176 results about "Servo actuator" patented technology

The present invention belongs to the technical field of impact tests, and particularly relates to a catapult take-off and arrested impact test apparatus, comprising a supporting frame, an auxiliary supporting and guiding apparatus above the supporting frame, a mounting base below the supporting frame, a servo actuator, an oil circuit system, and a control and measurement system. The oil circuit system comprises an oil source, a low-pressure accumulator group, a high-pressure accumulator group, an oil inlet valve block, an oil return valve block, a servo valve block, an oil source low-pressure oil return pipe, an oil source high-pressure oil outlet pipe, and necessary tubes among components. The control and measurement system comprises a vibration and impact loading upper computer, a vibration impact controller, a static loading upper computer, a hydraulic servo controller, a servo valve, and an accelerometer. The servo actuator is internally provided with a displacement sensor. The present invention can be widely applied to conventional vibration and impact tests of various suspension launch apparatuses in a suspension-mounted state, as well as arrested impact tests under composite waveforms.

The embodiment of the invention provides an error compensation method and system for a linear servo actuator, and the method comprises the steps: obtaining the error sensing data of different error sources through a displacement feedback device, a temperature collection device, a force feedback device, a vibration collection device and other sensing devices, and carrying out the fusion processing of the error sensing data, according to the method, a dynamic error model capable of reflecting the coupling relation of different error sources along with time change is constructed, then an error compensation signal containing the superposition result of a feed-forward compensation component and a feedback compensation component is generated according to the dynamic error model, and finally the error compensation signal is loaded to a driving module of an actuator. And the displacement output of the actuating mechanism is adjusted to offset the error influence, and the control precision and stability of the linear servo actuator under the complex operation working condition are improved.

The invention provides a data co-processing method and system for a linear servo actuator. The method comprises the following steps: firstly, acquiring a multi-level temperature data set of a key heat source area in the linear servo actuator; performing dynamic coupling analysis processing on the multi-level temperature data set based on a thermal field prediction model to generate a temperature change trend prediction result; a dynamic heat dissipation strategy grade is matched according to the temperature change trend prediction result and real-time load current data, a heat dissipation execution control instruction is generated, and temperature feedback data in the heat dissipation process is monitored in real time; and based on a comparison result of the temperature feedback data and a preset temperature threshold, triggering a thermal failure protection mechanism to adjust the execution priority of the composite heat dissipation operation. According to the invention, power output can be reduced, external active heat dissipation control is triggered, equipment shutdown and other related instructions which are in effective contact with an abnormal working state can be triggered, so that the risk of equipment damage caused by abnormal operation of the actuator is effectively reduced, and the reliability and stability of the system are improved.

The invention discloses a visual alignment method and device for printing draft intelligent deflection and spraying vehicle cooperative control, and belongs to the technical field of machine visual localization, and the method specifically comprises the steps: firstly, arranging a calibration target in an ink-jet printing area, employing an image collection device to collect an image, and calculating a rigid transformation matrix of a visual coordinate system and a printer spraying vehicle coordinate system; establishing high-precision coordinate mapping; the control terminal reads the reference position and attitude information of the original draft in the spraying vehicle coordinate system from the production management system; the method comprises the following steps: after primary inkjet of a paperboard, shooting the whole paperboard by an image acquisition device, and extracting actual contour features and coordinates of a draft through image processing; the coordinates are mapped to a spraying vehicle coordinate system through a transformation matrix, and a rotation deviation angle and a translation deviation vector are calculated; analyzing to obtain angle and translation compensation values, packaging the angle and translation compensation values into a control instruction, and sending the control instruction to ink-jet printing control software through a real-time bus; finally, software drives a servo executing mechanism, the position and the posture of the spraying vehicle are adjusted according to a new target, and accurate alignment with the paperboard is achieved.

The invention discloses a strike-slip fault buried pipeline test loading device capable of considering soil body action, and belongs to the technical field of geotechnical engineering tests. The device comprises a double-shaft loading system, a fixing device, a pipeline system and an axial force and bending moment combined loading system, the device is specifically divided into a three-dimensional adjustable reaction frame, an axial servo actuator, a radial servo actuator, a distribution cross beam with a movable hinged support, a pipe hoop restraint device, a pipeline test piece, an adjustable arc-shaped supporting cushion block, a flange type end plate, a movable hinged support and an adjustable spring set. And meanwhile, a loading curve of the axial force and the bending load of the pipeline under strike-slip fault dislocation is established. And the axial servo actuator and the radial servo actuator carry out four-point bending loading on the pipeline according to the established load applying curve of the axial force and the bending moment. According to the test device and the loading system, the stress state of the oil and gas pipeline under strike-slip fault dislocation can be reproduced, and the failure mode and deformation characteristics of the pipeline without soil constraint under axial force and bending moment loads are disclosed.

The invention relates to the technical field of position control, in particular to a servo closed-loop full-automatic plugging visual control method and system, and the method comprises the following steps: obtaining a static direction and an attitude angle of a plugging interface, constructing a reference configuration, calculating a current attitude deviation and an inclination angle to generate an offset configuration, extracting an offset angle comparison tolerance, and adjusting a servo actuator. According to the method, the attitude judgment precision is improved by collecting the attitude angles of the contact pin and the interface to construct the angle vector, calibrating and generating the reference configuration, the direction deviation index is formed by combining the attitude deviation and the inclination angle, and the direction recognition accuracy is enhanced; an adjusting instruction is generated through the difference value of the deviation angle and the Euler angle, dynamic response and self-adaptive adjustment are achieved, current, position and speed changes in disturbance signals are synchronously collected, disturbance vectors are constructed, the trend is analyzed, the plugging state is judged, stability monitoring and closed-loop adjustment are achieved, and plugging consistency and control precision are improved.

The invention provides a helicopter nose landing gear fatigue test device, and the device comprises a bottom plate which is connected and fixed to a ground grooved rail; the fixed connecting plate is fixed on the bottom plate through a bolt; wherein the lower end connecting structure of the test piece is of a square structure, the periphery of the lower end connecting structure is connected to the fixed connecting plate through rivets, and the airplane wheel fake part assemblies are arranged on the two sides of the upper end connecting structure of the test piece. One end of the loading double-fork lug is connected with the airplane wheel fake part assembly; the torsion-proof bolt is connected with the airplane wheel fake part assembly; one end of the loading single fork ear is connected with the other end of the loading double fork ear; the servo actuation loading mechanism is connected with the other end of the loading single fork lug; wherein the servo actuation loading mechanism is used for realizing loading in the heading direction, the lateral direction and the vertical direction; meanwhile, the invention further provides a helicopter nose landing gear fatigue test method.

The invention relates to the technical field of mechanical testing, and provides a floating type metal clearance sealing servo actuator which is characterized in that a piston rod, a cylinder body, an end cover, an overlapped end cover and a metal clearance sealing ring are arranged, the piston rod is installed in the cylinder body, and the end cover is located at the end of the cylinder body and surrounds a part of a rod body of the piston rod installed in the cylinder body; the stacked end cover is located on the side edge of the end cover and locked with the cylinder body and the end cover through a locking device, the stacked end cover surrounds a part of a rod body of the piston rod installed in the cylinder body, the stacked end cover, the end cover and the cylinder body form a sealing ring assembling groove on the periphery of the piston rod after being locked, and the metal gap sealing ring is a rigid body. And the metal gap sealing ring is assembled in the sealing ring assembling groove in a floating manner and is used for sealing hydraulic oil overflowing along the superposed end cover in the cylinder body, so that the piston motion damping of the servo actuator is reduced, the test frequency and precision of the fatigue testing machine are improved, and the service life of the fatigue testing machine is prolonged.

The utility model relates to the technical field of sealing ring installation, and discloses a new energy precision servo actuator sealing ring adjusting device which comprises a guide supporting assembly, a guide ring and a guide sleeve coaxial with the guide ring, and guide grooves extending in the radial direction are distributed in the side edge of the guide ring in the circumferential direction. The movable assembly sleeve comprises an assembly sleeve body, a sliding block and an elastic annular piece, the assembly sleeve body is annularly formed by arranging a plurality of disconnected arc-shaped blocks on the periphery of the guide ring in a surrounding mode, one end of the sliding block is perpendicularly connected with the inner side face of the arc-shaped block, and the other end of the sliding block extends into the guide groove; one end of the connecting rod reamer is a conical head, the other end of the connecting rod reamer is a connecting rod with threads, and the end of the connecting rod is in threaded fit with the guide sleeve. The connecting rod reamer achieves horizontal movement through rotation, the conical head extrudes the sliding block, the elastic annular piece exerts coaxial centripetal force on the movable assembly sleeve, expansion and locking of the movable assembly sleeve are achieved, physical supporting expansion can be conducted on the installed sealing ring, and the sealing ring is restored to the original shape.

The invention relates to the technical field of stress loading tests of engineering structural members, in particular to a composite torsional loading test device. In order to solve the problem that a connecting line of rotation centers of a servo actuator and a two-force rod relative to a loading beam in a traditional composite torsional loading test device is not parallel to the length arrangement direction of the loading beam, a novel composite torsional loading test device is provided. Comprising a loading beam, a servo actuator, a two-force rod, a reaction wall, an axial jack, a reaction assembly and a base, a front vertical rotating shaft and a rear vertical rotating shaft are fixed in the loading beam, the axis connecting line of the front vertical rotating shaft and the rear vertical rotating shaft is parallel to the length arrangement direction of the loading beam, and the front vertical rotating shaft and the rear vertical rotating shaft are rotationally sleeved with a front sleeve and a rear sleeve respectively. The right end of the servo actuator and the right end of the two-force rod are fixed to the rear sleeve and the front sleeve respectively. According to the device, the data processing difficulty is simplified, and the test accuracy is improved.

The invention discloses a frequency band extension type composite vibration table control system and method based on MRAC-TVC, and the system and method are applied to a frequency band extension type composite vibration table which comprises a lower-layer low-frequency vibration table, a low-frequency long-stroke servo actuator, an upper-layer high-frequency vibration table and a high-frequency short-stroke servo actuator. The control system comprises a lower-layer low-frequency table control system and an upper-layer high-frequency table control system, the lower-layer low-frequency table control system comprises a lower-layer low-frequency vibration table, a low-frequency long-stroke servo actuator, a low-frequency table inner closed-loop subsystem and a low-frequency table outer closed-loop subsystem; the upper-layer high-frequency table control system comprises an upper-layer high-frequency vibration table, a high-frequency short-stroke servo actuator, a high-frequency table inner closed-loop subsystem and a high-frequency table outer closed-loop subsystem. According to the invention, not only is the robustness of the earthquake simulation vibration table system to cope with the load change under the influence of the dynamic response of the experimental structure increased, but also the experimental structure can be prevented from being damaged too early.

The invention discloses an aero-engine turbine blade material in-situ mechanical test system and method, and the system comprises a multi-axis loading unit which is used for simulating the multi-axis stress state of a turbine blade under an actual working condition; the high-temperature environment module is used for realizing local rapid heating of the sample; the in-situ observation system integrates a high-temperature microscope lens with a long working distance and a high-speed camera and is used for observing and recording microscopic damage evolution of the turbine blade sample in a high-temperature loading process in real time; and the control unit is internally provided with a temperature-stress decoupling control model and a microdefect identification model and is used for compensating the plastic deformation heat effect in real time and quantifying the damage factor D. Synchronous loading of centrifugal force is achieved through the three-axis servo actuator, composite stress is accurately reproduced, the load error is small, and the limitation that a traditional single-axis test cannot simulate the multi-source load of the blade is broken through. Meanwhile, plastic work-induced temperature rise interference is reduced, and the technical problem of data distortion caused by temperature drift in a high-temperature test is solved.

The utility model provides a storage box bottom structure with a servo bracket, which comprises a box bottom, a servo bracket, a servo bracket and a servo bracket, the rack force transmission plates are uniformly arranged at the circumferential position of the box bottom and extend to the scalloped segments from the top cover; the servo support is arranged on the upper end face of the machine frame force transmission plate and used for being connected with a servo actuator. The box bottom is simple and compact in structure, and the weight of the whole space carrier can be reduced.

The utility model discloses a closed-loop servo control system of a dynamic compression-shear testing machine, which belongs to the technical field of electrical control of testing machines and comprises a controller and a servo actuator, and the servo actuator is provided with an electro-hydraulic servo valve, a displacement sensor and a load sensor. The displacement sensor is connected with an input port X7 of the controller through a displacement sensor amplification conditioning circuit; the load sensor is connected with an input port X14 of the controller through a load sensor amplification conditioning circuit; and the electro-hydraulic servo valve is connected with an output port X18 of the controller through a servo valve driving circuit. According to the utility model, the axial controller, the horizontal controller and the corner controller are used for controlling the corresponding loading oil cylinders, and the displacement sensor and the load sensor in the servo actuator are used for carrying out position detection and pressure detection on a controlled unit, so that more accurate position control and force control are obtained; therefore, errors generated in the transmission process between the hydraulic station and the oil cylinder are eliminated, and the working precision of equipment is improved.

The invention relates to a modeling and working condition conversion simulation method for a double-fed variable-speed pumped storage unit under a water pumping working condition, and belongs to the technical field of pumped storage simulation. The method comprises the following steps: constructing a doubly-fed variable-speed pumped storage unit simulation model under a water pumping working condition, wherein the doubly-fed variable-speed pumped storage unit simulation model comprises a water delivery system sub-model, a reversible pump turbine sub-model, a guide vane servo execution mechanism sub-model, a doubly-fed asynchronous motor sub-model, a back-to-back converter sub-model and a rotating speed and guide vane opening optimizer sub-model; on the basis of the simulation model, all stages of water pumping working condition starting, load increasing and decreasing, steady-state operation and shutdown of the water pumping working condition of the doubly-fed variable-speed pumped storage unit are simulated, and when the active power dispatching value changes, the response conditions of the actual value of the motor rotating speed, the actual value of the guide vane opening, the actual value of the active power and the actual value of the reactive power are recorded. According to the method, the conversion process of the water pumping working condition is realized through accurate modeling and simulation of each part of the doubly-fed variable-speed pumping and storage unit under the water pumping working condition, and a basis is provided for studying that the pumping and storage unit maintains efficient operation.

The embodiment of the invention provides an intelligent temperature control system and method for a linear servo actuator, and the method comprises the steps: obtaining the surface temperature distribution data of a power device through embedding a first temperature sensing array in a circuit board of the linear servo actuator, and capturing the temperature gradient data of a heat dissipation channel through arranging a second temperature sensing array on the inner wall of a housing; inputting the data, the real-time load current and the motion frequency into a heat conduction model to generate a future temperature trend prediction result, selecting an active heat dissipation mode of a corresponding level from a preset heat dissipation strategy library according to the highest temperature point position and the temperature rise rate in the future temperature trend prediction result, sequentially activating a heat dissipation assembly set according to the active heat dissipation mode, and performing heat dissipation according to the active heat dissipation mode. And temperature feedback data are continuously acquired to adjust the heat dissipation intensity, so that intelligent and efficient temperature control of the linear servo actuator is realized, and the stability and reliability of equipment are improved.

The invention relates to the technical field of automobile part testing, in particular to automobile door hinge durability test equipment which comprises a base, an automobile door body and a control system, a first mounting seat and a second mounting seat are mounted on the base and the automobile door body respectively, and a servo actuator is hinged between the first mounting seat and the second mounting seat. A load sensor is mounted between the servo actuator and the first mounting seat, and a first displacement sensor is mounted on the servo actuator; a servo actuator, a load sensor and a displacement sensor are integrated on the same control system, a closed-loop force control system is constructed, and a traditional constant air cylinder load is replaced; the test deviation caused by load distortion is avoided, and the test authenticity, the working condition simulation precision and the data reliability of the automobile door hinge durability test equipment are ensured.

The invention discloses a ground testing device and method for a high-thrust electric servo steering engine based on torsion bar spring composite loading, and belongs to the field of aviation aircraft design. According to the invention, the elastic deformation of the torsion bar spring is utilized to resist the torque transmitted by the motor actuator cylinder, and the actual flight load of the control surface is simulated. A plurality of groups of high-rigidity spiral springs (the rigidity coefficient is 10-100N / mm) are connected in parallel, so that 0-600Nm multi-stage torque output is realized; a mechanism driven by a servo motor is integrated, and according to different spring sets and the working length of the torsion bar, a servo steering engine is driven to stretch out and draw back through a target torque real-time conversion algorithm, so that the torsion bar is rotated to achieve the target torque.

The utility model belongs to the technical field of actuator installation, in particular to an installation frame of a servo actuator, which comprises a servo actuator main body and an installation frame body, the top of the installation frame body is provided with an installation groove, and the servo actuator main body comprises an electro-hydraulic servo valve and an actuating cylinder positioned on the inner side of the electro-hydraulic servo valve. According to the mounting frame of the servo actuator, an electro-hydraulic servo valve on a servo actuator body is clamped to the inner side of a mounting groove, the front portion, the rear portion and the bottom of the electro-hydraulic servo valve are limited, a fixing screw rod is sleeved with a fastening plate so that the fastening plate can be clamped in a clamping groove, then the fixing screw rod is sleeved with a fastening lantern ring in a threaded mode, and therefore the electro-hydraulic servo valve can be fixed. The fastening sleeve ring is rotated to drive the fastening plate to move downwards, so that the fastening plate is tightly clamped with the clamping groove, the top, the left side and the right side of the electro-hydraulic servo valve can be limited, the servo actuator body can be limited and fixed in multiple directions after being installed, and the stability of the electro-hydraulic servo valve in the operation process is further improved.

The utility model relates to the technical field of optical element assembly, and provides a servo control tool for high-precision installation of a super-large lens, which comprises a base, the top end of the base is fixedly connected with a lens seat support, the top end of the lens seat support is movably connected with a lens seat, the lens seat and the lens seat support are not limited in the horizontal direction, and the lens seat support is movably connected with the lens seat. A lens is installed in the lens base, and a servo actuator is fixedly installed in the middle of the top end of the base. According to the utility model, the descending speed of the lens is accurately controlled through the cooperation of the servo motor and the ball screw, the bearing capacity is stronger, the lens can be ensured not to collide with the lens seat due to too fast descending in the self-centering process, the surface of the lens is prevented from being damaged and deformed, and the screw nut on the ball screw can be ensured to run along a straight line through the cooperation of the linear guide rail and the guide slide block; and the assembly precision and stability are improved.

The utility model discloses a two-channel servo steering engine driver capable of efficiently utilizing space, which relates to the technical field of driver space layout structures and comprises a power supply and communication board, a board-to-board connection pin header and a driving control board. The power supply is connected with the communication board and the driving control board through board-to-board connecting pin headers, and limiting holes meshed with the board-to-board connecting pin headers are formed in the power supply, the communication board and the driving control board. According to the utility model, the vertical space of the circuit board is utilized, circuit elements are distributed on a plurality of layers, the area of the circuit board is obviously reduced, the structural layout is compact, and each element on the circuit board can play a maximum role in a limited space, so that the design of a high-density servo steering engine driver is realized, and the design cost is reduced. And compared with a steering engine driver with the same function performance, the space utilization rate is greatly improved, and the structure is compact.

The invention discloses a rigid-elastic coupling flight simulation platform of a large flexible aircraft and a control method of the rigid-elastic coupling flight simulation platform. The rigid-elastic coupling flight simulation platform comprises an upper motion platform, a lower fixed base, six electric servo actuators forming a parallel structure, a control system and a main controller. The method is characterized in that hinge points of six actuators on a lower fixed base adopt a non-concyclic optimized layout, the distance between the hinge points in the pitching axis direction of the platform is remarkably increased, a base geometric configuration longer in the longitudinal direction is formed, then the platform is embedded into an advanced rigid-elastic coupling flight mechanical model, and the model is a three-dimensional model. According to the method, effective verification of key flight events which are difficult to accurately simulate by a traditional six-degree-of-freedom platform can be realized, such as wing flutter boundary exploration of a large-flexibility aircraft, structural load coupling analysis under large maneuver, flight control law performance evaluation under rigid-elastic coupling influence and the like. Physical motion of the simulation platform can accurately reproduce complex dynamic characteristics predicted by the model, so that credibility and engineering application value of flutter simulation results are greatly improved.

This invention discloses a multi-sensor continuous ultrasonic welding monitoring method based on reinforcement learning, comprising: synchronously acquiring multi-dimensional physical signals such as vibration, pressure, energy, and displacement during the welding process using a multi-sensor array; extracting calibration features of each signal and fusing them to form a high-dimensional state vector; constructing a deep reinforcement learning network model integrating two algorithm architectures, defining corresponding state and action spaces, and setting a reward function based on quality compliance, abnormal parameter states, and adjustment amplitude; within a single welding cycle, inputting the high-dimensional state vector into the model to generate optimal parameter adjustment action commands, and adjusting the ultrasonic generator output and pressure mechanism setpoints in real time through a servo actuator to form a complete closed-loop control process. This method, through the combination of multi-sensor fusion and reinforcement learning, achieves dynamic adaptive monitoring and precise parameter adjustment of the welding process, improving welding quality consistency and process stability.

The invention belongs to the technical field of hydraulic auxiliary supporting, and particularly discloses a posture control method and device for a posture adjusting platform comprising a servo actuator, and the method comprises the steps: calculating the expansion amount of the servo actuator in the posture adjusting platform based on the target posture of the posture adjusting platform; and stretching out and drawing back the servo actuator based on the stretching out and drawing back amount of the servo actuator, so that the posture adjusting platform reaches the target posture. According to the method, the attitude adjusting platform can realize efficient and complex motion operation without depending on artificial experience, and the control precision, efficiency and reliability of the attitude adjusting platform are improved.

This invention relates to the field of intelligent commerce technology, and more particularly to an electromagnetic linkage-based vehicle cruise control system based on adaptive fuzzy control. The system includes: a control switch for receiving input commands from the driver, including commands to activate / deactivate cruise control, accelerate / decelerate, cancel, and resume cruise control; a central controller connected to both a vehicle speed sensor and the control switch, the central controller incorporating an adaptive fuzzy control algorithm to generate throttle control commands based on the deviation between the current vehicle speed and a set speed; a servo actuator electrically connected to the central controller; and a motor that receives commands from the central controller to drive a synchronous belt. This invention achieves automatic and precise throttle adjustment and stable cruise control in motor vehicles, solving the problems of driver fatigue and poor driving comfort caused by the need for continuous manual throttle control during long-distance driving.

The utility model relates to the technical field of static pressure support, and discloses a high-speed large-load static pressure support servo actuator which comprises a cylinder body, the right side of the cylinder body is fixedly connected with a static pressure bearing through a screw, and the top of the cylinder body is fixedly connected with a large-flow servo valve plate through a screw. The right sides of the hydrostatic bearings are fixedly connected with sleeves through screws, the right sides of the sleeves are fixedly connected with displacement sensors through screws, piston rods are in clearance fit with the inner walls of the right sides of the hydrostatic bearings, and the two hydrostatic bearings are symmetrically distributed along the longitudinal center line of the cylinder body. The number of the large-flow servo valve plates is two, and the two large-flow servo valve plates are symmetrically distributed along the transverse center line of the cylinder body. According to the utility model, the rated output load can reach 65T, the test frequency can reach 300Hz, the speed can reach 4m / s, the design flow can reach 6000L / min, the starting pressure is less than or equal to 0.001 MPa, and the high-speed large-load arresting impact test device is suitable for a high-speed large-load arresting impact test system.

The invention discloses a double-steel-wheel road roller integrated frame reliability bench test control method, which belongs to the technical field of double-steel-wheel road roller frame testing, and comprises the following steps: obtaining analogue simulation load data under a double-large vibration working condition based on analogue simulation calculation; inputting a set load spectrum program into a control system of the electro-hydraulic servo actuator so as to apply a cyclic load spectrum to the integrated frame; gradually lifting the cyclic load spectrum to a target load level, recording a dynamic strain time history, a displacement change and an acceleration response of a key measuring point in the endurance test process, and performing online damage monitoring to obtain a periodic damage detection record; and finally evaluating the fatigue damage, the durability limit and the structural reliability of the integrated frame by combining a fatigue damage accumulation theory. The method is good in universality and adaptability, can simulate the frame vibration load spectrum based on the cooperation of the front / rear double actuators and the single shaft, reproduces the vibration compaction working conditions of the front and rear double steel wheels of the road roller in the time domain, and achieves process prediction and optimization.

The invention relates to the technical field of concrete flexural-tensile tests, in particular to a fully-graded concrete flexural-tensile test device and a test method.The fully-graded concrete flexural-tensile test device comprises an electro-hydraulic servo actuator used for applying pressure to a test piece, and a workbench is arranged below the electro-hydraulic servo actuator; the workbench is provided with a supporting assembly used for placing a test piece and an adjusting assembly used for adjusting the central axis of the test piece and the central axis of the pressure applying end of the electro-hydraulic servo actuator to be located on the same central axis. The supporting assembly comprises first movable plates which are symmetrically arranged; the adjusting assembly comprises baffles which are symmetrically arranged, the two first movable plates are arranged between the two baffles, and the baffles and the first movable plates are in sliding connection with the top face of the workbench. The central axis of the test piece placed on the supporting assembly and the central axis of the pressure applying end of the electro-hydraulic servo actuator can be located on the same central axis through the adjusting assembly, the centering precision of the test piece is effectively improved, and the data accuracy and the test efficiency are effectively improved.

The embodiment of the specification discloses a robot head module and a desktop robot, wherein the robot head module comprises a head main body, a first servo actuator, a second servo actuator and a neck support; the head main body comprises a module for realizing NFC payment; the first servo actuator is fixedly connected with the head main body and is used for driving the head main body to rotate around a first axis to execute a payment confirmation action; the second servo actuator is fixedly connected with a robot body module; the first servo actuator and the second servo actuator are connected through the neck support; the second servo actuator is used for driving the neck support to rotate around a second axis; the second axis is an axis where an output shaft of the second servo actuator is located; and the first axis is perpendicular to the second axis.