323 results about "Torque density" patented technology

Disclosed in the present invention are a dual three-phase asymmetric stator-type double-permanent-magnet vernier electric motor and an improved model predictive current control method therefor. The electric motor comprises a stator core, stator permanent magnets, a rotor core and a rotor ferrite, wherein the stator core is formed by alternately arranging umbrella-shaped armature teeth and quasi-rectangular armature teeth in the circumferential direction, the stator permanent magnet, which is magnetized radially outwards, is adhered to each of openings on two sides of the umbrella-shaped armature teeth, and a fan-shaped auxiliary slot is formed between the umbrella-shaped armature teeth and the stator permanent magnet; and the shape of the rotor core is similar to a gear, the rotor ferrite is embedded in the rotor core using a Halbach-based alternating-pole array, and the length of the rotor ferrite is greater than the length of the rotor core and the length of the stator core. In addition, the present invention uses a model predictive current control system based on a virtual voltage vector to construct a cost function to select the voltage vector having the minimum switching frequency, and make same operate preferentially. The present invention not only improves the torque density of the electric motor, but also significantly reduces switching losses in model predictive control.

The invention provides a single-ring sum-difference dual-modulation three-rotor coaxial magnetic gear and a new energy automobile hub motor. The magnetic gear comprises an h-type dual-modulation magnetic ring, an outer rotor, an inner rotor and a middle rotor. The inner rotor, the middle rotor and the outer rotor are coaxially and sequentially nested from inside to outside; the h-type dual-modulation magnetic modulation ring is positioned among the inner rotor, the middle rotor and the outer rotor, and is coaxially arranged with the inner rotor, the middle rotor and the outer rotor; the middle rotor is used as a power input rotor, the inner rotor and the outer rotor are used as power output rotors, a sum modulation effect is adopted from the middle rotor to the inner rotor, a difference modulation effect is adopted from the middle rotor to the outer rotor, and the sum modulation effect and the difference modulation effect share the h-type dual-modulation magnetic modulation ring; therefore, the h-type dual-modulation magnetic flux modulation ring modulates the axial magnetic flux and the transverse magnetic flux at the same time. The torque transmission capacity of the magnetic gear can be improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention discloses a double-stator single-rotor planetary reduction type joint module which comprises a hollow shaft, a driver assembly, an axial magnetic flux motor, a planetary reducer and an output shaft, and the driver assembly, the axial magnetic flux motor and the planetary reducer are sequentially arranged on the hollow shaft in the axial direction; the axial magnetic flux motor comprises a rotor assembly and two stator assemblies. The two stator assemblies are symmetrically arranged on the two different sides of the rotor assembly in the axial direction. The rotor assembly comprises a rotor supporting plate and a plurality of magnetic steels, and the plurality of magnetic steels are circumferentially distributed on the rotor supporting plate; the stator assembly comprises a stator iron core and a plurality of stator windings, the stator iron core comprises a yoke part iron core and a plurality of tooth part iron cores, and each stator winding is wound on the corresponding tooth part iron core. According to the joint module, wiring can be facilitated, the integration level can be improved, the torque density of the joint module is effectively improved, and the heat dissipation performance is good.

The invention relates to a double-layer permanent magnet radial field modulation type magnetic gear and a new energy automobile hub motor, the magnetic gear comprises a high-speed rotor, a magnetic regulation stator and a low-speed rotor, the high-speed rotor is composed of a high-speed rotor iron yoke and high-speed rotor permanent magnets, and the low-speed rotor is composed of a low-speed rotor inner layer permanent magnet, a low-speed rotor outer layer permanent magnet and a low-speed rotor iron yoke; the high-speed rotor iron yoke, the high-speed rotor permanent magnet, the flux-adjustable stator, the low-speed rotor inner-layer permanent magnet, the low-speed rotor outer-layer permanent magnet and the low-speed rotor iron yoke are coaxially nested in sequence from inside to outside; the high-speed rotor permanent magnet is composed of a plurality of permanent magnet modules of umbrella-shaped tooth structures, the low-speed rotor inner-layer permanent magnet is magnetized in a Halbach arrangement mode, the low-speed rotor outer-layer permanent magnet is magnetized in the radial direction, and the high-speed rotor permanent magnet is magnetized in a Halbach arrangement mode of umbrella-shaped teeth. The torque transmission capacity of the magnetic gear can be improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention provides a multi-magnetic-circuit single-magnetic-ring dual-modulation three-rotor coaxial magnetic gear and an automobile hub motor, the magnetic gear comprises an inner rotor, a T-shaped dual-modulation magnetic ring, an intermediate rotor and an outer rotor, the inner rotor, the T-shaped dual-modulation magnetic ring and the intermediate rotor are nested in sequence and are coaxially configured to form a radial and modulation coaxial magnetic gear structure; the middle rotor, the T-shaped dual-modulation magnetic modulation ring and the outer rotor are sequentially nested and coaxially arranged to form an axial and modulation coaxial magnetic gear structure; and sum modulation is adopted between the inner rotor and the intermediate rotor, sum modulation is adopted between the intermediate rotor and the outer rotor, and the two sum modulation and sum modulation share one T-shaped dual-modulation magnetic modulation ring, so that the monotonic magnetic ring dual-modulation effect is realized. The size of the magnetic gear can be reduced, the torque transmission capacity of the magnetic gear is improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention discloses a stator double-permanent-magnet flux reverse motor, and belongs to the technical field of motors. The motor comprises a stator, a rotor, tangential permanent magnets, Halbach array permanent magnets and windings, the stator is of a double-salient-pole structure formed by combining T-shaped stator iron core blocks. The rotor and the stator are coaxially assembled, and an air gap is reserved between the rotor and the stator. The tangential permanent magnets are installed between the stator iron core blocks and magnetized in the tangential direction, and the adjacent directions are opposite. The Halbach permanent magnets are arranged at the openings of the stator slots, so that the Halbach permanent magnets have a magnetism gathering effect and can provide relatively high air gap flux density; the winding adopts a double-layer centralized design and is embedded into a stator slot; the tangential permanent magnets and the Halbach permanent magnets form a parallel magnetic circuit, and the air gap flux density and the torque density are improved through magnetic field superposition; the number of winding pole pairs meets a specific formula, and the motor structure can be optimized through a finite element method. Compared with a traditional motor, the motor has higher air gap flux density, no-load back electromotive force and torque, lower torque pulsation and a higher power factor, and the electromagnetic performance and the operation stability are remarkably improved.

The invention discloses a double-rotor single-stator planetary speed reduction type joint module which comprises a hollow shaft, a driver assembly, an axial magnetic flux motor, a planetary speed reducer and an output shaft, and the driver assembly, the axial magnetic flux motor and the planetary speed reducer are sequentially arranged on the hollow shaft in the axial direction; the axial magnetic flux motor comprises a rotor support, a stator assembly and two rotor assemblies, the two rotor assemblies are symmetrically arranged on the two different sides of the stator assembly in the axial direction respectively, and the two rotor assemblies are in transmission connection with the power input end of the planetary reducer through the rotor support. The power output end of the planetary reducer, the output shaft and the hollow shaft are in transmission connection in sequence; the stator assembly comprises a plurality of stator units which are circumferentially arranged; each of the two rotor assemblies comprises a rotor supporting plate and a plurality of magnetic steels. Wiring arrangement of the joint module can be facilitated, the integration degree is improved, and the torque density of the joint module is effectively improved.

The invention discloses a high-torque-density magnetic harmonic deceleration axial permanent magnet servo motor, and an axial magnetic field modulation type motor comprises a stator, a motor left rotor, a motor right rotor, a permanent magnet and an armature winding. The radial magnetic harmonic reducer comprises a magnetic harmonic reducer stator, a magnetic harmonic reducer outer rotor, a magnetic harmonic reducer inner rotor, a permanent magnet and a ball bearing. Through the integrated structure of the magnetic harmonic reducer stator and the magnetic field modulation type motor stator, the magnetic harmonic reducer and the magnetic field modulation type motor are directly connected, a mechanical reducer structure of a traditional servo system is omitted, and the overall weight of the servo system is effectively reduced. The magnetic field modulation type motor adopts an axial structure so as to improve the torque density of the servo system. The magnetic harmonic reducer is embedded in a hollow position in the magnetic field modulation type motor by adopting a radial structure, so that the design of a light-weight high-integration servo system is realized. The magnetic field modulation type motor and the magnetic harmonic reducer both adopt a surface-mounted permanent magnet structure so as to reduce torque pulsation.

The invention provides an asymmetric rotor structure for improving the torque density of a motor, a motor and a method, the rotor structure comprises an iron core, the iron core is provided with a shaft hole, a plurality of magnetic steel groups are distributed in the circumferential direction of the shaft hole of the iron core at equal intervals, and each magnetic steel group comprises a plurality of permanent magnet mounting groove structures, an air groove structure and a plurality of permanent magnet structures, each permanent magnet mounting groove structure is correspondingly provided with one permanent magnet structure; any number of permanent magnet mounting groove structures are configured to have a first arrangement direction on the iron core, and the air groove structures are configured to have a second arrangement direction on the iron core; wherein the first layout direction and the second layout direction are asymmetrically arranged in a space coordinate; a magnetic flux path is blocked, and magnetic flux leakage is reduced. The asymmetric design can optimize the magnetic field distribution of the permanent magnet, so that the phase difference between the reluctance torque component and the permanent magnet torque component is greatly reduced, and the effective torque superposition of the reluctance torque component and the permanent magnet torque component under wider working conditions is realized.

The invention discloses an axial-radial composite magnetic flux electromagnetic drive with a hollow stator, which is characterized in that two radial rotors and two axial rotors respectively form air gap magnetic fields in the radial direction and the axial direction of the stator; the air-gap magnetic field interacts with symmetrical current in a coil winding surrounding the mutually-embedded stator structure to generate output torque and synchronous rotating speed, so that the end winding of the motor is effectively utilized through the design of the four rotors, the air-gap area of the motor for electromechanical energy conversion can be effectively increased while the size of the system is not increased, and the efficiency of the motor is improved. The torque density of the motor is increased; meanwhile, symmetrical air-gap magnetic fields are formed at the two axial ends of the stator by the radial or axial magnetic pole array with alternately magnetized N poles and S poles, so that the radial magnetic flux and the axial magnetic flux are decoupled, the thickness of the stator yoke can be reduced, the stator yoke is even hollow, and the cost and the weight are reduced; in addition, the hollow part of the stator core also provides favorable conditions for arranging a heat dissipation flow channel in the internal space of the motor, so that the torque output capability of the motor is further improved.

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 discloses an asymmetric permanent magnet auxiliary synchronous reluctance motor rotor structure for a new energy vehicle, and relates to the technical field of motor rotor structures, the asymmetric permanent magnet auxiliary synchronous reluctance motor rotor structure comprises an asymmetric rotor, the right side of the front part of the asymmetric rotor is connected with a first outer side air slot A, and the left side of the first outer side air slot A is provided with a second outer side air slot A; and the bottom side of the second outer side air slot A is connected with a second outer side air slot B. The rotor has the advantages that by constructing a phase coordination mechanism of an asymmetric magnetic circuit topology, optimization of current phase angle difference of permanent magnet torque and reluctance torque is realized, the comprehensive performance of the motor is further improved, the rotor adopts a composite configuration of a double-layer U-shaped magnetic barrier and a spoke type magnetic barrier, and the rotor is more compact in structure and more compact in structure. Differentiation configuration is carried out on permanent magnet space distribution based on the axis asymmetry principle, so that phase cooperation of the maximum value of the reluctance torque and the maximum value of the permanent magnet torque is achieved, and the dual optimization objectives of torque density improvement and pulsation suppression are achieved.

The invention relates to a torque motor which comprises a stator and a rotor which are separated by a single-layer air gap. The stator comprises a stator iron core, a stator concentrated winding and stator permanent magnets, the stator iron core is composed of stator teeth and a stator yoke, the stator concentrated winding is wound on the stator teeth, and a plurality of stator permanent magnets are embedded in the surface, close to the single-layer air gap, of each stator tooth; the rotor comprises a rotor iron core, a rotor concentrated winding and rotor permanent magnets, the rotor iron core is composed of rotor teeth and a rotor yoke, the rotor concentrated winding is wound on the rotor teeth, and a plurality of rotor permanent magnets are embedded in the surface, close to the single-layer air gap, of each rotor tooth; the magnetizing directions of all the stator permanent magnets are the same, and the magnetizing directions of all the rotor permanent magnets are the same. The number of pole pairs of the permanent magnets of the torque motor is large, the magnetic field modulation effect can be fully utilized to generate torque, the magnetic pole structure of the consequent poles can reduce the number of the permanent magnets, the concentrated winding is adopted to reduce the loss and volume of the end winding, and the torque density and the permanent magnet utilization rate are improved.

The invention discloses an axial skewed pole mixed excitation V-shaped Halbach permanent magnet flux switching motor, which comprises a first stator, a first rotor, a magnetic isolation disc, a second rotor, a second stator, an excitation winding and an armature winding which are sequentially and coaxially stacked by adopting a multi-section axial stacked structure, each of the first stator and the second stator comprises a double-U-pi type stator iron core module, a magnetic isolation sheet, a permanent magnet pair and a permanent magnet; the first rotor and the second rotor are respectively attached to the two sides of the magnetic isolation disc, the first stator and the second stator are respectively composed of six double-U-pi type stator core modules and six magnetic isolation sheets in an alternating mode, permanent magnet pairs are arranged in the double-U-pi type stator core modules, and permanent magnets are arranged on the outer sides of the double-U-pi type stator core modules; the excitation winding is wound on the double U-pi type stator iron core module in a crossing mode, and the armature winding is wound on the root portion of the double U-pi type stator iron core module. The permanent magnet synchronous motor has the advantages of high power density, high torque density, high stability, wide speed regulation range, low harmonic loss, high fault tolerance and high reliability.

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 invention relates to the technical field of electromagnetic driving, in particular to a coiled special-shaped groove composite magnetic flux three-dimensional winding water-cooling electromagnetic driving motor, which comprises a rotor assembly, a rotor assembly, a motor assembly and a motor assembly, and is characterized in that the rotor assembly comprises an axial rotor and a radial rotor, the axial rotor is used for generating axial magnetic flux, and the radial rotor is arranged at the outer end part of the axial rotor and is used for generating radial magnetic flux; the stator assembly comprises a three-dimensional winding, a radial stator iron core and an axial stator iron core; the three-dimensional winding is used for interacting with the composite magnetic flux generated by the axial rotor and the radial rotor respectively; the radial stator iron core is embedded with the three-dimensional winding; the axial stator iron core is arranged at one end part of the radial stator iron core and is embedded with the three-dimensional winding; wherein a plurality of first special-shaped mounting grooves for mounting the three-dimensional windings are annularly formed in the radial stator iron core, and a plurality of second special-shaped mounting grooves for mounting the three-dimensional windings are annularly formed in the axial stator iron core. According to the invention, the torque density of electromagnetic driving is improved.

The invention belongs to the technical field of motors, and discloses a rotor claw pole shaft radial hybrid excitation torque motor which comprises a radial magnetic field armature stator and a shaft radial magnetic field rotor. And a radial air gap is formed between the radial magnetic field armature stator and the radial magnetic field rotor. Wherein the axial-radial magnetic field rotor comprises two claw pole type rotor iron cores, a plurality of radial magnetic flux permanent magnets and axial magnetic flux permanent magnets. The two claw-pole type rotor iron cores are arranged in opposite directions, so that the claw-pole type rotor tooth parts are staggered with each other. The radial magnetic flux permanent magnets are sequentially inserted between the claw pole type rotor tooth parts, the magnetizing directions of the radial magnetic flux permanent magnets repel each other, and the axial magnetic flux permanent magnets are arranged between the two claw pole type rotor yoke parts. Through the action of the tangential permanent magnets and the axial permanent magnets on the claw pole rotor, cross coupling of magnetic circuits is realized, the air gap flux density is enhanced, the torque density and efficiency are improved, and the integration level and the space utilization rate of the motor are improved.

The invention relates to a hybrid magnetic circuit type multi-unit single-winding two-degree-of-freedom motor, which comprises a rotor module and a plurality of stator assemblies, and is characterized in that each stator assembly comprises a plurality of E-shaped stator iron cores, E-shaped permanent magnets positioned between the adjacent E-shaped stator iron cores, and armature windings wound in the stator assemblies; two end permanent magnets are respectively embedded in the end parts of the two sides of the E-shaped stator core, a plurality of rotor teeth are arranged outside the rotor module, the rotor teeth with the same number form a group, each group of rotor teeth form a row along the circumferential direction of the rotor module, and the rotor teeth in each adjacent row are distributed in a staggered manner. According to the invention, the structure is simple and firm, the processing is facilitated, the multi-unit topology facilitates the structure expansion, the units are mutually redundant to improve the operation reliability, the stator module provides a rotating magnetic field and a traveling wave magnetic field at the same time, the integration level is high, and the magnetism gathering structure with alternately placed stator cores and E-type permanent magnets can generate the effect of focusing magnetic flux. Therefore, the air gap magnetic flux density is improved, high torque density is generated, and high application and popularization value is achieved.

The invention discloses a few-tooth-difference speed reducer integrated on a robot joint part, and belongs to the technical field of robot joint driving. Comprising an input system, an output system and a feedback system, wherein the input system comprises a driving part and a planetary gear, and the driving part drives the planetary gear to rotate; the output system comprises a fixed gear ring box body, an output gear ring and an output flange, the fixed gear ring box body and the output gear ring are both meshed with the planetary gear, the output flange is fixedly connected with the output gear ring, and the number of teeth of the output gear ring is 1-4 smaller than that of the fixed gear ring of the fixed gear ring box body; the feedback system is connected with the output flange, detects rotating speed, torque and rotating angle data in real time and transmits the rotating speed, torque and rotating angle data to a robot main control system. The device is small in size, high in torque density and suitable for humanoid robots and auxiliary medical equipment.

The invention discloses a dual three-phase asymmetric stator type dual permanent magnet vernier motor which comprises a stator and a rotor. The stator comprises a stator iron core and stator permanent magnets, the stator iron core is formed by alternately arranging a plurality of umbrella-shaped armature teeth and quasi-rectangular armature teeth in the circumferential direction, and the consequent pole array permanent magnets which are magnetized outwards in the radial direction are pasted to openings in the two sides of each umbrella-shaped armature tooth respectively. A sector-ring-shaped auxiliary groove is formed between the umbrella-shaped armature teeth and the stator permanent magnets, and the auxiliary groove is filled with a non-magnetic-conductive material. The rotor comprises a rotor iron core and a rotor ferrite, the rotor iron core is similar to a gear in shape, the rotor ferrite is embedded in the rotor iron core by adopting a Halbach-based consequent pole array, and the length of the rotor ferrite is larger than the length of the rotor iron core and the length of the stator iron core. According to the invention, the torque density and the permanent magnet utilization rate are improved by using additional working harmonic waves generated by an asymmetric design and a double-permanent-magnet structure and an unequal-length structure.

The invention provides an outer rotor 3D magnetic flux permanent magnet synchronous motor, which comprises a rotor assembly, a stator assembly and a rotating shaft, the rotor assembly comprises a radial permanent magnet group and an axial permanent magnet group, the stator assembly comprises a stator iron core and an armature winding, the axial end parts of the two sides of the stator iron core are connected with magnetic conductive yokes, the end surfaces of the magnetic conductive yokes are provided with magnetic conductive shoes, and the magnetic conductive shoes are connected with the armature winding. A radial winding groove is formed between every two adjacent magnetic conductive boots; the armature winding comprises a plurality of winding units, and the bent parts at the two ends of each winding unit are embedded in the radial winding grooves in the two sides of the magnetic conductive shoe. According to the motor provided by the embodiment of the invention, the magnetic conductive shoes are creatively used at the end part of the stator core to guide the windings to carry out back winding arrangement, an axial armature magnetic field is generated, a radial magnetic circuit and two-side end part axial magnetic circuits are combined to form a hybrid excitation 3D magnetic flux structure, and radial magnetic flux and two-side axial magnetic flux cooperatively do work outwards in a parallel connection manner, so that the motor is more compact in structure. And the torque density and the loading capacity of the motor are obviously improved.

The invention discloses a non-differential disc type equal-pole common-winding high-power-density motor and a design method, and belongs to the technical field of design and manufacturing of motors and new energy automobiles. The invention discloses a split-disc type high-power density motor and a design method, a double-disc or multi-disc structure is adopted, direct current or alternating current or single-phase alternating current is subjected to physical space nominal phase splitting to complete continuous circumferential rotation or linear motion of the motor, and the specific implementation scheme can be directed at direct current brush motors, direct current brushless motors, direct current brushless motors, direct current brushless motors, direct current brushless motors, direct current brushless motors and direct current brushless motors. Due to the fact that a multi-disc complementary effect is achieved, the number of pole pairs of a rotor and a stator can be equal, the number density of interaction force points of the stator and the rotor in a unit space can be increased, the electromagnetic torque or magnetic resistance torque density can be increased, and square waves can be adopted to replace sine wave currents. The negative torque can be effectively eliminated by timely performing transient outage on the square wave commutation interlaced area, the motor power density can be greatly improved, and the technical scheme is also suitable for the field of generators.

This invention provides an axial-radial composite flux permanent magnet motor, relating to the field of motor technology. It includes a rotor assembly and a stator assembly. The rotor assembly includes multiple permanent magnets uniformly arranged circumferentially. Each permanent magnet includes an integrally formed axial pole segment, a first transition segment, and a radial pole segment. The stator assembly includes a stator core and stator windings. The stator core includes stator teeth uniformly arranged circumferentially. Each stator tooth includes an integrally formed axial tooth body segment, a second transition segment, and a radial tooth body segment, corresponding to the axial pole segment, the first transition segment, and the radial pole segment, respectively. The stator windings are wound on the corresponding axial tooth body segments. This invention not only reduces magnetic energy loss and improves magnetic field coupling efficiency but also increases the effective coupling area between the permanent magnets and the stator teeth, improving the motor's torque density and power density. Furthermore, it ensures stable operation and has a wide range of applications.

The invention provides an axial magnetic flux motor which comprises two stators and a rotor, the rotor comprises a rotor iron core and magnetic steel, the two axial sides of the rotor iron core are respectively provided with the magnetic steel composed of a Halbach array, the rotor iron core is formed by winding a silicon steel sheet or pressing an amorphous material, and the rotor iron core is formed by winding the silicon steel sheet or pressing the amorphous material. The magnetic steel on each axial side of the rotor core is opposite to one stator, and an air gap surface is arranged between the opposite magnetic steel and stator, so that the motor has the characteristics that the sinusoidal property of the air gap flux density waveform of the motor is better, the amplitude of the flux density is high, the thickness of the rotor core is small, the torque density is improved, and the like.

The invention provides a control method and system for a high-torque-density robot joint module and relates to the technical field of robot joint module control, and the method comprises the steps that three-dimensional image information of waste to be compressed is obtained; determining a compression resistance degree three-dimensional distribution diagram of the to-be-compressed waste based on the three-dimensional image information of the to-be-compressed waste; based on the multiple sets of test fixing schemes, a high-torque-density robot joint module is controlled to fix and shake waste materials to be compressed; determining an initial fixing scheme and a preliminary compression depth based on the shaking video of the to-be-compressed waste fixed by each test fixing scheme; and based on the adjusting and fixing scheme, a high-torque-density robot joint module is controlled to fix the to-be-compressed waste, and a compressor is controlled to conduct compression. According to the method, the optimal fixing and compression cooperative control scheme of the to-be-compressed waste can be efficiently and accurately determined.

The invention relates to the technical field of axial magnetic flux double-excitation motors, and particularly discloses a modularized double-trapezoid topological axial magnetic flux double-excitation motor, which adopts an axial structure of double rotors and a single stator, and forms symmetrical air gaps. The first rotor, the second rotor and the permanent magnets are respectively formed by combining a plurality of modularized stator cores and along the circumferential direction, and after the stator permanent magnets and the rotor permanent magnets are designed into rectangular and trapezoidal structures along the circumferential direction by chamfering, the stator permanent magnets and the rotor permanent magnets are respectively loaded in accommodating grooves I and accommodating grooves II formed in the stator cores and the rotor cores; a double-trapezoid consequent pole topological structure with alternating permanent magnets and ferromagnetic materials is formed, the constraint relation between ferromagnetic teeth and the permanent magnets is effectively overcome, the optimal magnetic flux modulation effect can be achieved when torque is generated, the utilization rate of the permanent magnets is increased, and the service life of the permanent magnets is prolonged. And the double-trapezoid consequent-pole topological structure can strengthen various working subharmonics while strengthening fundamental waves, so that multi-harmonic co-excitation is realized, and the torque density of the motor is further improved.

The application provides a folding wing rope drive ball reverse helix folding and unfolding device, which comprises a folding and unfolding mechanism, a rope drive mechanism and a pulley steering mechanism; the rope drive mechanism supports the folding and unfolding mechanism and the pulley steering mechanism, the rope drive mechanism keeps the steel wire rope in a tension state by adjusting the distance, the pulley steering mechanism is used for changing the direction of the steel wire rope, the rope drive mechanism outputs rotary motion, the direction of the steel wire rope is changed, reciprocating tension action is realized, the folding and unfolding mechanism is pulled to drive the folding wing and the fixed wing to rotate around the axis. The rope drive mechanism and the pulley steering mechanism are used to realize the loosening and tension action of the connecting end of the steel wire rope, the sliding and rolling contact of the ball in the linear groove, the helical groove and the linear / helical composite groove structure is used to realize the rotary motion of the folding wing under a large lead, and the large-scale high-efficiency driving, the large-angle high-torque density folding and unfolding effect under the compact height wing space are achieved.

An actuator comprises a sun wheel roller (104), a planet wheel roller (102), an auxiliary roller (103) and a fixed gear ring (101), the sun wheel roller (104) is located in the center, and the fixed gear ring (101) is located outside all elements. The auxiliary roller (103) is positioned between the planet wheel roller (102) and the fixed gear ring (101), and the planet wheel roller (102) is in contact with the sun wheel roller (104), the auxiliary roller (103) and the fixed gear ring (101), characterized in that the sun wheel roller (104), the planet wheel roller (102), the auxiliary roller (103) and the fixed gear ring (101) all have a truncated cone geometry or a truncated cone geometry. According to the invention, a transmission device is realized, which provides a simple method for changing the pre-tightening force on the rolling contact element, thereby providing an effective means for improving the torque density and the mechanical efficiency of the transmission device.

The application discloses a claw pole stepping motor with an integrated stator core, and belongs to the field of permanent magnet stepping motor design. The application is used for solving the problem that the equivalent air gap of the main magnetic circuit is increased and the torque density is decreased due to the split stator structure of the micro claw pole stepping motor. The application comprises a stator and a rotor. The stator adopts an integrated stator core which is integrally bent and formed from a single plate material, and sequentially forms an inner claw pole, a stator tooth bottom, a stator wall, a stator tooth top and an outer claw pole from inside to outside along the radial direction. The stator tooth bottom is provided with a positioning hole for inserting and fixing a coil framework. The coil framework is provided with a wire outlet structure, so that the coil can be led out from the gap of the core. The rotor comprises a rotating shaft and a permanent magnet. The integrated stator core design eliminates the assembly joint of the split structure, effectively reduces the equivalent air gap, reduces the magnetic flux leakage, and thus significantly improves the torque density and electromagnetic load of the motor.

The invention discloses a two-stage worm gear and worm planetary reducer, which relates to the technical field of reducers, comprises a speed reduction scheme of matching of multiple groups of worm gears and worms and transmission of the two-stage worm gears and worms, and is compact in structure, small in size, light in weight, large in torque density, high in transmission precision, higher in transmission efficiency than that of a single group of worm gears and worms, small in inter-tooth heating and small in abrasion. Self-locking can be achieved, no complex structural part exists, and the production cost is low.