetic ring points to the axis of the upper guide assembly, the radial magnetic effect resultant force of the first permanent magnet ring on the lower magnetic ring points to the axis of the lower guide assembly, and the friction force of the valve rod assembly is zero.

A constant force mechanism comprises a rack, a moving part, an output part, a positive stiffness structure and a negative stiffness structure, and the moving part is movably arranged on the rack; the output part is movably arranged on the rack, and the output part is movably connected with the moving part and drives the moving part to move, so that the output part and the moving part get close to each other or get away from each other; the positive stiffness structure comprises a first curved beam and a second curved beam which are connected between the rack and the moving part, and the first curved beam and the second curved beam are arranged in a crossed mode. The negative stiffness structure comprises a first permanent magnet and a second permanent magnet, the first permanent magnet is arranged on the rack, the second permanent magnet is arranged on the side, away from the positive stiffness structure, of the moving part, and the S pole of the second permanent magnet is opposite to the N pole of the first permanent magnet, or the N pole of the second permanent magnet is opposite to the S pole of the first permanent magnet. According to the constant force output device, the elastic deformation force of the positive stiffness structure and the magnetic force of the negative stiffness structure are overlapped, so that the resultant force is kept constant within a certain displacement range, and constant force output is achieved.

The application relates to the technical field of motors, in particular to a rotor and a motor. The rotor is arranged on the inner circumferential side of a stator of the motor, and comprises a rotor core and a magnetic unit. The material of the rotor core is a non-magnetic conductive material, and a plurality of fixing grooves are arranged on the rotor core and are distributed along the circumferential direction of the rotor core. The magnetic unit is arranged in the fixing grooves, and the magnetic unit comprises a permanent magnet and a magnetic conductor. In the same magnetic unit, the permanent magnet is located on the same side of the magnetic conductor in the circumferential direction of the rotor core, and the end of the permanent magnet close to the magnetic conductor is of the same type of magnetic pole. The magnetic field generated by the excitation of the stator can complete the closure of the magnetic flux through the magnetic conductor, the magnetic potential difference formed by the magnetic permeance difference of the magnetic circuit can generate a drag torque F1, and the magnetic potential difference formed by the magnetic field generated by the excitation of the stator and the magnetic field of the permanent magnet can generate a drag torque F2. The resultant force of the drag torque F1 and the drag torque F2 can drive the rotor to rotate.

The utility model discloses a high-stability automobile motor shaft which comprises a shaft body, and a belt wheel installation section and a gear installation section which are arranged at intervals are arranged on the shaft body. At least two notch grooves suitable for screws to be arranged are formed in the peripheral wall of the belt wheel installation section, and the notch grooves extend in the axial direction. And a straight knurling structure matched with the gear inner ring is arranged on the gear mounting section. Compared with the prior art, the belt wheel is installed through the belt wheel installation section arranged on the shaft body, when the belt wheel is installed, the bolt is screwed into the threaded hole of the belt wheel to be pressed on the notch groove so as to fix the belt wheel, and therefore the effects of fixing the belt wheel and stably transmitting torque are achieved. The straight knurling structure of the gear mounting section enables the meshing force between the rotating shaft and the gear to be sufficient.